Method for controlling rotating speed, cleaning robot, and storage medium

A cleaning robot, comprising:

• a housing;
• a motion device configured to move the cleaning robot on a surface-to-be-cleaned;
• and
• a main brush assembly disposed at a bottom portion of the cleaning robot, comprising:
• a main brush configured to clean a surface-to-be-cleaned;
• a main brush electric motor connected with the main brush and configured to drive the main brush to rotate;
• a main brush electric motor driver connected with the main brush electric motor and configured to drive the main brush electric motor;
• a processor;
• and
• an encoder disposed at the main brush electric motor, and configured to monitor a rotating speed of the main brush, and transmit a feedback signal including the rotating speed of the main brush to the processor,
• wherein the processor is electrically connected with the encoder and the main brush electric motor driver, and is configured to receive the feedback signal from the encoder, and output an instruction signal to the main brush electric motor driver, and
• wherein the main brush electric motor driver is configured to adjust the rotating speed of the main brush, and
• wherein the main brush cleans the surface-to-be-cleaned when the motion device moves the cleaning robot on the surface-to-be-cleaned, and
• wherein the processor is configured to perform a method for controlling the rotating speed of the main brush of the cleaning robot, the method comprising:
• obtaining the rotating speed of the main brush when the main brush cleans the surface-to-be-cleaned;
• comparing the rotating speed of the main brush with a predetermined rotating speed;
• when the rotating speed of the main brush is less than the predetermined rotating speed, controlling an electric motor driver of an electric motor of the main brush to increase an electrical signal supplied to the electric motor, to increase the rotating speed of the main brush to the predetermined rotating speed;
• monitoring whether a relevant electrical signal at the electric motor of the main brush exceeds a predetermined electrical signal threshold within a first predetermined time period;
• when the relevant electrical signal at the electric motor of the main brush exceeds the predetermined electrical signal threshold within the first predetermined time period, outputting an alarm signal indicating over-current and/or stopping the electric motor within a predetermined time period;
• and
• when the relevant electrical signal does not exceed the predetermined electrical signal threshold within the first predetermined time period, determining whether the rotating speed of the main brush reaches the predetermined rotating speed within a second predetermined time period, and when it is determined that the rotating speed of the main brush does not reach the predetermined rotating speed within the second predetermined time period, restarting the electric motor.

A non-transitory computer-readable storage medium storing computer-executable program instructions, wherein when the computer-executable program instructions are executed by a processor, the processor controls a cleaning robot to perform a method for controlling a rotating speed of a main brush of the cleaning robot, the method comprising:

• obtaining the rotating speed of the main brush when the main brush cleans a surface-to-be-cleaned;
• comparing the rotating speed of the main brush with a predetermined rotating speed;
• when the rotating speed of the main brush is less than the predetermined rotating speed, controlling an electric motor driver of an electric motor of the main brush to increase an electrical signal supplied to the electric motor, to increase the rotating speed of the main brush to the predetermined rotating speed;
• monitoring whether a relevant electrical signal at the electric motor of the main brush exceeds a predetermined electrical signal threshold within a first predetermined time period;
• when the relevant electrical signal at the electric motor of the main brush exceeds the predetermined electrical signal threshold within the first predetermined time period, outputting an alarm signal indicating over-current and/or stopping the electric motor within a predetermined time period;
• and
• when the relevant electrical signal does not exceed the predetermined electrical signal threshold within the first predetermined time period, determining whether the rotating speed of the main brush reaches the predetermined rotating speed within a second predetermined time period, and when it is determined that the rotating speed of the main brush does not reach the predetermined rotating speed within the second predetermined time period, restarting the electric motor.