Cleaning apparatus
By using a back EMF signal control that links the scraper and the drive motor in the cleaning equipment, precise cleaning of obstacle areas such as corners is achieved, solving the problem of insufficient cleaning ability in dead corner areas of existing cleaning equipment, and reducing the weight and cost of the equipment.
Patent Information
- Application Number
- CN202521191409.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-11
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-06-11
AI Technical Summary
Existing cleaning equipment is insufficient in cleaning dead zones such as corners and bases of walls, and optical sensor detection solutions suffer from misjudgment and high mechanical complexity.
The system uses a squeegee connected to the cleaning equipment in a rotating manner. The squeegee is controlled by a contact signal to clean the obstacle area. The back electromotive force signal of the drive motor is used for positioning and control, which is simplified to the swinging or extending motion of the squeegee. Combined with preset thresholds and time judgment, it ensures accurate cleaning.
It achieves precise cleaning of obstacle areas, reduces equipment weight and manufacturing costs, improves cleaning capabilities and reliability, and avoids the misjudgments and complexity of optical sensors.
Smart Images
Figure CN224925077U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of smart home appliance technology, and more particularly to a cleaning device. Background Technology
[0002] In modern society, cleaning equipment is increasingly widely used, covering various locations such as homes, commercial spaces, and industrial areas. From household robotic vacuum cleaners, floor scrubbers, and vacuum cleaners to commercial automated sweepers and large industrial floor cleaning equipment, these cleaning devices achieve floor cleaning through different cleaning mechanisms, effectively reducing the burden on manpower. However, when faced with hard-to-clean areas such as corners, wall bases, and furniture edges, all types of cleaning equipment generally suffer from insufficient cleaning capabilities.
[0003] In existing technologies, some cleaning devices attempt to optimize edge cleaning by adding optical sensors to detect corners. However, this approach has significant drawbacks. Optical sensor detection relies on complex algorithm matching, which is prone to misjudgment under changing lighting conditions or when dirt obscures the surface. Furthermore, it increases mechanical complexity, leading to bulky cleaning devices, reduced reliability, and higher maintenance costs. Therefore, developing a cleaning device that can effectively clean special areas such as corners is a pressing technical problem that needs to be solved.
[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content
[0005] This application provides a cleaning device that overcomes, to at least some extent, the problem of insufficient cleaning power in corner areas.
[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.
[0007] According to one aspect of this application, a cleaning device is provided, comprising: a scraper, a traveling mechanism, and a control device, wherein the scraper is located on one side of the traveling direction of the cleaning device, the scraper is rotatably connected to the cleaning device, and a first end of the scraper in an initial position protrudes from a first end of the cleaning device; the traveling mechanism is located below the cleaning device and is used to contact a surface to be cleaned, the traveling mechanism driving the cleaning device to move and clean the surface to be cleaned; the control device is configured to: acquire an abutment signal, the abutment signal being a signal generated when the first end of the scraper abuts against an obstacle and causing rotation, and control the scraper to complete cleaning of the area of the obstacle according to the abutment signal.
[0008] In some embodiments, the contact signal is a back electromotive force signal generated by the drive motor linked to the scraper when the first end of the scraper contacts the obstacle and rotates.
[0009] In some embodiments, the control device is configured to control the scraper to complete the cleaning of the area of the obstacle based on the back electromotive force value of the back electromotive force signal.
[0010] In some embodiments, the control device is configured to control the scraper to complete the cleaning of the area of the obstacle based on the back electromotive force value and duration of the back electromotive force signal.
[0011] In some embodiments, the control device is configured to determine whether the back electromotive force value of the back electromotive force signal is greater than a first preset threshold; when the back electromotive force value is greater than the first preset threshold, determine whether the duration of the back electromotive force signal is greater than a second preset threshold; when the duration of the back electromotive force signal is greater than the second preset threshold, control the scraper to complete the cleaning of the area of the obstacle.
[0012] In some embodiments, the control device is configured to determine the swing angle of the scraper blade based on the back electromotive force signal; determine a target adjustment angle of the scraper blade based on the swing angle, the initial angle between the scraper blade and the plumb line, and preset geometric parameters of the cleaning device; and control the scraper blade to swing according to the target adjustment angle.
[0013] In some embodiments, the preset geometric parameters include the distance L between the rotation axis of the scraper and the first end of the cleaning device, and the height H of the rotation axis of the scraper from the ground; the swing angle is θ1, and the initial angle is θ2; then the target adjustment angle θ3 is determined according to the following formula:
[0014]
[0015] In some embodiments, the scraper length L1 is at least calculated using the following formula:
[0016]
[0017] In some embodiments, the control device is configured to amplify and filter the back electromotive force signal output by the coil of the drive motor that is linked to the scraper through an amplification and filtering circuit; convert the amplified and filtered back electromotive force signal into a digital signal through an analog-to-digital converter; and calculate the swing angle of the scraper based on the digital signal.
[0018] In some embodiments, the control device is configured to control the scraper to return to its initial position after the cleaning device has finished cleaning the area of the obstacle.
[0019] In some embodiments, the control device controls the scraper to move to a second position according to the resistance signal, where the first end contacts the surface to be cleaned to complete the cleaning of the area of the obstacle.
[0020] In some embodiments, the traveling mechanism includes a traveling motor. When the traveling motor rotates forward, the cleaning device moves forward. After the scraper moves to the second position, the control device controls the traveling motor to reverse so that the cleaning device moves backward, and the scraper remains in contact with the surface to be cleaned.
[0021] The cleaning device provided in the embodiments of this application includes: a scraper, a traveling mechanism, and a control device. The scraper is located on one side of the traveling direction of the cleaning device and is rotatably connected to the cleaning device. The first end of the scraper protrudes from the first end of the cleaning device in its initial position. The traveling mechanism is located at the second end of the cleaning device and is used to drive the cleaning device to move. The control device identifies and locates the obstacle by acquiring a signal generated when the first end of the scraper located on the traveling direction of the cleaning device contacts an obstacle and rotates. Based on the signal, the control device controls the scraper to complete the cleaning of the obstacle area. The forward and backward displacement of the traveling mechanism can assist the scraper in achieving accurate and effective cleaning of the obstacle area. Since only the first end of the squeegee needs to be positioned at the front of the cleaning device in its initial position, and the signal generated by the rotation of the first end of the squeegee when it contacts the obstacle can be obtained, the obstacle area can be located. This greatly saves the manufacturing cost of the cleaning device. Compared with the traditional method of setting various optical positioning sensors in front of the cleaning device to locate obstacles, it reduces the weight of the cleaning device. The solution is simpler and solves the problem of inaccurate positioning that may occur with general optical sensor positioning, improving the reliability of obstacle positioning, greatly enhancing the cleaning ability of the cleaning device, and further improving the user experience.
[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description
[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.
[0024] Figure 1 This illustration shows a structural schematic diagram of a cleaning device according to an embodiment of this application;
[0025] Figure 2 This diagram illustrates a control device according to an embodiment of the present application.
[0026] Figure 3 A side view of a floor scrubber is shown in an embodiment of this application. Detailed Implementation
[0027] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.
[0028] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.
[0029] Furthermore, it should be understood that in the description of this application, terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Positional relationships such as "upstream" and "downstream" are based on the positional relationships during normal fluid flow.
[0030] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.
[0031] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0032] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.
[0033] The specific implementation methods of the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0034] Figure 1 A schematic diagram of a cleaning device to which the cleaning device control method of the embodiments of this disclosure can be applied is shown. For example... Figure 1 As shown, the cleaning device 100 includes a cleaning device body 101, a scraper 102 rotatably connected to the cleaning device body 101, and a traveling mechanism. The scraper 102 is located on one side of the traveling direction of the cleaning device 100. Specifically, the first end 1021 of the scraper 102 is located on one side of the traveling direction. The rotating shaft 103 rotatably connected to the second end of the scraper 102 can be located at the first end 1011 side of the cleaning device body 101, the middle of the cleaning device body 101, the tail end of the cleaning device body 101, etc. It is only necessary to ensure that at least when the scraper 102 is in the initial position, the first end 1021 of the scraper 102 protrudes from the first end 1011 of the cleaning device body 101. The first end 1011 of the cleaning device body 1011 is the front end of the cleaning device 100 in the traveling direction.
[0035] The main body 101 of the cleaning equipment serves as the main structure of the cleaning equipment 100, providing structural support and integrating control devices. The scraper 102 is rotatably connected to the main body 101 of the cleaning equipment 100 via a rotating shaft 103, located on one side of the direction of travel of the cleaning equipment 100, i.e., in front of the cleaning equipment 100 when it moves forward in the initial position. The first end 1021 of the scraper 102 protrudes from the first end 1011 of the main body 101. The first end 1021 of the scraper 102 is used to initially contact obstacles such as corners and bases of walls. When it contacts an obstacle, it passively rotates around the rotating shaft 103 and subsequently completes the scraping and cleaning of the ground. The traveling mechanism is located below the cleaning equipment and is used to contact the surface to be cleaned. The traveling mechanism drives the cleaning equipment to move and clean the surface to be cleaned. The traveling mechanism can be a single roller brush assembly, specifically including a roller brush for contacting the surface to be cleaned and a roller brush motor for driving the roller brush to rotate; the traveling mechanism can also be a combination of a single roller brush assembly and rollers (e.g.,...). Figure 1 , 3 As shown, a single roller brush assembly is positioned near the first end of the cleaning device 100, while a roller is positioned away from the first end of the cleaning device 100. This position can be a second end opposite to the first end of the cleaning device 100, or it can be located in the middle of the cleaning device 100. The roller can be driven by a roller motor or by a single roller brush drive structure. The traveling mechanism can also be a dual roller brush assembly, comprising a first single roller brush assembly positioned near the first end of the cleaning device 100 and a second single roller brush assembly positioned away from the first end of the cleaning device 100. The control device is configured to acquire an abutment signal, which is a signal generated when the first end of the scraper blade abuts against an obstacle and rotates. Based on the abutment signal, the control device controls the scraper blade to complete the cleaning of the obstacle area.
[0036] In addition, the main body 101 of the cleaning equipment can also integrate other auxiliary functional components, such as a vacuuming device and a water spraying device. The vacuuming device can remove dust and stains scraped up by the squeegee 102 while cleaning the floor, keeping the cleaned area tidy. The water spraying device can spray water onto the cleaned area when cleaning stubborn stains, softening the stains and improving the cleaning effect. All auxiliary functional components are uniformly controlled and coordinated by a control device to achieve efficient cleaning operation of the cleaning equipment.
[0037] Figure 2 This diagram illustrates a control device according to an embodiment of the present disclosure. The control device is applied to and integrated into the aforementioned cleaning equipment, such as... Figure 2 As shown, the control device includes:
[0038] Signal acquisition module 201 is used to acquire the contact signal, which is the signal generated when the first end of the scraper contacts the obstacle and rotates.
[0039] The control module 202 is used to control the scraper to clean the area of the obstacle according to the resistance signal.
[0040] It should be noted that the cleaning equipment can be any device capable of cleaning, such as robotic vacuum cleaners, floor scrubbers, and window cleaning robots in household cleaning equipment; and automatic sweeping vehicles, large floor scrubbers, and factory floor cleaning robots in commercial cleaning equipment. Specifically, the cleaning equipment in this embodiment needs to include a scraper located on one side of the cleaning equipment's travel direction. The scraper is rotatably connected to the cleaning equipment, and its first end protrudes from the first end of the cleaning equipment in its initial position. Obstacles are objects that hinder the cleaning process and easily create blind spots during the cleaning equipment's operation, such as corners of walls, the bottom edges of furniture like tables, cabinets, and sofas.
[0041] Because the first end of the scraper protrudes from the first end of the cleaning device at its initial position during movement, the first end of the scraper remains at the forefront of the entire cleaning device until it touches an obstacle. Once the scraper touches an obstacle, due to its rotatable connection with the cleaning device, the scraper passively rotates, generating a contact signal, allowing the cleaning device to locate the current position as the obstacle area. It should be clarified that the contact signal is generated by the rotation of the first end of the scraper when it touches the obstacle.
[0042] It is understandable that when the cleaning equipment approaches an obstacle, the first end of the squeegee contacts the obstacle surface first, rather than the main body of the cleaning equipment directly. The squeegee rotates passively due to the obstruction of the obstacle. For example, when the squeegee contacts a 90-degree corner, its first end is subjected to a lateral force from the wall, forcing the squeegee to rotate a certain angle around its rotation axis towards the inside of the cleaning equipment. The signal generated when the squeegee rotates passively is the contact signal in this embodiment of the disclosure, serving as a signal that the cleaning equipment is in contact with the obstacle. Specifically, this contact signal can be an angle change signal, such as an angle sensor detecting a change in the rotation angle of the rotating shaft; a pressure signal, such as a pressure sensor detecting a change in pressure when the squeegee contacts the obstacle; a switch signal, such as a microswitch being pressed due to the rotation of the squeegee, outputting an on / off signal; or a back electromotive force signal, such as a back electromotive force signal generated by the passive rotation of the squeegee, etc.
[0043] After receiving the resistance signal generated by the rotation caused by the first end of the scraper contacting the obstacle, the cleaning equipment can confirm that the current position is an obstacle area. This means that the cleaning equipment can locate the location of the obstacle encountered during its operation. At this time, it is necessary to clean the obstacle area to ensure effective cleaning within the obstacle area.
[0044] Since there is a blind spot in front of the obstacle area, the cleaning equipment control method of this embodiment, when the current position is located as an obstacle area, controls the scraper to swing. When the first end of the scraper swings to the bottom of the obstacle, the blind spot can be cleaned, and the area of the obstacle can be cleaned. For example, by controlling the scraper to swing, the first end of the scraper scrapes to remove dirt from the blind spot of the obstacle, such as dust in the corner, water stains at the base of the wall, and garbage on the corner of the table, thus completing the area of the obstacle cleaning; or by controlling the scraper to extend and retract, the first end of the scraper reaches the bottom of the obstacle, and then the scraper is controlled to swing, so that the first end of the scraper scrapes to remove dirt from the blind spot of the obstacle, such as dust in the corner, water stains at the base of the wall, and garbage on the corner of the table, thus completing the area of the obstacle cleaning.
[0045] This embodiment of the invention identifies and locates obstacles by acquiring the signal generated when the first end of the scraper blade, located on one side of the travel direction of the cleaning equipment, rotates upon contact with an obstacle. Based on this signal, the scraper blade is controlled to clean the area containing the obstacle, achieving precise and effective cleaning of the obstacle area and improving the cleaning capability of the cleaning equipment. Since only the first end of the scraper blade needs to be positioned at the front of the cleaning equipment initially, and the signal generated when the first end of the scraper blade rotates upon contact with the obstacle is acquired, obstacle location can be achieved. This significantly reduces the manufacturing cost of the cleaning equipment. Compared to the traditional method of placing various optical positioning sensors in front of the cleaning equipment for obstacle location, this method reduces the weight of the cleaning equipment, simplifies the solution, and solves the problem of inaccurate positioning that may occur with general optical sensor positioning, improving the reliability of obstacle location and greatly enhancing the cleaning capability of the cleaning equipment.
[0046] In some embodiments of this application, the aforementioned contact signal is a back electromotive force signal generated by the drive motor linked to the scraper when the first end of the scraper contacts the obstacle and rotates.
[0047] It should be noted that the scraper blade can be rotatably connected to the main body of the cleaning equipment via a servo motor or stepper motor. The motor output shaft rotates coaxially with the scraper blade's rotation shaft, forming an electromechanical linkage structure. In the initial state, the motor operates in zero-torque mode, and the scraper blade is in the initial position, with the first end of the scraper blade protruding from the first end of the cleaning equipment. When the scraper blade encounters an obstacle, it passively rotates around the rotation shaft compared to its initial position.
[0048] When the first end of the scraper blade contacts the obstacle and rotates passively, the motor rotor, which is linked to the scraper blade, rotates due to the mechanical drive of the scraper blade. At this time, the motor is in generator operation mode, and the motor stator winding cuts the rotor magnetic field, generating a back electromotive force (EMF) proportional to the rotational speed. When the scraper blade does not contact the obstacle, the back EMF is 0V; when the first end of the scraper blade contacts the obstacle, the back EMF voltage rises, forming a clear back EMF signal.
[0049] This embodiment eliminates the need for additional independent components such as angle sensors and microswitches, directly utilizing the inherent electromagnetic characteristics of the drive motor to generate signals, significantly reducing hardware costs. The coaxial design of the motor output shaft and the scraper rotation shaft eliminates the need for sensor installation space and wiring structures, reducing the weight of the front end of the cleaning equipment and simplifying the assembly process. The back electromotive force signal is generated through electromagnetic induction, ensuring stable operation even in harsh environments such as dust and moisture, reducing equipment maintenance frequency.
[0050] In some embodiments of this application, the control device is configured to control the scraper to complete the cleaning of the obstacle area based on the back electromotive force value of the back electromotive force signal.
[0051] It should be noted that by collecting the back electromotive force (EMF) signal of the drive motor linked to the scraper, the contact state between the scraper and the obstacle can be analyzed, such as rotation speed and passive rotation angle. Based on the back EMF value, the cleaning action parameters of the scraper, such as the swing angle, can be dynamically adjusted. Simultaneously, other cleaning modules, such as the roller brush and suction components, can be linked to achieve precise cleaning of the obstacle area. For example, a larger back EMF value results in a larger passive rotation angle, requiring only a smaller swing angle to bring the first end of the scraper to the bottom of the obstacle; a smaller back EMF value results in a smaller passive rotation angle, requiring a larger swing angle to bring the first end of the scraper to the bottom of the obstacle.
[0052] This application embodiment achieves precise quantitative control of cleaning obstacle areas by collecting the back electromotive force value of the drive motor linked to the scraper, analyzing the dynamic characteristics of the contact between the scraper and the obstacle (such as rotation speed and passive angle), and dynamically adjusting cleaning parameters. Compared with general fixed-angle cleaning, this solution dynamically adjusts the swing angle of the scraper, improving cleaning efficiency. Furthermore, this embodiment requires no additional sensors or complex algorithms; the cleaning control strategy can be implemented solely through the back electromotive force value, making it simpler and more reliable.
[0053] In some embodiments of this application, the control device is configured to control the scraper to complete the cleaning of the obstacle area based on the back electromotive force value and duration of the back electromotive force signal.
[0054] It should be noted that by synchronously acquiring the back electromotive force (EMF) signal of the drive motor linked to the scraper blade, both the back EMF value and its duration, the contact characteristics between the scraper blade and the obstacle can be comprehensively analyzed. The back EMF value reflects the rotational speed and passive rotation angle of the scraper blade, while the duration verifies the accuracy of the rotational speed and passive rotation angle. For example, the rotational speed can be calculated from the duration, and then the passive rotation angle can be calculated. Specifically, the back EMF value directly reflects the scraper blade's rotational speed; the faster the speed, the higher the back EMF value. The duration is used to verify the accuracy of the calculated scraper blade rotational speed and passive rotation angle based on the back EMF value through a time dimension.
[0055] Compared to solutions that rely solely on back EMF values, this application's embodiment uses time parameters to verify the back EMF value, overcoming the limitations of relying on a single signal and effectively avoiding misjudgments caused by instantaneous voltage fluctuations. It also provides a more precise control basis for subsequent control of the scraper's swing angle. No additional hardware support is required; the analysis of the back EMF signal is achieved solely through software algorithms, significantly enhancing the control accuracy of the cleaning equipment while maintaining a low-cost advantage.
[0056] In some embodiments of this application, after acquiring the resistance signal, the control device is further configured to determine whether the back electromotive force value of the back electromotive force signal is greater than a first preset threshold; when the back electromotive force value is greater than the first preset threshold, determine whether the duration of the back electromotive force signal is greater than a second preset threshold; when the duration of the back electromotive force signal is greater than the second preset threshold, control the scraper to complete the cleaning of the obstacle area.
[0057] It should be noted that the first preset threshold is a judgment benchmark value set based on the back electromotive force (EMF) value of the back EMF signal, used to distinguish between valid resistance signals and environmental interference signals. During the operation of the cleaning equipment, the motor may generate certain electromagnetic fluctuations due to normal operation, ground vibrations, and other factors, forming a back EMF signal with a small amplitude. To avoid interference signals triggering cleaning actions, a back EMF value threshold needs to be set as the first preset threshold. When the back EMF value is less than the first preset threshold, the back EMF signal is invalid, and no cleaning action is performed; only when the back EMF value is greater than the first preset threshold does it indicate that the scraper may have made substantial contact with the obstacle, thus entering the judgment of the second preset threshold.
[0058] The second preset threshold is a judgment standard set based on the duration of the back electromotive force (EMF) signal, used to distinguish between accidental collisions and continuous contact. In practical applications, the scraper may experience a brief increase in back EMF value due to momentary collisions, such as passing through a curtain or beaded curtain. In this case, it is not a genuine obstacle cleaning requirement. Therefore, after the back EMF value passes the first preset threshold verification, it is necessary to further determine whether the duration of the back EMF signal is greater than the second preset threshold. Only when the signal duration exceeds the second preset threshold can it be confirmed that the scraper is in continuous contact with the obstacle, thereby triggering the cleaning operation on the obstacle area.
[0059] The first preset threshold is a primary screening condition, prioritizing the elimination of low-amplitude interference signals; the second preset threshold is a secondary verification condition, further eliminating short-term interference after confirming high-amplitude signals. This embodiment of the present disclosure forms a dual positioning verification mechanism. Only when both conditions are met can it be determined that a real obstacle has been touched and the location is within the obstacle area to be cleaned. Meeting either threshold alone will not trigger the cleaning action.
[0060] This application embodiment reduces the misjudgment rate of cleaning equipment through the above dual positioning verification mechanism. In complex cleaning environments, it can effectively avoid invalid cleaning actions caused by various interferences, and only perform cleaning on areas with real obstacles such as corners and furniture legs. It avoids frequent control of the scraper swing due to misjudgment, reduces equipment energy consumption, shortens the time spent on invalid cleaning, and improves overall cleaning efficiency.
[0061] In some embodiments of this disclosure, a floor scrubber will be used as a cleaning device for a more detailed illustrative explanation. Figure 3 A side view of a floor scrubber is shown, as follows. Figure 3 As shown, the floor scrubber includes a squeegee 102, with its first end 1021 protruding from the frontmost end of the main body of the floor scrubber. Figure 1 , 3 As shown, the floor scrubber cleans the floor by means of the roller brush assembly 301 and moves in position by means of the roller brush assembly 301 and the rollers 104.
[0062] Due to the inherent structural limitations of floor scrubbers, when the scrubber comes into contact with a wall, the roller brush assembly remains a certain distance from the wall, creating a cleaning blind spot. This cleaning problem can be solved by the cleaning equipment control method provided in this embodiment. When the scraper blade 102 comes into contact with the wall, it passively rotates, generating a contact signal. Taking the contact signal as the back electromotive force signal generated when the first end of the scraper blade rotates against an obstacle, when the back electromotive force signal is detected, the scraper blade 102 is controlled to complete the cleaning of the obstacle area. Specifically, the control device is further configured to control the scraper blade to complete the cleaning of the obstacle area in the following steps:
[0063] 1. Determine the swing angle of the scraper blade based on the back electromotive force signal;
[0064] 2. Determine the target adjustment angle of the scraper based on the swing angle, the initial angle between the scraper and the plumb line, and the preset geometric parameters of the cleaning equipment;
[0065] 3. Adjust the angle according to the target to control the swing of the scraper.
[0066] It should be noted that the swivel angle of the squeegee is the angle at which the squeegee passively rotates; the target adjustment angle is the swivel angle that the squeegee needs to be controlled to rotate; the initial angle between the squeegee and the plumb line is the angle between the squeegee and the plumb line in the initial state; and the preset geometric parameters of the cleaning equipment are the geometric parameters of various components and the length, width, and height of the machine body when the cleaning equipment was designed. Using these geometric parameters, the final target adjustment angle can be determined and calculated to ensure that the first end of the squeegee swings precisely to the base of the corner. At this point, pulling the floor scrubber body or the main body of the cleaning equipment backward can completely clean the obstacle area, achieving cleaning of blind spots and efficient cleaning.
[0067] This application embodiment determines the squeegee swing angle by using a back electromotive force signal and calculates the target angle by combining multiple parameters to achieve precise control of the squeegee swing. This can compensate for the cleaning blind spots caused by the structure of the cleaning equipment itself, allowing hard-to-clean areas such as corners and furniture edges to be accurately covered by the squeegee, greatly improving the overall cleaning effect.
[0068] In some embodiments of this application, the specific preset geometric parameters include the distance L between the rotation axis of the scraper and the first end of the cleaning device, and the height H between the rotation axis of the scraper and the ground; the swing angle is θ1, and the initial angle is θ2; then the target adjustment angle θ3 is determined according to the following formula:
[0069]
[0070] It should be noted that in the mechanical structure design of cleaning equipment, such as floor scrubbers, the distance L from the squeegee's rotating axis to the first end of the cleaning equipment and the height H of the squeegee's rotating axis from the ground are core geometric parameters. These are easier to measure and less prone to error, and can be calibrated mechanically before the product leaves the factory. L represents the horizontal straight-line distance from the squeegee's rotating axis to the front end of the cleaning equipment, reflecting the squeegee's rotating axis's installation position in the lateral direction of the machine body, and determining the horizontal movement boundary when the squeegee swings. H represents the vertical height of the squeegee's rotating axis from the ground, reflecting the squeegee's rotating axis's installation height in the longitudinal direction of the machine body, and affecting the vertical movement range when the squeegee swings. The swing angle θ1 represents the angle at which the squeegee passively rotates due to contact with an obstacle, calculated by analyzing the back electromotive force signal. The initial angle θ2 represents the angle between the squeegee and the vertical line (vertical direction) when the cleaning equipment is not working and the squeegee is in its initial position (such as parallel to the horizontal plane or any angle), reflecting the initial posture of the squeegee. The initial angle θ2 can be detected by an angle sensor or obtained through calibration during mechanical assembly. The purpose of calculating the target adjustment angle θ3 is to ensure that the first end of the scraper precisely fits the bottom of the obstacle, such as the base of a wall corner, thereby eliminating blind spots and effectively cleaning the obstacle area.
[0071] The embodiments of this application can accurately determine the final swing angle to be controlled by the calculation of the above formula (1), so that the first end of the scraper is accurately swung to the bottom position of the obstacle, providing a precise and practical technical solution for cleaning equipment to efficiently clean the obstacle area and eliminate cleaning blind spots.
[0072] In some embodiments of this application, the length L1 of the scraper is at least calculated using the following formula:
[0073]
[0074] It should be noted that when the first end of the squeegee blade of the cleaning device touches the wall, the blade length L1 must satisfy specific geometric constraints to ensure that the first end of the blade reaches exactly at the base of the corner. From a spatial geometry perspective, the vertical distance H from the blade's rotation axis to the ground, the horizontal distance L from the blade's rotation axis to the first end of the cleaning device, and the line connecting the first end of the blade to the rotation axis form a right triangle. According to the Pythagorean theorem, the theoretical minimum length of the squeegee blade should be... In actual design, it is necessary to maintain like The movement trajectory of the first end of the scraper cannot cover the base of the wall corner, which will inevitably lead to cleaning blind spots and leave stains in the corner.
[0075] It's also important to understand that the squeegee is made of flexible materials (such as silicone or elastic rubber). When the squeegee reaches the base of a corner, it can continue to bend and swing closer to the cleaning device, achieving interference contact with the floor through the material's elastic deformation. This interference contact generates greater friction, powerfully removing stubborn stains such as accumulated dust and water stains from corners and floors, while simultaneously adhering tightly to the base of the corner, eliminating cleaning dead zones caused by the limitations of the cleaning device's structure.
[0076] The embodiment of this application limits the length of the scraper by formula (2) above, which can ensure that the first end of the scraper reaches the bottom of the obstacle, avoids blind spots in cleaning, and improves the cleaning ability of the cleaning equipment.
[0077] In some embodiments of this application, the control device further includes the following steps to determine the swing angle of the scraper based on the back electromotive force signal:
[0078] 1. The back electromotive force signal output from the coil of the drive motor that drives the scraper is amplified and filtered by an amplifier circuit;
[0079] 2. Convert the amplified and filtered back electromotive force signal into a digital signal using an analog-to-digital converter;
[0080] 3. Calculate the swing angle of the scraper based on digital signals.
[0081] It should be noted that the amplifier circuit is used to amplify the small back EMF signal to a voltage range that the analog-to-digital converter (ADC) can handle and to filter out high-frequency noise in the back EMF signal, retaining the true low-frequency signal. Filtering can also be performed using a separate filter circuit. The ADC converts the continuous back EMF signal (in this case, an analog signal) into a digital signal. Each value of the digital signal corresponds to the back EMF value at a specific moment. The swing angle of the scraper can then be calculated based on the specific back EMF value, as described in the embodiment above.
[0082] This application embodiment improves signal accuracy by processing the back EMF signal, ensuring precise execution of cleaning actions. The amplification and filtering circuits are low-cost, general-purpose components, significantly reducing hardware costs and enhancing product market competitiveness.
[0083] In some embodiments of this application, after the cleaning equipment completes cleaning the area with obstacles, it automatically triggers a squeegee reset procedure, controlling the squeegee to return to its initial position. This ensures that the cleaning equipment can immediately proceed to the next area, avoiding loss of cleaning efficiency due to waiting for reset.
[0084] In some embodiments of this application, the control device controls the scraper to move to a second position according to the resistance signal. At the second position, the first end contacts the surface to be cleaned to complete the cleaning of the obstacle area. During the movement of the scraper from the initial position to the second position, the scraper gradually approaches the surface to be cleaned, scraping away debris present in the obstacle area, facilitating further cleaning of the obstacle area.
[0085] In some embodiments, the traveling mechanism includes a traveling motor. When the traveling motor rotates forward, the cleaning device moves forward. After the scraper reaches the second position, the control device controls the traveling motor to reverse, causing the cleaning device to move backward, while the scraper remains in contact with the surface to be cleaned. The advantage is that the scraper carries away debris from wall crevices, and by maintaining contact with the surface to be cleaned, it lifts up debris from the ground, facilitating further cleaning.
[0086] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility models disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the appended claims.
Claims
1. A cleaning device, characterized in that, include: The cleaning device includes a scraper, a traveling mechanism, and a control device, wherein the scraper is located on one side of the traveling direction of the cleaning device, the scraper is rotatably connected to the cleaning device, and the first end of the scraper in the initial position protrudes from the first end of the cleaning device. The traveling mechanism is located below the cleaning equipment and is used to contact the surface to be cleaned. The traveling mechanism drives the cleaning equipment to move and clean the surface to be cleaned. The control device is configured to: acquire an abutment signal, which is a signal generated when the first end of the scraper blade rotates when it abuts an obstacle, and control the scraper blade to complete the cleaning of the area of the obstacle according to the abutment signal.
2. The cleaning equipment according to claim 1, characterized in that, The contact signal is the back electromotive force signal generated by the drive motor linked to the scraper when the first end of the scraper contacts the obstacle and rotates.
3. The cleaning equipment according to claim 2, characterized in that, The control device is configured to control the scraper to clean the area of the obstacle based on the back electromotive force value of the back electromotive force signal.
4. The cleaning equipment according to claim 3, characterized in that, The control device is configured to control the scraper to complete the cleaning of the area of the obstacle based on the back electromotive force value and duration of the back electromotive force signal.
5. The cleaning equipment according to claim 2, characterized in that, The control device is configured to determine whether the back electromotive force value of the back electromotive force signal is greater than a first preset threshold; when the back electromotive force value is greater than the first preset threshold, determine whether the duration of the back electromotive force signal is greater than a second preset threshold. When the duration of the back electromotive force signal is greater than a second preset threshold, the scraper is controlled to complete the cleaning of the area of the obstacle.
6. The cleaning equipment according to claim 2, characterized in that, The control device is configured to determine the swing angle of the scraper blade based on the back electromotive force signal; determine the target adjustment angle of the scraper blade based on the swing angle, the initial angle between the scraper blade and the vertical line, and the preset geometric parameters of the cleaning equipment; and control the scraper blade to swing according to the target adjustment angle.
7. The cleaning equipment according to claim 6, characterized in that, The preset geometric parameters include the distance L between the rotation axis of the scraper and the first end of the cleaning device, and the height H of the rotation axis of the scraper from the ground; the swing angle is θ1, and the initial angle is θ2; then the target adjustment angle θ3 is determined according to the following formula:
8. The cleaning equipment according to claim 6, characterized in that, The length L1 of the scraper blade is at least calculated using the following formula:
9. The cleaning equipment according to claim 6, characterized in that, The control device is configured to amplify and filter the back electromotive force signal output by the coil of the drive motor that is linked to the scraper through an amplification and filtering circuit; convert the amplified and filtered back electromotive force signal into a digital signal through an analog-to-digital converter; and calculate the swing angle of the scraper based on the digital signal.
10. The cleaning equipment according to claim 1, characterized in that, The control device is configured to control the scraper to return to its initial position after the cleaning equipment has finished cleaning the area of the obstacle.
11. The cleaning equipment according to any one of claims 1-10, characterized in that, The control device controls the scraper to move to a second position according to the resistance signal, and at the second position, the first end contacts the surface to be cleaned to complete the cleaning of the area of the obstacle.
12. The cleaning equipment according to claim 11, characterized in that, The traveling mechanism includes a traveling motor. When the traveling motor rotates forward, the cleaning device moves forward. After the scraper moves to the second position, the control device controls the traveling motor to reverse so that the cleaning device moves backward, and the scraper remains in contact with the surface to be cleaned.