CN113509113A

CN113509113A - Surface working apparatus, liquid transport method, and storage medium

Info

Publication number: CN113509113A
Application number: CN202010274665.7A
Authority: CN
Inventors: 孙建; 徐伟
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-10-19

Abstract

The embodiment of the application provides a surface working device, a liquid conveying method and a storage medium. In an embodiment of the application, a surface working device is provided, which includes a control system, a mixing system and at least two solution buckets, wherein the control system can control the mixing system according to the dirt information or the category information of a working surface, and the mixing system controls the mixing ratio of cleaning liquid in the at least two solution buckets according to the control of the control system, so as to provide mixed liquid with a more appropriate mixing ratio to the working surface, improve the working quality and reduce the solution waste.

Description

Surface working apparatus, liquid transport method, and storage medium

Technical Field

The present invention relates to the technical field of surface treatment equipment, and in particular, to a surface working apparatus, a liquid conveying method, and a storage medium.

Background

Existing surface working equipment, such as washers or floor suction equipment, can perform floor cleaning tasks. In performing a floor cleaning task, cleaning liquid may be sprayed to the floor through the nozzle, the floor is cleaned with the cleaning liquid, and then the dirty liquid after cleaning the floor is sucked into the recovery tub through the suction nozzle. In this process, a cleaning agent may be added to the cleaning liquid to improve the cleanliness of the floor. However, the surface working equipment such as the cleaning machine and the ground suction equipment in the prior art has the problem of how to reasonably control the addition amount of the cleaning agent.

Disclosure of Invention

Aspects of the present application provide a surface working apparatus, a liquid conveying method, and a storage medium for supplying a mixed liquid having a more appropriate mixing ratio to a working surface, improving working quality, and reducing waste of a solution.

An embodiment of the present application provides a surface working apparatus, including: the device comprises at least two solution barrels, a mixing system, a liquid nozzle, an image acquisition device and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle; the image acquisition device is used for acquiring an image containing the dirt information of the working surface and providing the image to the control system; the control system is used for controlling the mixing system according to the dirt information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

An embodiment of the present application further provides a surface working apparatus, including: the device comprises at least two solution barrels, a mixing system, a liquid nozzle, a communication module and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle; the surface working equipment is in communication connection with other equipment deployed in the same working environment through a communication module; the control system is used for receiving the dirt information of the working surface sent by other equipment and controlling the mixing system according to the dirt information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

An embodiment of the present application further provides a surface working apparatus, including: the device comprises at least two solution barrels, a mixing system, a liquid nozzle and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle; the control system is used for acquiring the class information of the working surface; controlling the hybrid system according to the category information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

The embodiment of the application also provides a liquid conveying method, which is suitable for surface operation equipment and comprises the following steps: acquiring dirt information of a working surface; adjusting the mixing proportion of cleaning liquid in at least two solution barrels on the surface operation equipment according to the dirt information of the operation surface; and spraying the mixed liquid with the adjusted mixing ratio to the working surface to clean the working surface.

The embodiment of the application also provides a liquid conveying method, which is suitable for surface operation equipment and comprises the following steps: acquiring category information of a working surface; adjusting the mixing proportion of cleaning liquid in at least two solution buckets on the surface working equipment according to the class information of the working surface; and spraying the mixed liquid with the adjusted mixing ratio to the working surface to clean the working surface.

Embodiments of the application also provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor causes the processor to carry out the steps of the liquid delivery method according to any of the claims.

In this embodiment, a surface working device is provided, which includes a control system, a mixing system and at least two solution buckets, wherein the control system can control the mixing system according to the dirt information or the category information of the working surface, and the mixing system controls the mixing ratio of the cleaning liquids in the at least two solution buckets according to the control of the control system, so as to provide the mixed liquid with a more appropriate mixing ratio to the working surface, thereby improving the working quality and reducing the solution waste.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1a is a perspective view of a surface working apparatus according to an exemplary embodiment of the present disclosure;

FIG. 1b is a bottom view of a ground brush assembly in a surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 1c is a left side view of a surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 1d is a rear view of a surface working apparatus according to an exemplary embodiment of the present disclosure;

fig. 2 is a schematic diagram of an internet of things where surface working equipment is located and acquiring working surface fouling information based on the internet of things, according to an exemplary embodiment of the present disclosure;

FIG. 3 is a perspective view of another surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 4a is a perspective view of yet another surface working apparatus according to an exemplary embodiment of the present disclosure;

FIG. 4b is a schematic diagram illustrating an operating status of a contamination detection apparatus and a status of an electrical signal generated by the contamination detection apparatus according to an exemplary embodiment of the present disclosure;

FIG. 5a is a schematic diagram of a structure of yet another surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 5b is a schematic diagram illustrating an operating status of a class detection device and a status of an electrical signal generated by the class detection device according to an exemplary embodiment of the present disclosure;

FIG. 6 is a perspective view of yet another surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 7 is a schematic diagram of a hybrid system according to an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic diagram of another hybrid system according to an exemplary embodiment of the present application;

FIG. 9 is a perspective view of yet another surface working apparatus provided in an exemplary embodiment of the present application;

FIG. 10 is a schematic flow chart of a method of liquid delivery provided by an exemplary embodiment of the present application;

FIG. 11 is a schematic flow chart of another method of liquid delivery provided by an exemplary embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The problem of how to rationally control the additive amount of the cleaning agent is faced by the surface operation equipment such as the existing cleaning machine or ground suction equipment. In this embodiment, a surface working equipment contains control system, hybrid system and two at least solution buckets, and control system can control the hybrid system according to the dirty information or the classification information of operation surface, and the hybrid system controls the mixing ratio of clean liquid in two at least solution buckets according to control system's control to provide the more suitable hybrid liquid of mixing ratio for the operation surface, improve the operating quality, reduce the extravagant purpose that reaches the addition of automatic control cleaner of solution.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1a is a perspective view of a surface working apparatus according to an exemplary embodiment of the present disclosure. FIG. 1b is a bottom view of a ground brush assembly in a surface working apparatus provided in an exemplary embodiment of the present application. The surface working device may be any cleaning device that supports a wet sweeping function, such as a washer, a wet cleaner, a wet and dry cleaner, a wet sweeping robot, or a wet and dry sweeping robot. As shown in connection with fig. 1a, 1b and 7, the surface working apparatus 100 includes: at least two solution vats 101, a mixing system 102, a liquid nozzle 103, and a control system 104. At least two solution tanks 101 are used to store at least two different types of liquids. The number of the solution buckets 101 may be two or more. As shown in fig. 7, two solution tanks 101 are illustrated as an example, one is the solution tank 101 for storing fresh water, and the other is the solution tank 101 for storing lotion. Reference is made to fig. 7 with regard to the position of the mixing system 102 in the surface working apparatus 100. As shown in fig. 7, a mixing system 102 is disposed between the at least two solution barrels 101 and the liquid nozzle 103, and can communicate the at least two solution barrels 101 and the liquid nozzle 103. See fig. 1b for liquid nozzle 103. The structure in the dashed box in fig. 1b is a liquid nozzle 103, and the liquid nozzle 103 includes a plurality of liquid outlets, but may also include 1 liquid outlet. The number of the liquid nozzles 103 may be 1 or more, and is not limited to this. The control system 104 can mix the liquid in at least two solution barrels 101 through the mixing system 102 and spray the mixed liquid to the work surface through the liquid nozzles 103 to clean the work surface. Depending on the application, the work surface may vary, for example, the work surface may be a floor, a carpet, a wall, a ceiling, or a glass area. Accordingly, the liquids stored in the at least two solution tanks 101 may be different according to the working surface. For example, the at least two liquids may include a washing agent and clear water, the washing agent may be one or more, and a mixed liquid formed by mixing the one or more washing agents with the clear water acts on the work surface. For another example, the at least two liquids include a plurality of different lotions, and a mixed liquid formed by mixing the plurality of different lotions is applied to the work surface.

In addition to the above components, referring to fig. 1a and 1b, the surface working apparatus 100 further includes: other components such as the apparatus body 108, the floor brush assembly 105, the recovery bucket 106, and the suction nozzle 107 (see fig. 1 b). At least two solution barrels 101, a mixing system 102, a recycling barrel 106 and a control system 104 are arranged on the equipment body 108. At least two solution buckets 101 and a recovery bucket 106 are detachably mounted on the apparatus body 108. The suction nozzle 107 and the liquid nozzle 103 are disposed on a floor brush assembly 105, and the floor brush assembly 105 is movably connected to a lower end of the apparatus body 108. The floor brush assembly 105 is used to clean a work surface; the liquid nozzle 103 can spray a mixed liquid formed by mixing the liquids in at least two solution buckets 101 to a working surface during the operation of the floor brush assembly 105; with the mixed liquid, the floor brush assembly 105 can more thoroughly clean the work surface. The recovery tank 106 is used for storing recovered waste liquid, sewage, and the like; the suction nozzle 107 communicates with the recovery bucket 106 for drawing waste liquid or sewage on the cleaned work surface of the floor brush assembly 105 into the recovery bucket 106 during operation of the floor brush assembly 105. In addition, in order to more clearly show the positions of the components, the present embodiment provides, in addition to the perspective view of the surface working apparatus 100, a left side view and a rear view of the surface working apparatus 100, as shown in fig. 1c and 1d, respectively. In this description, fig. 1a to 1d and other figures that follow illustrate the surface working apparatus 100 as a cleaning machine, but those skilled in the art should understand that the cleaning machine is only one implementation of the surface working apparatus 100, and is not limited thereto.

Further, the surface working apparatus 100 may further include: a motor assembly and a battery assembly that are responsible for providing power to the surface working apparatus 100 and the floor brush assembly 105. Further optionally, the motor assembly comprises: a main motor responsible for driving the surface working apparatus 100 and a floor brush motor responsible for driving the floor brush assembly 105. Of course, the surface working apparatus 100 may also include other components, such as drive wheels, gripping members, etc., depending on the form in which the surface working apparatus 100 is implemented. For simplicity of illustration, these components are not shown in fig. 1a, 1c and 1 d.

The requirement for cleaning strength varies according to the dirt information or the classification information of the working surface. Among the factors that influence the cleaning power is the mixing ratio between the mixed liquids acting on the working surface. If the mixing proportion between the mixed liquids is not appropriate, for example, the proportion of part of the liquid in the mixed liquid is low, the cleaning force can be reduced, and the cleaning quality cannot be ensured; for another example, the proportion of part of the liquid in the mixed liquid is high, which may cause waste of the liquid. In this embodiment, the control system 104 may control the blending system 102 based on some information related to the work surface; the mixing system 102 can adjust the mixing ratio of the cleaning liquids in the at least two solution buckets 101 according to the control of the control system 104, and spray the mixed liquid with the adjusted mixing ratio to the working surface through the liquid nozzle 103, so that the mixed liquid with a more appropriate mixing ratio can be provided for the working surface, the working quality is improved, and the waste of the solution is reduced.

Wherein the information related to the work surface may include: fouling information and/or classification information of the work surface. For example, the mixing ratio of the cleaning liquids in the at least two solution tanks 101 may be adjusted according to the dirt information of the work surface. For another example, the mixing ratio of the cleaning liquids in the at least two solution buckets 101 may be adjusted according to the class information of the work surface. For another example, the mixing ratio of the cleaning liquids in the at least two solution tanks 101 may be adjusted simultaneously in combination with the class information and the contamination information of the work surface. The above-mentioned several cases will be described in detail by detailed examples, respectively.

In some embodiments of the present application X1The mixing ratio of the cleaning liquids in the at least two solution tanks 101 is adjusted according to the dirt information of the work surface so as to supply the mixed liquid with a more appropriate mixing ratio to the work surface. Based on this, the control system 104 may control the hybrid system based on the fouling information of the work surface; the mixing system 102 adjusts the mixing ratio of the cleaning liquid in at least two solution buckets 101 according to the control of the control system 104, and the mixed liquid with the adjusted mixing ratio is sprayed to the working surface through the liquid nozzle 103, so that the mixed liquid with the more appropriate mixing ratio is provided for the working surface, the working quality is improved, and the waste of the solution is reduced. In the embodiment of the present application, the embodiment of the control system for acquiring the dirt information of the work surface is not limited, and several embodiments of acquiring the dirt information of the work surface are described below.

Embodiment a 1:the surface working device 100 has a communication module 112, for example a wifi module, an infrared module, a bluetooth module, etc., by means of which communication module 112 the surface working device 100 can communicate with other devices. As shown in FIG. 2, the surface working device 100 may join the Internet of things in its environment, communicatively connecting with other devices 118 in its working environment; other devices 118 may obtain information about the soiling of the work surface in the work environment and may provide the information to the surface working device 100. Among others, other devices118 may actively send information to surface working equipment regarding the soiling of the working surface in the working environment; alternatively, the surface working apparatus 100 sends a request to another apparatus 118 communicatively connected thereto when dirt information of the working surface is required, and the other apparatus 118 sends the dirt information of the working surface in the working environment to the surface working apparatus 100 according to the request of the surface working apparatus. In this embodiment, the other device 118 is not limited, and the other device 118 may be, but is not limited to: another surface working device, a housekeeping machine, an intelligent box, an image capture device (e.g., a camera), a household appliance, etc., in the same working environment as the surface working device 100. Depending on the work environment in which the surface working apparatus 100 is located, other apparatuses in the work environment that can be communicatively coupled to the surface working apparatus 100 may differ. As shown in FIG. 2, taking the home environment as an example, the surface working apparatus 100 is a home washer that may be communicatively coupled to a housekeeping machine 117 in the home environment; the housekeeping machine 117 may obtain the dirty information of the home floor from the other devices 118 and provide it to the surface working device 100. The caretaker machine 117 may be a smart phone, a tablet computer, a desktop computer, a television, or the like, and in fig. 2, the example in which the caretaker machine 117 is a smart phone and the other devices 118 are sweeping robots is illustrated. For example, in an environment with a large space such as an airport and a train station, there may be a plurality of surface working apparatuses 100 working simultaneously and cooperatively, for example, a surface working apparatus a is working in a certain area, surface contamination information of the area is stored in the surface working apparatus a, at this time, another surface working apparatus B is also added to the area to assist the surface working apparatus a in cleaning the floor, the surface working apparatus a and the surface working apparatus B can be connected by communication, and the surface working apparatus B can acquire the surface contamination information of the area from the surface working apparatus a.

Depending on the device type of the other device 118, the other device 118 may obtain the dirty information of the work surface. For example, in the case of the other device 118 having an image capture function, an image of the work surface may be captured and provided to the surface working device 100. For another example, regardless of whether the other device 118 has an image capturing function, as long as the device has a human-computer interaction function, the dirty information on the surface of the work input by the user may be received. Wherein the user may input the work surface soiling information to the other device 118 by voice, or may input the work surface soiling information to the other device 118 via an electronic screen of the other device 118, or may upload an image of the work surface to the other device. Wherein the image of the work surface comprises fouling information of the work surface.

Embodiment a 2:as shown in fig. 3, the surface working apparatus 100 includes an image capturing device 109, in addition to at least two solution tanks 101, a mixing system 102, a liquid nozzle 103, a control system 104, an apparatus body 108, a floor brush assembly 105, a recovery tank 106, and a suction nozzle 107. Wherein the liquid nozzle 103 and the suction nozzle 107 are not shown in fig. 3, in particular in fig. 1b, nor is the mixing system 102 shown in fig. 3, in particular in fig. 7. In this embodiment, the setting position of the image capturing device 109 is not limited, and any position capable of capturing the image information of the work surface is suitable for the embodiment of the present application. For example, may be provided on a lower portion of the apparatus body 108 near the work surface, or on the floor brush assembly 105. Further optionally, the floor brush assembly 105 comprises a housing on which the image capture device 109 is disposed with its field of view directed toward the work surface. In this embodiment, the number of the image capturing devices 109 is not limited, and may be 1, or may be multiple, such as 2, 3, 5, or 10. In the case that there are a plurality of image capturing devices 109, the plurality of image capturing devices 109 are disposed inside and/or outside the casing of the floor brush assembly 105 in a dispersed manner, the dotted lines in fig. 3 indicate that the image capturing devices 109 are located inside the casing of the floor brush assembly 105, and the solid lines indicate that the image capturing devices are located outside the casing of the floor brush assembly. The image acquisition device 109 may be, but is not limited to: monocular cameras, binocular cameras, laser radar, microwave radar, infrared radar, or the like.

In this embodiment, the image capturing device 109 is used to capture an image containing the dirt information of the work surface and provide the image to the control system 104 of the surface working apparatus 100, and the control system 104 can obtain the dirt information of the work surface according to the image. Alternatively, the control system 104 may perform image recognition using an image recognition model, which may be, but is not limited to: AlexNet, VGG19, ResNet152, inclusion v4, DenseNet, and the like. Alternatively, the control system 104 may upload the image to the server device 119, and the server device 119 may recognize the dirty information of the work surface from the image based on the image recognition model and return the dirty information to the control system 104. Whether the control system 104 or the server-side device 119, before using the image recognition model, the image recognition model may be trained in advance based on the image labeled with the surface contamination information. Wherein, the label of the surface smudge information can be light smudge, moderate smudge, heavy smudge and the like; it may also be labeled as percent stain, e.g., 0% -30% for light stain, 30% -60% for medium stain, 60% -100% for heavy stain, etc.

Embodiment a 3:as shown in fig. 4a, the surface working apparatus 100 includes, in addition to at least two solution buckets 101, a mixing system 102, a liquid nozzle 103, a control system 104, an apparatus body 108, a floor brush assembly 105, a recovery bucket 106, and a suction nozzle 107: a contamination detection device 110. Wherein the liquid nozzle 103 and the suction nozzle 107 are not shown in fig. 4a, in particular in fig. 1b, nor is the mixing system 102 shown in fig. 4a, in particular in fig. 7. The contamination detection device 110 is used to detect the contamination degree of the waste water or the sewage recovered by the surface working equipment during the working process, and determine the contamination information of the working surface according to the contamination degree of the recovered waste water or the sewage. In the present embodiment, the installation position of the contamination detecting device 110 on the surface working equipment 100 is not limited, and the contamination detecting device may be installed at any position on the waste water or sewage recovery channel, for example, at the bottom of the floor brush assembly 105, inside the suction nozzle 107, inside the recovery tank 106, or on the recovery pipeline connecting the suction nozzle 107 and the recovery tank 106. Wherein, the bottom of the floor brush assembly 105, the inside of the suction nozzle 107, the inside of the recycling bin 106 or the recycling pipeline connecting the suction nozzle 107 and the recycling bin 106 form a waste water or sewage recycling channel. In fig. 4a, the contamination detecting device 110 is shown as an example in the collection tub 106.

In an alternative embodiment, the contamination detection device 110 comprises a first signal transmitting device and a first signal receiving device, and the first signal transmitting device and the first signal receiving device are oppositely arranged. Wherein, the signal that first signal emission device sent can reach first signal receiver after waste water or sewage. Further, the first signal receiving device converts the arriving signal into an electrical signal and outputs the electrical signal to the control system 104. The signals transmitted by the first signal transmitting device are attenuated differently by the waste water or the sewage with different degrees of contamination, and the signals received by the first signal receiving device are different, which means that the control system 104 receives different electrical signals. Accordingly, the control system 104 can determine the contamination information of the liquid mixture according to the different electrical signals. Further alternatively, as shown in fig. 4b, the first signal transmitting device and the first signal receiving device are an infrared transmitting device and an infrared receiving device respectively disposed at two sides of the wastewater or sewage recovery channel, and in the operation process of the surface operation equipment, the infrared transmitting device transmits an infrared signal to the outside, and the infrared receiving device is configured to receive the infrared signal and output an electrical signal indicating the receiving state of the infrared signal to the control system; the control system 104 is configured to determine the contamination information of the liquid mixture based on the different electrical signals.

In fig. 4b, four different types of waste water or sewage are exemplarily shown, but not limited thereto, when flowing through the recycling channel, the infrared receiving device detects the states of the different types of waste water or sewage and generates different forms of electric signals. In the present embodiment, the form of the electrical signal is not limited, and may be, for example, a current signal or a voltage signal. Fig. 4b illustrates an example in which the electrical signal is a voltage signal. Case a 1: when no wastewater or sewage flows through the recovery channel, the infrared receiving device detects a voltage signal in the recovery channel, and the voltage signal is constant to be a voltage value V1; case a 2: when the clean water flows through the recovery channel, the infrared receiving device detects a voltage signal in the recovery channel, and the voltage signal fluctuates up and down at a voltage value V1; case a 3: when the lightly polluted water flows through the recovery channel, the infrared receiving device detects a voltage signal in the recovery channel, and the voltage signal fluctuates up and down at a voltage value V2; case a 4: when the heavily polluted water flows through the recovery channel, the infrared receiving device detects a voltage signal in the recovery channel, and the voltage signal fluctuates around a voltage value V3.

Further, the control system 104 may determine the contamination information of the liquid mixture according to different electrical signals, and if the control system 104 detects that the electrical signal is the voltage value V1, it is determined that no liquid mixture flows through the recycling channel; if the control system 104 detects that the electric signal fluctuates up and down at the voltage value V1, it is determined that the clean water flows through the recovery channel, and the dirty information is no dirty; if the control system 104 detects that the electric signal fluctuates up and down at the voltage value V2, determining that the lightly polluted water flows through the recovery channel, and determining that the dirty information is light dirty; if the control system 104 detects that the electric signal fluctuates above and below the voltage value V3, it is determined that the heavily polluted water flows through the recovery channel, and the dirty information is heavy dirty.

It should be noted that the contamination detecting device 110 may be implemented in other manners besides the above-mentioned implementation manners, for example, the first signal transmitting device and the first signal receiving device may be a laser transmitting device and a laser diode, or may be an LED light source and a color sensor.

In any of the above embodiments, after obtaining the information on the dirt on the work surface, the control system 104 controls the mixing system 102 according to the information on the dirt on the work surface, adjusts the mixing ratio of the cleaning liquids in the at least two solution tanks 101 by the mixing system 102, and sprays the mixed liquid with the adjusted mixing ratio to the work surface through the liquid nozzle 103. For a detailed implementation of the control system 104 controlling the mixing system 102 according to the dirt information of the working surface to adjust the mixing ratio of the liquid, reference is made to the following embodiments, which will not be described in detail herein.

In yet other embodiments of the present application X2,the mixing proportion of the cleaning liquid in at least two solution buckets 101 can be adjusted by simultaneously combining the class information and the dirt information of the working surface, so that the mixed liquid with a more proper mixing proportion can be provided for the working surface; based on thisThe control system 104 controls the mixing system 102 according to the class information and the dirt information of the work surface, and the mixing system 102 adjusts the mixing ratio of the cleaning liquid in the at least two solution buckets according to the control of the control system. For an implementation of how to obtain the smudge information of the working surface, reference may be made to the foregoing embodiments, which are not described herein again. Several embodiments for obtaining category information for a work surface are described in detail below.

Embodiment B1:as described in the above embodiment a1, the surface working apparatus 100 has the communication module 112, and the surface working apparatus 100 can communicate with other apparatuses via the communication module 112. The surface working device 100 may be added to the internet of things in its environment and communicatively connected to other devices in its working environment; other devices may obtain not only fouling information for the work surface in the work environment, but also category information for the work surface in the work environment and may provide it to the surface working device 100. For the description of the other devices 118, reference may be made to the foregoing embodiments, which are not repeated herein.

Embodiment B2:as described in embodiment a2, the surface working apparatus 100 further includes the image pickup device 109. The image capture device 109 is used to capture an image of the work surface and provide it to the control system 104 of the surface working apparatus 100. Control system 104 may use an image recognition model for image recognition to identify not only the fouling information of the work surface, but also the class information of the work surface. Alternatively, the control system 104 may upload the image to the server device 119, and the server device 119 may recognize the work surface contamination information and the classification information from the image based on the image recognition model and return the image to the control system 104. For a detailed description of the image capturing device 109 and the image recognition model, reference may be made to the foregoing embodiments, which are not repeated herein.

Embodiment B3:the floor brush assembly 105 may have a floor brush motor thereon, which is responsible for supplying power to the floor brush assembly 105 for driving the floor brush assembly 105. Wherein the resistance to the forward and backward movement of the floor brush assembly 105 across the work surface varies depending on the type of work surface,accordingly, the amount of current provided by the brush motor to the brush assembly 105 will vary. For example, when the surface working apparatus 100 is operated on a floor, the resistance generated by the brush assembly 105 moving back and forth on the floor is small, and therefore, the current supplied by the brush motor to the brush assembly 105 is small; when the surface working apparatus 100 is operated on a carpet, the resistance generated by the brush assembly 105 moving back and forth over the carpet is large, and therefore, the current supplied by the brush motor to the brush assembly 105 is large.

In view of the above, the control system 104 may detect the current of the wiper motor and determine the class information of the work surface based on the detected current level. Taking the example of work surfaces including carpet and floor, the back and forth movement of the brush assembly 105 over the floor or carpet creates resistance, and since the surface of the floor is smoother than the surface of the carpet, the brush assembly 105 creates more resistance when working over the carpet than when working over the floor. The control system 104 may preset in advance the current value generated by the surface working apparatus 100 during different surface working operations, for example, during floor working, the current value of the brush motor is a; when the carpet works, the current value of the ground brush motor is b. When the surface working apparatus is operating in an unknown area, the control system 104 detects the current value c and compares the current value c with the current value a and the current value b, and determines that the working surface is a floor if the current value c is closer to the current value a and determines that the working surface is a carpet if the current value c is closer to the current value b.

Embodiment B4:based on the surface working apparatus 100 shown in fig. 3, as shown in fig. 5a, the surface working apparatus 100 further comprises a category detection device 111 for detecting category information of the working surface, and the category detection device 111 is arranged on the floor brush assembly 105 and is used for generating a detection signal representing the category information of the working surface and providing the detection signal to the control system 104 during the working process of the floor brush assembly 105. The control system 104 may determine the category information of the work surface based on the detection signal generated by the category detection device 111. In the present embodiment, the implementation structure of the category detection device 111 is not limited, and any implementation structure capable of detecting the category information of the work surface is applicable to the present embodiment. Wherein the content of the first and second substances,the control system 104 determines the type information of the work surface based on the detection signal according to the different implementation structures of the type detection device 111. The following is an exemplary description:

embodiment C1:the category detection device 111 is a trigger switch disposed on the floor brush assembly 105, and a certain distance is provided between the trigger switch and the lower end surface of the floor brush assembly 105; the trigger switch sends an electrical signal to the control system 104 when it touches an object; control system 104, upon receiving the electrical signal, determines that the work surface is a first type of surface; and determining the work surface to be a second type of surface when the electrical signal is not received.

In this embodiment, the second type of surface is different from the first type of surface, but the first type of surface and the second type of surface are not limited. For example, the first type of surface may be, but is not limited to: tile floors, wood floors, or glass surfaces, etc. are relatively smooth and flat surfaces. Accordingly, the second type of surface may be, but is not limited to, a relatively rough and somewhat convex surface such as a carpet. The operation of the trigger switch and the process of the control system 104 determining the type of work surface based on the electrical signal provided by the trigger switch will be described in detail below, taking the first type of floor as an example, and the second type of floor as an example, carpet.

When the surface working equipment 100 performs a cleaning task on a floor, the floor brush assembly 105 moves back and forth, the trigger switch arranged on the floor brush assembly 105 is at a certain distance from the lower end surface of the floor brush assembly 105, and the floor is smooth and flat, which means that the trigger switch cannot contact the floor, so that the trigger switch cannot be triggered and cannot generate an electric signal, and therefore, the control system 104 cannot receive the electric signal generated by the trigger switch, so that the working surface can be determined to be a first-class surface, namely the floor. On the contrary, when the surface working equipment performs a cleaning task on the carpet, the floor brush assembly moves back and forth, the pile protrusions on the carpet can contact the trigger switch, and the trigger switch is triggered (conducted) to generate an electric signal and send the electric signal to the control system 104, so that the control system 104 receives the electric signal generated by the trigger switch, and the working surface can be determined to be a second type of surface, namely the carpet.

Embodiment C2:the category detecting device 111 includes a second signal transmitting device and a second signal receiving device, wherein a signal transmitted by the second signal transmitting device can reach the second signal receiving device after passing through the work surface. Further, the second signal receiving device converts the arriving signal into an electric signal and outputs the electric signal to the control system 104. Accordingly, control system 104 may determine the classification information of the work surface based on the different electrical signals. Further alternatively, the second signal emitting device and the second signal receiving device are an infrared emitting device and an infrared receiving device, respectively, oppositely disposed on the floor brush assembly 105, as shown in fig. 5 b; the infrared transmitting device externally transmits infrared signals in the operation process of the ground brush assembly 105, and the infrared receiving device is used for receiving the infrared signals and outputting electric signals representing the receiving state of the infrared signals to the control system 104; control system 104 may determine that the work surface is a first type of surface when the electrical signal is at or near a sustained high level; and determining the work surface to be a second type of surface when the electrical signal is at or near a sustained low level. The continuous or approximate continuous high level is determined by the proportion of the total duration of the high level in the electric signal to the duration of the whole electric signal, if the proportion of the total duration of the high level in the electric signal to the duration of the whole electric signal is 100%, the electric signal is determined to be the continuous high level, and if the proportion of the total duration of the high level in the electric signal to the duration of the whole electric signal exceeds a first threshold value, the electric signal is determined to be the approximate continuous high level. The continuous or approximate continuous low level is determined by the proportion of the total duration of the low levels in the electric signal to the duration of the whole electric signal, if the proportion of the total duration of the low levels in the electric signal to the duration of the whole electric signal is 100%, the electric signal is determined to be the continuous low level, and if the proportion of the total duration of the low levels in the electric signal to the duration of the whole electric signal exceeds a first threshold value, the electric signal is determined to be the approximate continuous low level. In this embodiment, the first threshold is not limited, and may be, for example, but not limited to, 80%, 90%, 99%, and the like. The following takes the first type of surface as a floor and the second type of surface as a carpet, for example, for surface working equipment100 details the process of detecting the work surface type information.

Fig. 5b shows the working principle of the ir transmitting device and the ir receiving device and the waveforms of the detected electrical signals when the surface working apparatus 100 is performing cleaning tasks on different working surfaces. Assuming that the overall electrical signal has a duration of t1, t1 may also be understood as the duration of one back and forth movement of the floor brush assembly of the surface working apparatus 100, with the first threshold being 80%. When the surface working apparatus 100 is performing a task on a work surface (e.g., a floor) as shown in condition b1, the infrared signal from the infrared emitting device is received by the infrared receiving device without any interference or blockage between the infrared emitting device and the infrared receiving device, so that a continuously high level may be output to the control system 104 during the time period t1, and accordingly, the control system 104 may determine that the work surface is a first type of surface, i.e., a floor. When the surface working apparatus 100 is performing a task on a work surface as shown in condition b2, there is some interference or blockage between the ir emitting device and the ir receiving device, and some of the ir signal emitted by the ir emitting device is not received by the ir receiving device, resulting in the total duration of the high level in the electrical signal during time t1 being 90% of the duration of the electrical signal, 90% exceeding the first threshold 80%, so that an approximately sustained high level may be output to the control system 104 during time t1, whereupon the control system 104 may determine that the work surface is a first type of surface, i.e., a floor. When the surface working apparatus 100 performs the working task on the working surface as shown in the condition b3, the infrared transmitting device and the infrared receiving device are interfered or blocked, and the infrared signal transmitted by the infrared transmitting device is not received by the infrared receiving device, so that a continuous low level can be output to the control system 104 in the time period t1, and accordingly, the control system 104 can determine that the working surface is the second type of surface, i.e., the carpet. When the surface working apparatus 100 is performing a work task on a work surface as shown in condition b4, there is some interference or blockage between the ir transmitting device and the ir receiving device, and some of the ir signal transmitted by the ir transmitting device is not received by the ir receiving device, resulting in the total duration of the low level in the electrical signal being 80% of the duration of the entire electrical signal during time t1, 80% being equal to the first threshold 80%, so that an approximately continuous low level may be output to the control system 104 during time t1, whereupon the control system 104 may determine that the work surface is a second type of surface, i.e., a carpet.

With any of the above embodiments, after obtaining the class information and the contamination information of the working surface, the control system 104 may control the mixing system 102 according to the class information and the contamination information of the working surface, and the mixing system 102 adjusts the mixing ratio of the cleaning liquids in the at least two solution buckets 101 according to the control of the control system 104, which specifically includes the following embodiments:

embodiment D1:the control system 104 firstly controls the mixing system 102 according to the class information of the working surface so as to roughly adjust the mixing proportion of the cleaning liquid in at least two solution barrels 101; then, the mixing system 102 is controlled according to the dirt information of the working surface to finely adjust the mixing ratio of the cleaning liquids in the at least two solution buckets 101.

Embodiment D2:the control system 104 controls the mixing system 102 according to the dirt information of the working surface to roughly adjust the mixing ratio of the cleaning liquid in the at least two solution barrels 101; then, the mixing system 102 is controlled according to the class information of the working surface to finely adjust the mixing ratio of the cleaning liquids in the at least two solution buckets 101.

Embodiment D3:the control system 104 may also control the mixing system 102 to adjust the mixing ratio of the cleaning liquids in the at least two solution tanks 101 based on the class of the work surface and the fouling information.

In yet other embodiments of the present application X3,the mixing proportion of the cleaning liquid in at least two solution buckets can be adjusted according to the class information of the working surface, so that the mixed liquid with a more proper mixing proportion can be provided for the working surface; based on this, the control system 104 controls the mixing system according to the class information of the work surface, the mixing system 102 adjusts the mixing ratio of the cleaning liquids in the at least two solution buckets 101 according to the control of the control system 104, and the mixing ratio is adjusted through the liquid nozzle 103The adjusted mixed liquid is sprayed to the working surface. In the present embodiment, the control system 104 is not limited to the embodiment of obtaining the job surface type information, and several embodiments of obtaining the job surface type information are described below.

Embodiment E1:as shown in fig. 2, the surface working apparatus 100 has a communication module 112, such as a wifi module, an infrared module, a bluetooth module, etc., by means of which communication module 112 the surface working apparatus 100 can communicate with other apparatuses. By means of the communication module 112, the surface working device 100 can communicate with other devices. Control system 104 may receive class information containing a work surface transmitted by other devices deployed in the same work environment as surface working device 104 and communicatively coupled to the surface working device. Other devices may obtain information about the type of work surface in the work environment and may provide the information to the surface working device. For the specific implementation of the operation device, reference may be made to the foregoing description, which is not repeated herein.

Embodiment E2:as shown in fig. 3, the surface working apparatus 100 includes, in addition to the components mentioned in the foregoing embodiments: and the image acquisition device 109 is used for acquiring an image containing the work surface and providing the image to the control system 104, and the control system 104 can identify the class information of the work surface from the image, or the control system 104 can upload the image to the server side equipment, and the server side equipment identifies the class information of the work surface from the image based on the image identification model and returns the class information to the control system 104. For the content of the image capturing device 109, reference may be made to the foregoing embodiments, which are not described herein again.

Embodiment E3:in an alternative embodiment, the floor brush assembly 105 may have a floor brush motor thereon, which is responsible for supplying power to the floor brush assembly 105 to drive the floor brush assembly 105. The control system 105 may determine the class information of the work surface based on the current change information of the wiper motor. For details, reference may be made to the foregoing embodiments, which are not described herein again.

Embodiment E4:as shown in fig. 6, the surface working apparatus 100 is provided in addition toThe system comprises at least two solution barrels 101, a mixing system 102, a liquid nozzle 103, a control system 104, an equipment body 108, a floor brush assembly 105, a recovery barrel 106, a suction nozzle 107 and the like, and further comprises a class detection device 111 for detecting the class of the working surface. Wherein the liquid nozzle 103 and the suction nozzle 107 are not shown in fig. 6, in particular in fig. 1b, nor is the mixing system 102 shown in fig. 6, in particular in fig. 7. The category detection device 111 is used for generating a detection signal representing category information of the working surface during the operation of the floor brush assembly 105; the control system 104 may determine the category information of the work surface based on the detection signal generated by the category detection device 111. For a detailed implementation of the implementation structure of the category detection device 111 and the detailed implementation of the control system 104 determining the category information of the work surface according to the detection signal, reference may be made to the foregoing embodiments, and details are not repeated here.

In the above embodiments X1-X3, the control system 104 may convert the type of work surface and/or soil information into control signals that control the blending system 102; the mixing system 102 is further controlled according to the control signal, so that the mixing system 102 can adjust the mixing ratio of the cleaning liquids in the at least two solution buckets 101 according to the control of the control system 104. In an alternative embodiment, the control system 104 may convert the type and/or fouling information of the work surface into a desired mixing ratio for at least two solutions, and then convert the mixing ratio into a control signal that controls the mixing system 102.

For example, in the case of controlling the mixing system 102 according to the dirt information of the work surface, the corresponding relationship between the dirt level and the solution mixing ratio may be set in advance, and based on this, after the dirt information of the work surface is obtained, matching may be performed in the preset corresponding relationship between the dirt level and the solution mixing ratio according to the dirt information of the work surface; a control signal for controlling the mixing system 102 is generated based on the solution mixing ratio that matches the fouling information of the work surface.

For another example, in the case of controlling the mixing system 102 based on the work surface type information, the correspondence relationship between the surface type and the solution mixing ratio may be set in advance, and based on this, after the type information of the work surface is obtained, matching may be performed in the correspondence relationship between the preset surface type and the solution mixing ratio based on the type information of the work surface; a control signal for controlling the mixing system 102 is generated according to the solution mixing ratio matching the class information of the work surface.

For another example, in the case of controlling the mixing system according to the dirt information and the category information of the working surface, when the working surface is the first type surface, the control system 104 may generate a control signal for controlling the mixing system 102 according to the dirt information and the first dirt degree of the working surface and the corresponding relationship between the solution mixing ratio and the dirt information, so as to adjust the mixing ratio of the cleaning liquids in the at least two solution buckets 101; when the working surface is the second type surface, a control signal for controlling the mixing system 102 is generated according to the dirt information of the working surface and the corresponding relationship between the second dirt degree and the solution mixing ratio, so as to adjust the mixing ratio of the cleaning liquid in the at least two solution buckets.

Wherein, the first contamination degree and solution mixing ratio corresponding relationship is a corresponding relationship between the contamination information of the working surface and the solution mixing ratio when the working surface is the first kind of surface, and in the corresponding relationship, the contamination degree may be, but is not limited to: light dirt, moderate dirt, heavy dirt, etc., and the corresponding relationship between the first dirt degree and the solution mixing ratio may be, but is not limited to: the ratio of the clear water to the lotion is 15:1, the ratio of the clear water to the lotion is 10:1, and the ratio of the clear water to the lotion is 5: 1. Similarly, the second degree of contamination and the solution mixing ratio corresponding relationship is a corresponding relationship between the information on the degree of contamination of the working surface and the solution mixing ratio when the working surface is the second type surface, in which the degree of contamination may be, but is not limited to, no contamination, light contamination, heavy contamination, and the like, and the second degree of contamination and the solution mixing ratio corresponding relationship may be, but is not limited to: no dirt, clear water and lotion are mixed according to a ratio of 15:0, light dirt, clear water and lotion are mixed according to a ratio of 15:2, heavy dirt, clear water and lotion are mixed according to a ratio of 15:6, and the like.

Depending on the implementation of the hybrid system 102, the signal form and the control method for controlling the hybrid system 102 may vary. The implementation of the hybrid system 102 is illustrated below.

In an alternative embodiment, as shown in fig. 7, the mixing system 102 includes: an upper end delivery pipe 113 connected to at least two solution barrels 101, respectively, a lower end delivery pipe 116 connected to the liquid nozzle 103, and a mixing valve 115 disposed between the upper end delivery pipe 113 and the lower end delivery pipe 116. In fig. 7, two solution tanks 101 are illustrated as an example, but not limited thereto. In the case of two solution vats 101, the mixing valve 115 may be a tee 115, the tee 115 being a pipe fitting having three openings, two of which are connected to the upper delivery pipe 113 and the other of which is connected to the lower delivery pipe 116.

In this embodiment, at least a part of the upper delivery pipe 113 is provided with a control valve 114 for adjusting a mixing ratio of the cleaning liquids in at least two of the solution tanks 101. The control valve 114 may be any mechanical structure capable of controlling the flow rate of the cleaning liquid in the solution tank 101. Preferably, the control valve 114 is a solenoid valve, a proportional valve, or a water pump. The middle of the electromagnetic valve is provided with an electromagnet, one side of the electromagnetic valve is provided with an electrified coil, when the coil is not electrified, the electromagnetic valve is in a closed state, liquid in the solution barrel cannot be output, when the coil is electrified, the middle electromagnet is pulled to one side, the electromagnetic valve is in an open state, and the liquid in the solution barrel can be output. The quantitative valve is a control valve which can quantitatively and regularly control the output of the solution. Water pumps are machines that deliver or pressurize a liquid.

In this embodiment, it is permissible to provide a control valve 114 on at least a portion of the upper delivery pipe 113, depending on the solution mixing requirements. For example, if it is desired to flexibly control the flow rate of the cleaning solution in each solution tank 101 during the solution mixing process, a control valve 114 may be provided on the upper end delivery pipe 113 connected to each solution tank 101, as shown in fig. 7. Alternatively, if it is desired to flexibly control the flow rate of the cleaning solution in the partial solution buckets 101 during the solution mixing process, a control valve 114 may be provided on an upper-end delivery pipe 113 connected to a first solution bucket, which is a partial solution bucket of at least two solution buckets 101, as shown in fig. 8. Alternatively, a water pump 120 may be provided between (or at the end of) the lower delivery pipe 116 and the liquid nozzle 103 for delivering or pressurizing a liquid mixture produced by mixing the solutions in at least two solution tanks 101, as shown in fig. 7 and 8. As shown in fig. 8, in the solution tank without the control valve 114 on the upper delivery pipe 113, the cleaning liquid in the solution tank can slowly flow to the mixing valve 115 by its own weight, and after being mixed with the cleaning liquid in other solution tanks by the mixing valve 115, the cleaning liquid is delivered to the liquid nozzle 103 by the lower delivery pipe 116, and is directly discharged to the working surface by the liquid nozzle 103, or discharged to the rolling brush or the cleaning cloth, and then the working surface is wiped by the rolling brush or the cleaning cloth. In the cleaning machine, the liquid nozzles 103 are directed toward the roll brush or the work surface, and in the cleaning robot, the liquid nozzles 103 are directed toward the wiper. The gravity-based liquid drainage has the advantage of low cost. Further alternatively, in the case where the two solution buckets 101 include the solution bucket 101 for storing fresh water and the solution bucket 101 for storing the lotion, the control valve 114 is provided on the upper end delivery pipe 113 connected to the solution bucket for storing the lotion, and the upper end delivery pipe 113 connected to the solution bucket for storing fresh water discharges by its own weight, as shown in fig. 8.

Based on the above-mentioned implementation structure of the hybrid system 102, the hybrid system 102 can be controlled in different ways, one is automatic control, and the other is manual control by a user.

The automatic control mode is as follows:when the surface working apparatus 100 performs a cleaning task, the control system 104 may adjust the mixing ratio of the cleaning liquids in the at least two solution tanks 101 by controlling the opening frequency, the opening duration and/or the opening size of each control valve 114 according to the type of the working surface and/or the dirt information. The control system 104 may obtain a solution mixing ratio corresponding to the type of the work surface and/or the dirt information, and further control the opening frequency, the opening duration, and/or the opening size of each control valve 114 according to the solution mixing ratio to adjust the mixing ratio of the cleaning liquids in the at least two solution tanks 101. The control system 104 may control each control valve 114 by selecting an opening frequency, an opening duration, and an opening size, or by any combination. For example, the control system 104 may only controlThe opening frequency of the control valve 114 can be controlled, the opening frequency and the opening duration of the control valve 114 can be controlled, and the opening frequency, the opening duration and the opening size of the control valve 114 can be controlled at the same time, so that the purpose of adjusting the flow of the cleaning liquid is achieved. Further optionally, control system 104 may send PWM signals to each control valve 114 to control the opening frequency, opening duration, and/or opening size of each control valve 114. For example, the on-time can be controlled by the pulse width of the PWM signal, the larger the pulse width, the longer each on-time, the larger the liquid flow rate, and the higher the liquid ratio in the mixed liquid; the size of the opening can be controlled by the amplitude of the PWM signal, the larger the amplitude value is, the larger the opening is, the larger the liquid flow is, and the higher the liquid ratio in the mixed liquid is; the switching frequency can be controlled by the frequency of the PWM signal, the higher the frequency, the higher the switching frequency, the greater the liquid flow rate, and the higher the liquid fraction in the mixed liquid. Alternatively, control system 104 may generate PWM signals for controlling each control valve 114 based on a solution mixing ratio corresponding to the type of work surface and/or the fouling information. Specifically, the frequency, amplitude, and/or pulse width of the PWM signal corresponding to each control valve 114 may be calculated according to the solution mixing ratio corresponding to the type of the work surface and/or the stain information, and then the PWM signal may be generated according to the frequency, amplitude, and/or pulse width of the PWM signal and sent to each control valve 114.

The manual control mode of the user is as follows:the user is a user of the surface working apparatus. During use of the surface working apparatus, the user may manually adjust the mixing ratio of the cleaning liquid. The manner of adjusting the mixing ratio of the cleaning liquid by the user includes any one of the following: key switch adjustment, touch slide adjustment, gesture adjustment, voice adjustment, intelligent terminal adjustment, and the like.

In an alternative embodiment, as shown in fig. 9, the surface working equipment 100 comprises at least two solution buckets 101, a mixing system 102, a liquid nozzle 103, a control system 104, an equipment body 108, a floor brush assembly 105, a recovery bucket 106, a suction nozzle 107 and the like, and a plurality of physical buttons 119 for controlling the mixing ratio of the liquids are arranged on the equipment body 108. Wherein the liquid nozzle 103 and the suction nozzle 107 are not shown in fig. 9, see in particular fig. 1b, nor is the mixing system 102 shown in fig. 9, see in particular fig. 7. In addition, a communication module 112, an image capturing device 109, and a contamination detection device 110 mounted on the surface working apparatus 100 are also shown in fig. 9. It should be noted that the surface working apparatus 100 may include any one or more of the category detection device 111, the communication module 112, the image capture device 109, and the contamination detection device 110, which is not limited in this regard. Different physical buttons 119 correspond to different solution mixing ratios. In the present embodiment, the shape of the physical key 119 is not limited, and may be, for example, but not limited to, a circle, a square, a triangle, and the like. In the present embodiment, the number of physical keys 119 is also not limited, and may be, for example, 1, 2, 5, or the like. The larger the number of buttons, the finer the granularity of the adjustable solution mix ratio. Taking two kinds of cleaning liquids, namely clean water and lotion as an example, as shown in fig. 9, the number of the physical buttons 119 is 3, which are respectively three positions of "low", "medium", and "high", and the three positions are responsible for controlling the addition amount of the lotion, so that it can be set that 10 ml of the lotion is added into the clean water by pressing the "low" position button once, 20 ml of the lotion is added into the clean water by pressing the "medium" position button once, and 30 ml of the lotion is added into the clean water by pressing the "high" position button once. In addition, the physical keys 119 in the three positions can be used for mixing the clean water and the lotion, so that the position of the low position key is 15:0 when the key is pressed once, the position of the medium position key is 10:1 when the key is pressed once, and the position of the high position key is 15:6 when the key is pressed once. The above-mentioned values of the addition amount of the detergent and the mixing ratio of the clean water and the detergent are examples, but not limited thereto.

Further optionally, at least one information output device is further disposed on the apparatus body 108, and the control system 104 may output the dirt information and/or the category information of the working surface to the user through the information output device, so as to prompt the user to adjust the solution mixing ratio; and responding to the pressing operation of the target physical key by the user, and controlling the mixing system 102 according to the solution mixing ratio corresponding to the target physical key 119. Wherein the target physical key is any one of the plurality of physical keys. The information output device can output the dirt information and/or the category information of the working surface, and can also output prompt information containing the solution mixing ratio, for example, "please mix clean water and the washing solution in a ratio of 3: 1", "please directly clean with clean water", and the like. In the above, for the prompt message of "please clean with clean water directly", in combination with the structure shown in fig. 8, the user can directly close the control valve 114, and the cleaning of the working surface with clean water can be achieved directly. In this embodiment, the information output device may be, but is not limited to: display screen, audio module, signal lamp etc.. The signal lamp can prompt a user to adjust the solution ratio through the number of times of flashing, the color of the lamp, the number of the lighted lamps and the like.

Certainly, besides determining that the solution mixing ratio needs to be adjusted according to the prompt information output by the information output device, the user can also judge the dirt information and/or the class information of the working surface through human eyes, determine that the solution mixing ratio needs to be adjusted according to self judgment, and further press the target physical key; the control system 104 may control the mixing system 102 according to the mixing ratio of the solution corresponding to the target physical key in response to the pressing operation of the target physical key by the user. In this case, the apparatus main body 108 may not include any information output device.

The working principle of the surface working equipment according to the embodiment of the present application is illustrated below with reference to several application scenarios:

in one example scenario, where the surface treatment device 100 is a washer with a display screen, the control system 104 determines that the surface treatment is less soiled when the washer is performing a cleaning task, and no cleaning agent is required, a prompt to "please clean with clear water directly" may be displayed via the display screen. The user can press the 'low' gear button to send an instruction for directly cleaning with clean water to the control system 104, the control system 104 does not send a PWM signal to the control valve 114 for controlling the detergent solution bucket any more, so that the control valve 114 is closed, only the control valve 114 for controlling the clean water solution bucket is kept open, only the clean water is allowed to flow out, the clean water flows through the mixing valve 115 to the floor brush assembly 105 through the liquid nozzle 103, and the floor brush assembly 105 cleans the working surface. Alternatively, the clean water solution tank may be left by itself by gravity without being controlled by the control valve 114.

In another scenario, where the surface treating apparatus 100 is a cleaning machine with an audio module, the control system 104 determines that the surface is more soiled and the surface is a carpet, and the surface is to be cleaned with a cleaning solution, and a voice prompt "please mix clean water with a cleaning solution at a ratio of 15: 6" may be output via the audio module. The user can press the "high" gear button to send an instruction to the control system 104 to mix the clean water with the lotion solution in a ratio of 15:6, the control system 104 sends a PWM signal to the control valve 114 for controlling the solution buckets 101, and the opening frequency of the control valve 114 is controlled according to the frequency of the PWM signal to mix the cleaning liquids in the two solution buckets 101 in a ratio. The liquid in the two solution buckets flows through the mixing valve 115 through the liquid nozzle 103 to the floor brush assembly 105, and the floor brush assembly 105 cleans the work surface.

In yet another scenario, the surface working device 100 is a cleaning machine without any output device, a wet and dry vacuum cleaner or a sweeping robot, during the cleaning task performed by the cleaning machine, the wet and dry vacuum cleaner or the sweeping robot, a user determines that the working surface is a floor through eyes of the user, the dirt degree of the working surface is high, a certain amount of detergent needs to be used for cleaning the working surface, the user can press a "middle" shift button once to add 20 ml of detergent into clean water, a liquid mixture of the clean water and the detergent is obtained, the liquid mixture flows through the mixing valve 115 and reaches the floor brush assembly 105 through the liquid nozzle 103, and the floor brush assembly 105 cleans the working surface.

In the surface working equipment provided by the above embodiment of the present application, the surface working equipment includes a control system, a mixing system and at least two solution barrels, the control system can control the mixing system according to the dirty information of the working surface or the category information of the working surface, and the mixing system controls the mixing ratio of the cleaning liquid in the at least two solution barrels according to the control of the control system, so as to provide the mixed liquid with a more appropriate mixing ratio for the working surface, improve the working quality and reduce the waste of the solution.

Fig. 10 is a liquid conveying method suitable for a surface working apparatus according to an exemplary embodiment of the present application, where the method includes:

1001. acquiring dirt information of a working surface;

1002. adjusting the mixing proportion of cleaning liquid in at least two solution barrels on the surface operation equipment according to the dirt information of the operation surface;

1003. and spraying the mixed liquid with the adjusted mixing ratio to the working surface to clean the working surface.

In this embodiment, the embodiment in which the surface working apparatus acquires the working surface contamination information is not limited. Several embodiments for obtaining information regarding fouling of a work surface are described below.

Embodiment F1:the surface operation equipment is provided with an image acquisition device, the image acquisition device can acquire an image containing the dirt information of the operation surface, optionally, the surface operation equipment can adopt an image recognition model to perform image recognition to acquire the dirt information of the operation surface, or the surface operation equipment can also upload the image to the server side equipment, and the server side equipment recognizes the dirt information of the operation surface from the image based on the image recognition model and returns the dirt information to the surface operation equipment. For detailed description of the image capturing device and the image recognition model, reference may be made to the foregoing embodiments, which are not repeated herein.

Embodiment F2:the surface operation equipment is provided with a dirt detection device which can detect the dirt degree of the waste water or the sewage recovered in the operation process and judge the dirt information of the operation surface according to the dirt degree of the recovered waste water or the sewage. Alternatively, the contamination detecting device may be an infrared emitting device and an infrared receiving device, and the surface working equipment may receive the electricity output by the infrared receiving device and indicating the infrared signal receiving state thereofAnd judging the fouling information of the liquid mixture according to different electric signals. For details, reference may be made to the foregoing embodiments, which are not described in detail herein.

Embodiment F3:the surface working device has a communication module, for example a wifi module, an infrared module, a bluetooth module, etc., by means of which it can receive soiling information of the working surface sent by other devices which are deployed in the same working environment as the working surface device. Wherein other devices can actively send information of dirt on the work surface in the work environment to the surface work device; alternatively, the surface working apparatus transmits a request to another apparatus communicatively connected thereto when dirt information of the working surface is required, and the other apparatus transmits the dirt information of the working surface in the working environment to the surface working apparatus according to the request of the surface working apparatus. For details, reference may be made to the foregoing embodiments, which are not described in detail herein.

In any of the above embodiments, after obtaining the dirt information of the working surface, the surface working equipment adjusts the mixing ratio of the cleaning liquids in the at least two solution buckets according to the dirt information of the working surface, and sprays the mixed liquid with the adjusted mixing ratio to the working surface, so as to improve the working quality and reduce the waste of the solution. For a detailed implementation of adjusting the mixing ratio of the cleaning liquids in the at least two solution buckets according to the dirt information of the working surface, reference may be made to the following examples, which will not be described in detail herein.

In other embodiments of the present disclosure, the mixing ratio of the cleaning liquids in the at least two solution buckets may be adjusted simultaneously with the class information and the contamination information of the work surface, so as to provide the mixed liquid with a more appropriate mixing ratio to the work surface. Based on the information, the class information of the working surface can be obtained, and the mixing proportion of the cleaning liquid in at least two solution buckets on the surface working equipment is adjusted according to the dirt information and the class information of the working surface. Several embodiments for obtaining category information for a work surface are described in detail below.

Embodiment G1:as described in embodiment F1, the surface working equipment includes the image pickup device. The image acquisition device can acquireAn image of the work surface is provided to the surface working apparatus. The surface working equipment can adopt the image recognition model to carry out image recognition, and not only can recognize the dirty information of the working surface, but also can recognize the class information of the working surface. Alternatively, the surface working device may upload the image to the server device, and the server device may recognize the dirt information and the category information of the working surface from the image based on the image recognition model and return the dirt information and the category information to the surface working device. For detailed description of the image capturing device and the image recognition model, reference may be made to the foregoing embodiments, which are not repeated herein.

Embodiment G2:the surface operation equipment is provided with a ground brush motor which is responsible for supplying power to the ground brush component and is used for driving the ground brush component. Depending on the type of work surface, the resistance to the back and forth movement of the brush assembly across the work surface may vary, and correspondingly, the amount of current provided by the brush motor to the brush assembly may vary. Based on the above, the surface working apparatus can detect the current of the floor brush motor, and determine the category information of the working surface according to the detected current magnitude. For details, reference may be made to the foregoing embodiments, which are not described in detail herein.

Embodiment G3:the brush assembly of the surface working equipment comprises a class detection device for detecting class information of the working surface. The surface working apparatus may acquire the detection signal generated by the category detection device, and determine the category information of the working surface based on the detection signal. The surface working apparatus determines the type information of the working surface based on the detection signal according to the type detection means.

For example, in an alternative embodiment, the category detection device is a trigger switch disposed on the floor brush assembly, the trigger switch being spaced from a lower end surface of the floor brush assembly; the trigger switch sends an electric signal to the surface operation equipment when touching an object; the surface working equipment determines that the working surface is a first type surface when receiving the electric signal; and determining the work surface to be a second type of surface when the electrical signal is not received. For the specific contents of the first type surface and the second type surface, reference may be made to the foregoing embodiments, and details are not repeated here.

For another example, the category detection device is an infrared emitting device and an infrared receiving device, the infrared emitting device emits an infrared signal to the outside during the operation of the ground brush assembly, and the infrared receiving device is used for receiving the infrared signal and outputting an electric signal representing the infrared signal receiving state to the surface operation equipment; the surface working device may determine that the working surface is a first type of surface when the electrical signal is at or near a sustained high level; and determining the work surface to be a second type of surface when the electrical signal is at or near a sustained low level. For details, reference may be made to the foregoing embodiments, which are not described in detail herein.

With either of the above embodiments, after obtaining the class information and/or the stain information of the work surface, the surface working apparatus may adjust the mixing ratio of the cleaning liquids in the at least two solution tanks according to the class information and the stain information of the work surface, so as to supply the mixed liquid of which the mixing ratio is more appropriate to the work surface. In an alternative embodiment, the surface working device may convert the type and/or contamination information of the working surface into a required mixing ratio of the at least two solutions, and further convert the mixing ratio into a control signal, and the surface working device may adjust the mixing ratio of the cleaning liquids in the at least two solution tanks according to the control signal.

For example, in the case of adjusting the mixing ratio of the cleaning liquids in at least two solution tanks according to the dirt information on the work surface, the corresponding relationship between the dirt level and the solution mixing ratio may be preset, and based on this, after the dirt information on the work surface is obtained, matching may be performed in the preset corresponding relationship between the dirt level and the solution mixing ratio according to the dirt information on the work surface; and generating a control signal according to the solution mixing proportion matched with the dirt information of the working surface, and further adjusting the mixing proportion of the cleaning liquid in the at least two solution buckets according to the control signal.

For another example, in the case where the mixing ratio of the cleaning liquids in at least two solution tanks is adjusted according to the work surface type information, the correspondence between the surface type and the solution mixing ratio may be set in advance, and based on this, after the type information of the work surface is obtained, matching may be performed in the correspondence between the preset surface type and the solution mixing ratio according to the type information of the work surface; and generating a control signal according to the solution mixing proportion matched with the class information of the operation surface, and further adjusting the mixing proportion of the cleaning liquid in the at least two solution buckets according to the control signal.

For another example, in the case of adjusting the mixing ratio of the cleaning liquids in the at least two solution buckets according to the dirt information and the category information of the working surface, when the working surface is the first type surface, the control system 104 may generate a control signal for controlling the mixing system 102 according to the dirt information and the first dirt degree of the working surface and the corresponding relationship between the mixing ratio of the cleaning liquids in the at least two solution buckets 101; when the working surface is the second type surface, a control signal for controlling the mixing system 102 is generated according to the dirt information of the working surface and the corresponding relationship between the second dirt degree and the solution mixing ratio, so as to adjust the mixing ratio of the cleaning liquid in the at least two solution buckets. For details of the first and second contamination levels, reference may be made to the foregoing embodiments, which are not described herein again.

FIG. 11 is another liquid delivery method, suitable for use in a surface working apparatus, according to an exemplary embodiment of the present application, the method including:

1101. acquiring category information of a working surface;

1102. adjusting the mixing proportion of cleaning liquid in at least two solution buckets on the surface working equipment according to the class information of the working surface;

1103. and spraying the mixed liquid with the adjusted mixing ratio to the working surface to clean the working surface.

The method of this embodiment is different from the method provided in fig. 10 in that only the category information of the working surface is obtained in this embodiment, and the mixing ratio of the cleaning liquids in at least two solution buckets on the surface working equipment is adjusted according to the category information of the working surface, and the other contents are the same as or similar to those of the embodiment of fig. 10, and are not repeated herein.

It should be noted that the execution subjects of the steps of the methods provided in the above embodiments may be the same device, or different devices may be used as the execution subjects of the methods. For example, the execution subjects of steps 1001 to 1003 may be device a; for another example, the executing agent of

steps

1001 and 1002 may be device a, and the executing agent of step 1003 may be device B; and so on.

In addition, in some of the flows described in the above embodiments and the drawings, a plurality of operations are included in a specific order, but it should be clearly understood that the operations may be executed out of the order presented herein or in parallel, and the order of the operations such as 1001, 1002, etc. is merely used for distinguishing different operations, and the order itself does not represent any execution order. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program, which when executed can implement the steps that can be performed by the surface working apparatus in the above-described liquid conveying method embodiments.

The communication module of fig. 2 and 9 described above is configured to facilitate communication between the device in which the communication module is located and other devices in a wired or wireless manner. The device where the communication module is located can access a wireless network based on a communication standard, such as a WiFi, a 2G, 3G, 4G/LTE, 5G and other mobile communication networks, or a combination thereof. In one exemplary embodiment, the communication module receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication module further comprises a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

The power supply unit in the surface working apparatus supplies power to various components of the apparatus in which the power supply unit is installed. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device in which the power component is located.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A surface working apparatus, comprising: the device comprises at least two solution barrels, a mixing system, a liquid nozzle, an image acquisition device and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle;

the image acquisition device is used for acquiring an image containing the dirt information of the working surface and providing the image to the control system; the control system is used for controlling the mixing system according to the dirt information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to the control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

2. The apparatus of claim 1, wherein the mixing system comprises an upper delivery pipe connected to each of the at least two solution barrels, a lower delivery pipe connected to the liquid nozzle, and a mixing valve disposed intermediate the upper delivery pipe and the lower delivery pipe; wherein, at least part of the upper end conveying pipes are provided with control valves used for adjusting the mixing proportion of the cleaning liquid in the at least two solution barrels.

3. The apparatus of claim 2, wherein a control valve is provided on the upper end delivery pipe connected to each solution bucket; alternatively, the first and second electrodes may be,

and a control valve is arranged on an upper end conveying pipe connected with the first solution barrel, and the first solution barrel is a part of the at least two solution barrels.

4. The apparatus of claim 3, wherein the at least two solution buckets include a fresh water solution bucket and a wash solution bucket; and a control valve is arranged on the upper end conveying pipe connected with the lotion solution barrel.

5. The apparatus of claim 2, further comprising: a water pump; the water pump is installed on the lower end conveying pipe or between the lower end conveying pipe and the liquid nozzle.

6. The apparatus according to any one of claims 2 to 5, wherein the control valve is a solenoid valve, a proportional valve or a water pump.

7. The apparatus according to any one of claims 2-5, wherein the control system is specifically configured to: and adjusting the mixing ratio of the cleaning liquid in the at least two solution buckets by controlling the opening frequency, the opening time and/or the opening size of the control valve.

8. The apparatus of claim 7, wherein the control system is specifically configured to:

and sending a PWM signal to the control valve to control the opening frequency, the opening duration and/or the opening size of the control valve.

9. The apparatus of claim 8, wherein the control system is further configured to: matching in a preset corresponding relation of the dirt degree and the solution mixing proportion according to the dirt information of the operation surface; and generating a PWM signal sent to the control valve according to the solution mixing proportion matched with the dirt information of the working surface.

10. The apparatus of any of claims 1-5, further comprising: the device comprises a device body and a ground brush assembly; the at least two solution barrels, the mixing system and the control system are arranged on the equipment body; the liquid nozzle is arranged on the floor brush component, and the floor brush component is movably connected to the lower end of the equipment body;

the image acquisition device is arranged on the equipment body or on the floor brush component.

11. The apparatus of claim 10, wherein the floor brush assembly comprises a housing; the image acquisition device is arranged on the shell, and the field angle of the image acquisition device faces to the working surface.

12. The apparatus according to claim 11, wherein the image capturing device is plural, and the plural image capturing devices are dispersedly disposed inside and/or outside the housing.

13. The apparatus according to claim 10, wherein the apparatus body is further provided with a plurality of physical buttons for controlling the mixing ratio of the liquids, and at least one of the following information output devices: the device comprises a display screen, an audio module and a signal lamp;

the control system is specifically configured to: outputting the dirt information of the working surface to a user through the information output device so as to prompt the user to adjust the solution mixing ratio; and responding to the pressing operation of a user on a target physical key, and controlling the mixing system according to the solution mixing proportion corresponding to the target physical key.

14. The apparatus of claim 10, wherein the control system is specifically configured to: acquiring category information of the working surface; and controlling the mixing system according to the class information of the working surface and the dirt information of the working surface so as to adjust the mixing proportion of the cleaning liquid in the at least two solution buckets.

15. The apparatus of claim 14, wherein the control system is specifically configured to: identifying category information of the work surface from the image; or determining the class information of the working surface according to the current change information of the ground brush motor.

16. Apparatus according to claim 14, wherein the floor brush assembly is provided with category detection means for detecting a category of the work surface for generating a detection signal indicative of category information of the work surface during operation of the floor brush assembly;

the control system is specifically configured to: and determining the class information of the working surface according to the detection signal generated by the class detection device.

17. The apparatus of claim 16, wherein the category detection device is a trigger switch disposed on the floor brush assembly at a distance from a lower end surface of the floor brush assembly; the trigger switch sends an electric signal to the control system when touching an object;

the control system is specifically configured to: upon receiving the electrical signal, determining the work surface to be a first type of surface; and determining the work surface to be a second type of surface when the electrical signal is not received.

18. The apparatus of claim 16, wherein the category detection device comprises an infrared emitting device and an infrared receiving device oppositely disposed on the floor brush assembly; the infrared transmitting device is used for transmitting infrared signals to the outside in the operation process of the ground brush assembly, and the infrared receiving device is used for receiving the infrared signals and outputting electric signals representing the receiving state of the infrared signals to the control system;

the control system is specifically configured to: when the electric signal is continuous or approximately continuous high level, determining the working surface to be a first type surface; and determining the work surface to be a second type of surface when the electrical signal is at or near a sustained low level.

19. The apparatus of claim 14, wherein the control system is specifically configured to:

when the working surface is a first type surface, controlling the mixing system according to the dirt information of the working surface and the corresponding relation between the first dirt degree and the solution mixing proportion so as to adjust the mixing proportion of the cleaning liquid in the at least two solution buckets;

and when the working surface is a second type surface, controlling the mixing system according to the dirt information of the working surface and the corresponding relation between the second dirt degree and the solution mixing proportion so as to adjust the mixing proportion of the cleaning liquid in the at least two solution buckets.

20. A surface working apparatus, comprising: the device comprises at least two solution barrels, a mixing system, a liquid nozzle, a communication module and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle; the surface working equipment is in communication connection with other equipment deployed in the same working environment through the communication module;

the control system is used for receiving the dirt information of the working surface sent by the other equipment and controlling the mixing system according to the dirt information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to the control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

21. The apparatus of claim 20, wherein the other apparatus is another surface working apparatus, a housekeeping machine, a smart box, an image capture device, or a household appliance in the working environment.

22. A surface working apparatus, comprising: the device comprises at least two solution barrels, a mixing system, a liquid nozzle and a control system; the mixing system is arranged between the at least two solution barrels and the liquid nozzle and can communicate the at least two solution barrels with the liquid nozzle;

the control system is used for acquiring the category information of the working surface; controlling the mixing system according to the category information of the working surface; the mixing system adjusts the mixing proportion of the cleaning liquid in the at least two solution barrels according to the control, and the mixed liquid with the adjusted mixing proportion is sprayed to the working surface through the liquid nozzle.

23. The apparatus of claim 22, further comprising: the image acquisition device is used for acquiring an image containing a working surface and providing the image to the control system;

the control system is specifically configured to: identifying category information for the work surface from the image.

24. The apparatus of claim 22, wherein the control system is specifically configured to: and receiving class information containing a working surface sent by other equipment, wherein the other equipment and the surface working equipment are deployed in the same working environment and are in communication connection with the surface working equipment.

25. The apparatus of claim 22, further comprising: a ground brush motor for powering a ground brush assembly of the ground working equipment; the control system is specifically configured to: and determining the class information of the working surface according to the current change information of the ground brush motor.

26. An apparatus according to claim 22, wherein the floor brush assembly of the floor working apparatus is provided with a class detection device for detecting a class of the working surface, for generating a detection signal indicative of class information of the working surface during operation of the floor brush assembly;

27. The apparatus of claim 26, wherein the category detection device is a trigger switch disposed on the floor brush assembly at a distance from a lower end surface of the floor brush assembly; the trigger switch sends an electric signal to the control system when touching an object;

28. The apparatus of claim 26, wherein the category detection device comprises an infrared emitting device and an infrared receiving device oppositely disposed on the floor brush assembly; the infrared transmitting device is used for transmitting infrared signals to the outside in the operation process of the ground brush assembly, and the infrared receiving device is used for receiving the infrared signals and outputting electric signals representing the receiving state of the infrared signals to the control system;

the control system is specifically configured to: when the electric signal is in a continuous high level, determining the working surface to be a first type surface; and determining the work surface to be a second type of surface when the electrical signal is at a continuously low level.

29. A method of liquid delivery for a surface working apparatus, the method comprising:

acquiring dirt information of a working surface;

adjusting the mixing proportion of cleaning liquid in at least two solution buckets on the surface working equipment according to the dirt information of the working surface;

and spraying the mixed liquid with the adjusted mixing ratio to the working surface to clean the working surface.

30. The method of claim 29, wherein obtaining fouling information for the work surface comprises:

collecting an image containing dirt information of a working surface by using an image collecting device on the surface working equipment, and identifying the dirt information of the working surface from the image; alternatively, the first and second electrodes may be,

collecting dirt information of the working surface by using a dirt detection device on the working surface equipment; alternatively, the first and second electrodes may be,

receiving fouling information of a work surface sent by other devices deployed in the same work environment as the work surface device.

31. The method of claim 29, further comprising: acquiring category information of a working surface;

the adjusting of the mixing ratio of the cleaning liquid in at least two solution buckets on the surface working equipment according to the dirt information of the working surface comprises:

and adjusting the mixing proportion of the cleaning liquid in at least two solution buckets on the surface working equipment according to the dirt information and the class information of the working surface.

32. The method of claim 31, wherein obtaining category information for the work surface comprises:

collecting an image containing a working surface category by using an image collecting device on the surface working equipment, and identifying category information of the working surface from the image; alternatively, the first and second electrodes may be,

determining the class information of the working surface according to the current change information of a ground brush motor on the surface working equipment; or

And acquiring a detection signal generated by a category detection device arranged on a floor brush assembly of the surface working equipment, and determining category information of the working surface according to the detection signal.

33. The method of claim 31, wherein adjusting the mixing ratio of the cleaning liquid in at least two solution tanks on the surface working apparatus based on the fouling information and the classification information of the work surface comprises:

and adjusting the mixing proportion of the cleaning liquid in the at least two solution buckets according to the corresponding relation between the dirt information and the category information of the working surface and the solution mixing proportion.

34. A method of liquid delivery for a surface working apparatus, the method comprising:

acquiring category information of a working surface;

adjusting the mixing proportion of cleaning liquid in at least two solution buckets on the surface working equipment according to the class information of the working surface;

35. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the processor to carry out the steps of the method of any one of claims 29-34.