CN210835725U - Cleaning equipment - Google Patents
Cleaning equipment Download PDFInfo
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- CN210835725U CN210835725U CN201922027914.8U CN201922027914U CN210835725U CN 210835725 U CN210835725 U CN 210835725U CN 201922027914 U CN201922027914 U CN 201922027914U CN 210835725 U CN210835725 U CN 210835725U
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Abstract
The utility model provides a cleaning equipment, include: the cleaning equipment comprises a water gun and a host, wherein the water gun is connected with the host through a water pipe, a positioner is arranged on the water gun, and a controller is arranged in the host, wherein the positioner is used for acquiring position information of the water gun and transmitting the position information to the controller in the working process of the cleaning equipment; and the controller is used for controlling the main machine to move according to the position information of the water gun so as to adjust the current position of the main machine. Through the utility model discloses can realize that the self-adaptation of cleaning equipment host computer removes, effectively promote cleaning equipment's self-adaptation control effect.
Description
Technical Field
The utility model relates to an industrial cleaning technical field especially relates to a cleaning equipment.
Background
Under some application scenes, the user can have the demand of using cleaning equipment to carry out cleaning operation, and water spray formula cleaning equipment commonly used can be for example for seat formula high pressure cleaner, and seat formula high pressure cleaner includes squirt and washing host computer, is provided with the water pump in the washing host computer, with the water pump of water in the host computer in the water tank along the water pipe pump in to carry out cleaning operation, for example, wash the vehicle, wash building wall etc..
In the related art, manpower is required to actively pull a main machine of the cleaning apparatus to perform multi-directional cleaning, or a long water pipe is provided for the cleaning apparatus.
Under the above-mentioned mode, can not realize the self-adaptation of cleaning equipment host computer and remove to, the taking in of the water pipe of being inconvenient for, cleaning equipment's self-adaptation control effect is not good.
SUMMERY OF THE UTILITY MODEL
The present invention aims at solving at least one of the technical problems in the related art to a certain extent.
Therefore, the utility model aims to provide a cleaning equipment can realize that the self-adaptation of cleaning equipment host computer removes, effectively promotes cleaning equipment's self-adaptation control effect.
In order to achieve the above object, an embodiment of the present invention provides a cleaning apparatus, including: the cleaning equipment comprises a water gun and a host, wherein the water gun is connected with the host through a water pipe, a positioner is arranged on the water gun, and a controller is arranged in the host, wherein the positioner is used for acquiring position information of the water gun and transmitting the position information to the controller in the working process of the cleaning equipment; the controller is used for controlling the main machine to move according to the position information of the water gun so as to adjust the current position of the main machine.
The embodiment of the utility model provides a cleaning equipment, through configuration cleaning equipment include squirt and host computer, be connected via the water pipe between squirt and the host computer, be provided with the locator on the squirt, be provided with the controller in the host computer, wherein, the locator is used for in cleaning equipment course of operation, acquires the positional information of squirt, and transmits positional information to the controller; the controller is used for controlling the host to move according to the position information of the water gun so as to adjust the current position of the host, dynamic adjustment of the position of the host is achieved in a self-adaptive mode according to the position information of the water gun, self-adaptive movement of the host of the cleaning equipment is achieved, and the self-adaptive control effect of the cleaning equipment is effectively improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a cleaning apparatus according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
Fig. 1 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention.
Referring to fig. 1, the cleaning apparatus 10 includes: the cleaning equipment comprises a water gun 101 and a host machine 102, wherein the water gun 101 is connected with the host machine 102 through a water pipe 103, a positioner 1011 is arranged on the water gun 101, and a controller 1021 is arranged in the host machine 102, wherein the positioner 1011 is used for acquiring position information of the water gun 101 in the working process of the cleaning equipment 10 and transmitting the position information to the controller 1021; the controller 1021 is configured to control the host 102 to move according to the position information of the water gun 101, so as to adjust the current position of the host 102.
In the specific implementation process, the controller 1021 built in the host 102 of the cleaning apparatus 10 may acquire the position information of the water gun 101 from the positioner 1011 in real time during the operation of the cleaning apparatus 10, or acquire the position information of the water gun 101 from the positioner 1011 at preset intervals, which is not limited.
The method includes the steps that a graphical human-computer interaction interface can be provided on the host 102 of the cleaning device 10 in advance, a module for self-adaptively adjusting the position of the host 102 and selectable by a user can be provided on the graphical human-computer interaction interface, when the module is triggered by the user, it is determined that the user currently has a requirement for self-adaptively adjusting the position of the host 102, and after the setting is completed, the controller 1021 can control the positioner 1011 to execute the step of acquiring the position information of the water gun 101 in the working process of the cleaning device 10.
If the user does not trigger the module for adaptively adjusting the position of the host 102, it may be determined that the user does not currently have a requirement for adaptively adjusting the position of the host 102, and at this time, the current position of the host 102 may not be adaptively adjusted in the operation process of the cleaning apparatus 10.
Wherein, the in-process of cleaning equipment 10 work, if current washing scene for treating the washing object and carry out the washing of all-round multi-angle, then along with going on of washing operation, squirt 101's position can produce the change dynamically, the embodiment of the utility model provides an in can monitor the condition that squirt 101's positional information changes in real time, from this, trigger follow-up basis squirt 101's positional information, right the current position of host computer 102 carries out the step of adjusting.
In an embodiment of the present invention, the controller 1021 controls the host 102 to move in a direction close to the water gun 101 according to the position information of the water gun 101, so as to adjust the current position of the host 102.
As an example, when the current position of the main machine 102 is adjusted, the main machine 102 is adjusted to be close to the water gun 101 according to the position information of the water gun 101, so that when the cleaning device 10 performs multi-directional cleaning, the main machine 102 of the cleaning device 10 is prevented from being actively dragged by manpower, and the main machine 102 of the cleaning device 10 can adaptively follow the movement of the water gun 101.
It can be understood that, at the in-process of in-service use, the embodiment of the utility model provides a can also use the position of squirt 101 and host computer 102 comparatively near, need with host computer 102 is to keeping away from the application scene that squirt 101's direction was adjusted, it is thus visible, cleaning equipment 10's in this embodiment control method has better suitability to the method of control is comparatively nimble, can diversely satisfy user's user demand.
In an embodiment of the present invention, a sensor 1029, a memory 1022 and a driver 1023 are disposed in the host 102, the memory 1022 and the driver 1023 are respectively connected to the controller 1021, a preset threshold value is stored in the memory 1022, wherein,
the sensor 1029 is configured to detect a relative distance value between the water gun 101 and the host 102 and feed back the relative distance value to the controller 1021.
The sensor 1029 may be, for example, an ultrasonic sensor 1024, and the controller 1021 controls the ultrasonic sensor 1024 to detect a relative distance value between the monitor 101 and the host 102 and feed back the relative distance value to the controller 1021.
The controller 1021 reads the preset threshold from the memory 1022, and generates a driving instruction when the relative distance value exceeds the preset threshold.
The controller 1021 controls the driver 1023 to drive the host 102 to move through the driving command, so as to adjust the current position of the host 102.
In this embodiment, the actual application scenario requirement is considered, that is, before the current position of the main machine 102 is adaptively adjusted according to the position information of the water gun 101, it is determined whether to trigger adaptive adjustment of the current position of the main machine 102 currently by combining the relative distance value between the water gun 101 and the main machine 102.
It can be understood that, generally, the water pipe 103 between the water gun 101 and the main machine 102 of the cleaning apparatus 10 may have a certain length, and therefore, when a relative distance value between the water gun 101 and the main machine 102 of the cleaning apparatus 10 is not enough to stretch the water pipe 103 to the longest length, a current position of the main machine 102 may not be adjusted, so that consumption of hardware resources required for adaptive adjustment of the main machine 102 may be effectively saved, power consumption of the cleaning apparatus 10 may be effectively saved, and when a relative distance value between the water gun 101 and the main machine 102 of the cleaning apparatus 10 is determined, that is, the water pipe 103 is to be stretched to the longest length, adjustment of the current position of the main machine 102 may be triggered.
Through the structural design, on the basis of guaranteeing the control effect, the consumption of hardware resources required by the self-adaptive adjustment of the control host 102 can be effectively reduced, and the power consumption of the cleaning equipment 10 can be effectively reduced.
The preset threshold is a threshold about to stretch the water pipe 103 to the longest length, and may be set to a value slightly smaller than the length of the water pipe 103, and the preset threshold may be set by a user of the cleaning device 10 according to a requirement of the user, or may be preset by a factory program of the cleaning device 10, which is not limited to this.
In an embodiment of the present invention, the controller 1021 generates a stop command when the relative distance value is lower than the preset threshold, so as to control the driver 1023 to stop driving the host 102 to move through the stop command.
In a specific implementation process, after detecting a relative distance value between the water gun 101 and the host 102, comparing the relative distance value with a preset threshold, when the relative distance value exceeds the preset threshold, determining that the water pipe 103 is stretched to a longest length, at this time, adjusting the current position of the host 102 may be triggered, and when the relative distance value is lower than the preset threshold, adjusting the current position of the host 102 may not be triggered, or, in a process of adjusting the current position of the host 102, detecting that the relative distance value is lower than the preset threshold in real time, stopping adjusting the current position of the host 102.
In one embodiment of the present invention, the sensor 1029 is an ultrasonic sensor 1024.
In one embodiment of the present invention, the host 102 is further provided with an environment sensor 1025, the environment sensor 1025 is connected to the controller 1021, wherein,
the environment sensor 1025 determines obstacle distribution information in the environment and determines road condition information.
The controller 1021 generates a target path according to the position information of the water gun 101 and the current position of the host 102 by combining the obstacle distribution information and the road condition information, and generates a first driving instruction according to the target path, so as to control the driver 1023 according to the first driving instruction to drive the host 102.
In this case, an environment sensor 1025 may be disposed on the host 102 of the cleaning apparatus 10 in advance, and obstacle distribution information in the environment may be determined through the environment sensor 1025, and road condition information may be determined.
The obstacle distribution information may be used to describe the type of the obstacle in the current environment of the cleaning device 10, and the corresponding position, and the road condition information may be, for example, the type and the flatness of the road surface in the current environment of the cleaning device 10, which is not limited to this.
The determined obstacle distribution information and road condition information are used to assist in planning an optimal path at the place, which may be referred to as a target path.
In the specific implementation process, the controller 1021 may plan to obtain the target path according to the position information of the water gun 101 and the current position of the host 102, in combination with the obstacle distribution information and the road condition information, and in combination with a preconfigured path planning algorithm, or the controller 1021 may send the position information of the water gun 101 and the current position of the host 102 to the cloud server in combination with the obstacle distribution information and the road condition information, and the cloud server plans to obtain the target path according to a preset path planning algorithm, so that the controller 1021 directly obtains the target path from the cloud server, which is not limited.
In a specific implementation process, after a target path is obtained through planning, the main machine 102 is adjusted in a direction close to the water gun 101 based on the target path, and the main machine 102 may be adjusted in a direction close to the water gun 101 in a manner of following the target path, so that collision in a self-adaptive adjustment control process is effectively avoided, safety of position adjustment of the cleaning equipment 10 is effectively guaranteed, and the service life of the cleaning equipment 10 is prolonged.
As another optional example, in this embodiment, not only the optimal path can be automatically planned, but also adaptive obstacle avoidance processing can be implemented, so that a better safety factor can be achieved.
In one embodiment of the present invention, the host 102 is further provided with a camera 1026, and an image recognition device 1027 connected to the camera 1026, wherein the camera 1026 and the image recognition device 1027 are respectively connected to the controller 1021, wherein,
the imaging device 1026 acquires an environment image.
The image recognition apparatus 1027 recognizes a target object image of the environment image.
The controller 1021 determines the position of the target object in the target object image corresponding to the actual environment, and controls the driver 1023 to drive the host 102 according to the position, thereby performing steering control on the host 102.
The camera 1026 may be disposed on the host 102, the controller 1021 controls the camera 1026 to obtain an environment image, the image recognition device 1027 is disposed on the host 102, the controller 1021 controls the image recognition device 1027 to analyze the environment image obtained by the camera 1026, and a target object image (for example, an object that needs to be steered by the host 102 to avoid collision, corresponding to an image portion in the environment image) is recognized from the environment image, after the target object image is determined, the target object image may be reported to a cloud server, the cloud server determines the position of the target object in the actual environment, and accordingly, according to the position of the target object, the host 102 is controlled to steer accordingly.
For example, when the control host 102 is about to move to the position of the target object, the control host 102 is steered in time to avoid collision with the target object, thereby realizing flexible adaptive adjustment of the position of the host 102.
In an embodiment of the present invention, the locator 1011 is a signal transmitter, the host 102 further comprises a signal receiver 1028, the signal receiver 1028 is connected to the controller 1021, and the signal receiver 1028 receives a target signal transmitted by the signal transmitter and transmits the target signal to the controller 1021; the controller 1021 determines position information of the water gun 101 according to the target signal.
The signal receiver 1028 may be, for example, an ultrasonic signal receiver 1028, an infrared signal receiver 1028, or any other possible signal receiver 1028, which is not limited to this, and the signal receiver 1028 is further configured to be connected to the controller 1021, so that the controller 1021 may monitor whether the signal receiver 1028 receives a target signal in real time, and when it is determined that the signal receiver 1028 receives the target signal, the controller 1021 may acquire the target signal, thereby determining the position information of the water gun 101 according to the target signal.
Wherein, can be in the in-process of cleaning equipment 10 work, send initial signal in real time by signal transmitter, because the decay effect of factors such as air resistance, the signal that signal receiver 1028 received, probably not be completely unanimous with the parameter of initial signal, from this, the embodiment of the utility model provides an in, can be with the signal that signal receiver 1028 received, be called the target signal to, this target signal is the initial signal that signal transmitter transmitted, via the signal after certain factors such as air resistance decay.
As an example, in general, in the process of implementation, signal parameters such as phase and signal strength of the transmitted initial signal may be set in advance for the signal transmitter, the signal receiver 1028 receives the target signal, and the controller 1021 may determine the position information of the water gun 101 according to the received parameters such as actual phase and actual signal strength of the target signal, which is not limited to this.
In one embodiment of the present invention, the signal transmitter is an infrared signal transmitter, the signal receiver 1028 is a plurality of infrared receiving tubes, and the controller 1021 is connected to each of the infrared receiving tubes, and a part of the infrared receiving tubes are triggered when receiving an infrared signal transmitted from the infrared signal transmitter, wherein,
the controller 1021 detects the triggered part of the infrared receiving tubes, and determines the position information of the water gun 101 according to the installation information of the part of the infrared receiving tubes.
As another example, the signal emitter may be an infrared signal emitter, and the signal receiver 1028 may be an infrared receiving tube, for example, so that the signal emitter on the water gun 101 may also emit infrared signals in various directions, the infrared receiving tube on the main machine 102 of the cleaning apparatus 10 is triggered when receiving the infrared signals, and the controller 1021 on the main machine 102 is electrically connected to the infrared receiving tube, and may read triggering information of the infrared receiving tube and determine a position of the infrared signal emitter, so as to use the position of the infrared signal emitter as position information of the water gun 101, which is not limited herein.
Through be provided with signal transmitter on squirt 101, be provided with signal receiver 1028 on the host computer 102, receive the target signal that signal transmitter launched through signal receiver 1028, according to target signal, confirm the positional information of squirt 101, perhaps, through be provided with positioning device on squirt 101, direct receipt the positional information of squirt 101 that positioning device sent, all can obtain comparatively accurate positional information under the condition of the hardware manufacturing cost that does not excessively increase cleaning equipment 10, from this, can effectively promote the feasibility and the suitability of method, promote user's use experience.
In the embodiment, the cleaning equipment comprises a water gun and a host machine, the water gun is connected with the host machine through a water pipe, a positioner is arranged on the water gun, and a controller is arranged in the host machine, wherein the positioner is used for acquiring position information of the water gun and transmitting the position information to the controller in the working process of the cleaning equipment; the controller is used for controlling the host to move according to the position information of the water gun so as to adjust the current position of the host, dynamic adjustment of the position of the host is achieved in a self-adaptive mode according to the position information of the water gun, self-adaptive movement of the host of the cleaning equipment is achieved, and the self-adaptive control effect of the cleaning equipment is effectively improved.
It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present invention includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (9)
1. A cleaning apparatus, comprising: the water gun is connected with the main machine through a water pipe, the water gun is provided with a positioner, the main machine is internally provided with a controller, wherein,
the positioner is used for acquiring the position information of the water gun in the working process of the cleaning equipment and transmitting the position information to the controller;
the controller is used for controlling the main machine to move according to the position information of the water gun so as to adjust the current position of the main machine.
2. The cleaning apparatus defined in claim 1, wherein,
the controller controls the main machine to move towards the direction close to the water gun according to the position information of the water gun, so that the current position of the main machine is adjusted.
3. The cleaning apparatus as claimed in claim 1, wherein a sensor, a memory and a driver are provided in the host, the memory and the driver are respectively connected to the controller, the memory stores a preset threshold value therein, wherein,
the sensor is used for detecting a relative distance value between the water gun and the main machine and feeding back the relative distance value to the controller;
the controller reads the preset threshold value from the memory and generates a driving instruction when the relative distance value exceeds the preset threshold value;
the controller controls the driver to drive the host to move through the driving command, so that the current position of the host is adjusted.
4. The cleaning apparatus defined in claim 3, wherein,
and the controller generates a stop instruction when the relative distance value is lower than the preset threshold value, so that the driver is controlled to stop driving the host to move through the stop instruction.
5. The cleaning apparatus defined in claim 4, wherein the sensor is an ultrasonic sensor.
6. The cleaning apparatus defined in claim 3, wherein the host machine is further provided with an environmental sensor connected to the controller, wherein,
the environment sensor determines the distribution information of obstacles in the environment and determines road condition information;
the controller generates a target path by combining the obstacle distribution information and the road condition information according to the position information of the water gun and the current position of the host, and generates a first driving instruction according to the target path, so that the driver is controlled according to the first driving instruction to drive the host.
7. The cleaning apparatus according to claim 6, wherein the host computer is further provided with a camera device, and an image recognition device connected to the camera device, the camera device and the image recognition device being respectively connected to the controller, wherein,
the camera device acquires an environment image;
the image recognition device is used for recognizing a target object image of the environment image;
the controller determines the position of the target object image corresponding to the actual environment, and controls the driver to drive the host according to the position, so as to perform steering control on the host.
8. The cleaning apparatus as defined in claim 1, wherein the positioner is a signal transmitter, the host machine is further provided with a signal receiver, the signal receiver is connected with the controller,
the signal receiver receives a target signal transmitted by the signal transmitter and sends the target signal to the controller;
and the controller is used for determining the position information of the water gun according to the target signal.
9. The cleaning apparatus defined in claim 8, wherein the signal emitter is an infrared signal emitter, the signal receiver is a plurality of infrared receiving tubes, the controller is connected to each of the infrared receiving tubes, and a portion of the infrared receiving tubes are activated upon receiving an infrared signal emitted from the infrared signal emitter, wherein,
the controller detects the triggered part of the infrared receiving tubes and determines the position information of the water gun according to the installation information of the part of the infrared receiving tubes.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922027914.8U CN210835725U (en) | 2019-11-21 | 2019-11-21 | Cleaning equipment |
| PCT/CN2020/123150 WO2021098443A1 (en) | 2019-11-21 | 2020-10-23 | Cleaning device control method and apparatus, and cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922027914.8U CN210835725U (en) | 2019-11-21 | 2019-11-21 | Cleaning equipment |
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| CN210835725U true CN210835725U (en) | 2020-06-23 |
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| CN201922027914.8U Active CN210835725U (en) | 2019-11-21 | 2019-11-21 | Cleaning equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112824992A (en) * | 2019-11-21 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Control method and device of cleaning equipment and cleaning equipment |
| WO2021098443A1 (en) * | 2019-11-21 | 2021-05-27 | 苏州宝时得电动工具有限公司 | Cleaning device control method and apparatus, and cleaning device |
-
2019
- 2019-11-21 CN CN201922027914.8U patent/CN210835725U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112824992A (en) * | 2019-11-21 | 2021-05-21 | 苏州宝时得电动工具有限公司 | Control method and device of cleaning equipment and cleaning equipment |
| WO2021098443A1 (en) * | 2019-11-21 | 2021-05-27 | 苏州宝时得电动工具有限公司 | Cleaning device control method and apparatus, and cleaning device |
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