CN113827144B - Cleaning device and flow control method thereof - Google Patents
Cleaning device and flow control method thereof Download PDFInfo
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- CN113827144B CN113827144B CN202111136068.9A CN202111136068A CN113827144B CN 113827144 B CN113827144 B CN 113827144B CN 202111136068 A CN202111136068 A CN 202111136068A CN 113827144 B CN113827144 B CN 113827144B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 147
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005086 pumping Methods 0.000 claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 239000007921 spray Substances 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims description 143
- 238000005507 spraying Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000005096 rolling process Methods 0.000 description 13
- 230000006872 improvement Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000005406 washing Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 4
- 230000009467 reduction Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B51/00—Testing machines, pumps, or pumping installations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention provides a cleaning device and a flow control method thereof. The cleaning device comprises: the cleaning solution device comprises a cleaning solution container, a pumping solution component, a cleaning component, a power supply component and a control unit, wherein the control unit comprises a power supply voltage detection module, a pumping solution driving module and a control module, the power supply voltage detection module is used for detecting the output voltage of the power supply component in real time, the control module is electrically connected with the power supply voltage detection module and the pumping solution driving module, when the output voltage is not smaller than a first preset voltage, the control module generates a control signal according to the output voltage, and the pumping solution driving module is controlled to enable the pumping solution component to spray cleaning solution to a working surface at a preset first target flow. Compared with the prior art, the cleaning device provided by the invention effectively solves the problems that the flow control of the water pump is complex or the stability of the water pump is poor at high voltage in the prior art.
Description
Technical Field
The invention relates to the technical field of cleaning devices, in particular to a cleaning device and a flow control method of the cleaning device.
Background
The household cleaning device can conveniently and rapidly help the user to clean the room, and is widely applied in recent years.
In order to facilitate the use of the cleaning device, most cleaning devices are powered by rechargeable battery packs. However, since the electric quantity of the battery pack gradually decreases in the use process, the power supply voltage of the cleaning device gradually decreases in the use process, and the water quantity discharged by the cleaning device is further changed.
In fact, in a conventional cleaning device, a pump for supplying cleaning fluid to the cleaning device is usually operated with a fixed duty ratio, and as the electric quantity of a battery pack for supplying electric energy to the pump is gradually reduced, the flow rate of the pump pumped outwards is gradually reduced. And the unstable flow of the cleaning liquid pumped by the water pump directly influences the use effect of the cleaning device.
Specifically, too small flow can lead to the cleaning effect of the floor washer to be poor, and too much flow can produce a large amount of water stains which are difficult to dry, so that the experience of a user is reduced. In the prior art, a table of voltage-flow-duty ratio is established by measuring the duty ratio required by the target flow under different voltages in advance, so that the required duty ratio can be inquired from the table according to the current actually measured voltage and the target flow in the working process of the floor washing machine. While the "voltage-flow-duty cycle" table lookup scheme still suffers from the following drawbacks: firstly, a large amount of actual measurement data is needed in advance; secondly, the water pump works beyond the rated range, and the stability can be reduced.
In view of the above, it is necessary to propose a new cleaning device to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a cleaning device and a flow control method thereof, which are used for solving the problems of complex flow control of a water pump or poor stability of the water pump at high voltage in the prior art and effectively improving the use stability of the cleaning device.
To achieve the above object, the present invention provides a cleaning device comprising: a cleaning liquid container for storing cleaning liquid; the liquid pumping assembly is connected with the liquid cleaning container and is used for spraying cleaning liquid to the working surface; the cleaning component is used for cleaning the working surface sprayed with the cleaning liquid; the power supply assembly is used for supplying electric energy to the cleaning device; the control unit is connected with the power supply assembly, the liquid pumping assembly and the cleaning assembly and used for controlling the operation of the cleaning device; the control unit comprises a power supply voltage detection module, a liquid pumping driving module and a control module, wherein the power supply voltage detection module is used for detecting the output voltage of the power supply assembly in real time, the control module is electrically connected with the power supply voltage detection module and the liquid pumping driving module, and when the output voltage is not smaller than a first preset voltage, the control module generates a control signal according to the output voltage and controls the liquid pumping driving module to enable the liquid pumping assembly to spray cleaning liquid to the working surface at a preset first target flow.
As a further improvement of the invention, the liquid pumping driving module comprises a switching element, wherein the switching element is connected in series between the power supply assembly and the liquid pumping assembly, and the control module controls the switching element to be periodically pulsed on so as to drive the liquid pumping assembly to pump the cleaning liquid.
As a further improvement of the invention, the control module is configured to calculate, from the output voltage, a duty cycle of the on-width of the switching element that matches the set output flow rate of the pump assembly.
As a further improvement of the invention, the control unit further comprises a component voltage detection module for detecting the input voltage of the liquid pumping component, and the control module judges the output flow of the liquid pumping component according to the input voltage.
As a further improvement of the invention, the liquid pumping component is a piston type one-way double-way electromagnetic valve.
In order to achieve the above object, the present invention also provides a flow control method of a cleaning apparatus including a pump assembly, a power supply assembly supplying power to the pump assembly, and a switching element for driving the pump assembly to spray cleaning liquid to a work surface, the flow control method including the steps of:
starting a cleaning device, and controlling the switching element to be conducted at a preset second duty ratio;
detecting the output voltage of the power supply assembly in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not smaller than the first preset voltage, the duty ratio of the switching element matched with the preset first target flow rate of the liquid pumping assembly is calculated according to the output voltage, the switching element is controlled according to the duty ratio, and the liquid pumping assembly is driven to stably spray cleaning liquid on the working surface at the preset first target flow rate.
As a further improvement of the present invention, when the output voltage is smaller than the first preset voltage, a first duty ratio of the switching element is obtained according to the first preset voltage and the first target flow rate, and the switching element is controlled at the first duty ratio.
As a further improvement of the present invention, when the output voltage is smaller than a second preset voltage, the switching element is controlled according to the output voltage generation control signal to enable the pump assembly to stably spray the cleaning liquid to the working surface at a predetermined second target flow rate, wherein the second target flow rate is smaller than the first target flow rate, and the second preset voltage is smaller than the first preset voltage.
As a further improvement of the present invention, the pump assembly is driven at a predetermined second duty cycle when the output voltage is less than a second preset voltage, wherein the second duty cycle is greater than the first duty cycle and the second preset voltage is less than the first preset voltage.
As a further improvement of the present invention, when the output voltage is smaller than the first preset voltage, the switching element is controlled according to the output voltage generation control signal to enable the pump assembly to stably spray the cleaning liquid to the working surface at a predetermined second target flow rate, wherein the second target flow rate is smaller than the first target flow rate.
The beneficial effects of the invention are as follows: according to the cleaning device disclosed by the invention, the power supply voltage detection module, the liquid pumping driving module and the control module are arranged, so that the output voltage of the power supply assembly can be detected in real time by using the power supply voltage detection module, and when the output voltage is not smaller than the first preset voltage, the control module generates a control signal according to the output voltage to control the liquid pumping driving module, so that the liquid pumping assembly stably sprays cleaning liquid to the working surface at the preset first target flow, the use effect of the cleaning device is effectively improved, and the user experience is enhanced.
Drawings
Fig. 1 is a schematic view of a cleaning apparatus according to a preferred embodiment of the present invention.
Fig. 2 is a schematic cross-sectional view of the cleaning apparatus shown in fig. 1.
Fig. 3 is a schematic top view of the cleaning assembly of fig. 1.
Fig. 4 is a block diagram of an internal control module of the cleaning apparatus shown in fig. 1.
Fig. 5 is a circuit diagram (some circuits not shown) of an implementation of the control unit of fig. 4.
Fig. 6 is a flowchart of a flow control method of the first embodiment of the cleaning apparatus shown in fig. 1.
Fig. 7 is a flowchart of a flow control method of the second embodiment of the cleaning apparatus shown in fig. 1.
Fig. 8 is a flowchart of a flow control method of the third embodiment of the cleaning apparatus shown in fig. 1.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
In this case, in order to avoid obscuring the present invention due to unnecessary details, only the structures and/or processing steps closely related to the aspects of the present invention are shown in the drawings, and other details not greatly related to the present invention are omitted.
In addition, it should be further 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.
Referring to fig. 1 to 3, the present invention provides a cleaning apparatus 100, which includes a cleaning solution container 1, a cleaning assembly 2, a power supply assembly 3, a pump assembly 4, and a control unit.
The cleaning solution container 1 is used for storing cleaning solution, and the cleaning assembly 2 is communicated with the cleaning solution container 1 and is used for cleaning the working surface sprayed with the cleaning solution; the power supply assembly 3 is used for supplying electric energy to the cleaning assembly 2, the liquid pumping assembly 4 and the control unit, the liquid pumping assembly 4 is connected with the cleaning liquid container 1 and used for spraying cleaning liquid in the cleaning liquid container 1 to a working surface so as to clean the working surface through the cleaning assembly 2; the control unit is connected to the cleaning assembly 2, the power supply assembly 3 and the pump assembly 4 to control the operation of the cleaning device 100. In a preferred embodiment of the invention, the power supply assembly 3 is a rechargeable battery pack.
Specifically, the cleaning device 100 of the present invention is preferably a floor cleaning machine, and includes a main frame 10 rotatably connected to the cleaning assembly 2, and a control lever 12 connected to the main frame 10, wherein the cleaning solution container 1, the power supply assembly 3 and the control unit are all accommodated in the main frame 10, and the control lever 12 is used for being held by a user to control the cleaning assembly 2 to perform a cleaning task on the floor. In this embodiment, the main frame 10 is longitudinally extended and connected above the cleaning assembly 2, the operating lever 12 is connected to the upper end of the main frame 10, the cleaning assembly 2 is connected to the lower end of the main frame 10, and the main frame 10 and the cleaning assembly 2 are rotatably connected through the adapter 11, so that the operating lever 12 and the main frame 10 can rotate relative to the cleaning assembly 2, thereby changing the operating angle and flexibly adjusting the cleaning posture. In one implementation, the joystick 12 is capable of standing stably above the cleaning assembly 2 in a non-use condition, so the floor scrubber may also be referred to as a vertical floor scrubber.
The cleaning assembly 2 includes a housing portion 21 and a roller brush provided on the housing portion 21, and the roller brush is driven to rotate at a high speed to drag and wash the floor. To ensure the cleaning efficiency, the number of the rolling brushes is two, namely a front rolling brush 22 and a rear rolling brush 23. The case portion 21 has opposite front and rear portions, a front roller brush 22 is provided at the front portion of the case portion 21, and a rear roller brush 23 is provided at the rear portion of the case portion 21. In this embodiment, the front rolling brush 22 and the rear rolling brush 23 are disposed in parallel, and are at least partially accommodated in the casing 21, and a space is provided between the front rolling brush 22 and the rear rolling brush 23. In one embodiment, the front roller brush 22 may comprise one roller brush or a plurality of small roller brushes, and the plurality of small roller brushes may be arranged at the front part of the shell part in a lateral side-by-side manner, or may be arranged at the front part and the rear part side-by-side manner only as a whole relatively close to the front end of the shell part 21.
The pump liquid component 4 is arranged in the cleaning component 2 and is used for sucking the cleaning liquid in the cleaning liquid container 1, and spraying the cleaning liquid onto the ground or in the air after pressurizing, and the cleaning liquid is basically sprayed on the surface of the corresponding rolling brush in the embodiment. Because the floor scrubber 100 provided in this embodiment has two rolling brushes, the cleaning efficiency is improved in order to flexibly control the liquid feeding amounts of the two rolling brushes. Further, the number of the pump liquid assemblies 4 is set to be two, the two pump liquid assemblies comprise a first liquid pump 41 and a second liquid pump 42, liquid inlet ends of the first liquid pump 41 and the second liquid pump 42 are communicated with the cleaning liquid container 1, the first liquid pump 41 is used for sucking cleaning liquid in the cleaning liquid container 1 and spraying the pressurized cleaning liquid to the front rolling brush 22, the second liquid pump 42 is used for sucking cleaning liquid in the cleaning liquid container 1 and spraying the pressurized cleaning liquid to the rear rolling brush 23, and the first liquid pump 41 and the second liquid pump 42 are arranged, so that the two rolling brushes are more flexible and convenient to control, and the mopping effect of the floor scrubber is guaranteed.
Referring to fig. 3, a first liquid pump 41 and a second liquid pump 42 are disposed on both sides of the housing portion 21, respectively. Specifically, the first liquid pump 41 is disposed on the right side of the casing 21, the second liquid pump 42 is disposed on the left side of the casing 21, that is, one liquid pump is disposed on each of the left and right sides of the casing 21, and the two liquid pumps in the cleaning assembly 2 are reasonably arranged, which is beneficial to the uniformity and miniaturization of the volume of the cleaning assembly 2. Fig. 3 shows a plan view of the washing module 2, wherein the washing module 2 has a bisecting plane S perpendicular to the front and rear roller brushes 22, 23, which is perpendicular to the paper plane direction of fig. 3, so that only a straight line is shown, the bisecting plane S being located in the middle of the casing section 21, dividing the casing section 21 approximately into two symmetrical halves with each other, and the first and second liquid pumps 41, 42 being disposed symmetrically in the casing section 21 about the bisecting plane S. Of course, the positions of the first liquid pump 41 and the second liquid pump 42 may be interchanged, and are not limited thereto. Here, "left" and "right" are the directions of arrows shown in fig. 3, and the directions of the user in the state of operating the floor washing machine 100 are the directions of the arrows, and the left side of the body is the left side and the right side is the right side. The terms of directions such as "up", "down", "front", "rear", "left" and "right" in the embodiments of the present application are all referred to by the state of the floor scrubber shown in fig. 1, and the above description is for illustrative purposes only and should not be construed as limiting the present application.
As shown in fig. 4, the control unit includes a power voltage detection module 51, a pump liquid driving module 52, a control module 53, and a component voltage detection module 54, where the power voltage detection module 51 is used to detect the output voltage of the power supply component 3 in real time, the control module 53 is electrically connected to the power voltage detection module 51 and the pump liquid driving module 52, and the component voltage detection module 54 is used to detect the input voltage of the pump liquid component 4, so that the control module 53 determines the output flow of the pump liquid component 4 according to the input voltage.
The pump liquid driving module 52 includes a switching element 521, the switching element 521 is connected in series between the power supply assembly 3 and the pump liquid assembly 4, and the control module 53 controls the switching element 521 to be periodically pulsed on to drive the pump liquid assembly 4 to pump the cleaning liquid. Preferably, the pump assembly 4 is a piston type unidirectional double-pass electromagnetic valve, and the control module 53 is configured to calculate and obtain the duty ratio of the on width of the switching element 521 matched with the set output flow rate of the pump assembly 4 according to the output voltage of the power supply assembly 3.
In the present invention, the flow control principle in the cleaning apparatus 100 is: the control module 53 receives the input voltage of the pump assembly 4 detected by the assembly voltage detection module 54, and controls the duty ratio of the switching element 521 by using a PID algorithm to stabilize the input voltage of the pump assembly 4, thereby realizing the constant output flow rate of the pump assembly 4. In addition, the control module 53 also changes the target flow rate of the liquid pumping module 4 according to the output voltage of the power supply module 3 detected by the power supply voltage detection module 51, and when the output voltage is not less than the first preset voltage, the control module 53 generates a control signal according to the output voltage, and controls the liquid pumping driving module 52 to spray the cleaning liquid on the working surface at the preset first target flow rate by the liquid pumping module 4. The first preset voltage may be set with reference to the nominal voltage of the battery pack.
It can be appreciated that after the lithium battery is fully charged, three periods of high voltage, medium voltage and low voltage are experienced during the discharging process, and the period of high voltage is: the battery voltage is quickly reduced from full charge voltage to nominal voltage, the voltage stability is poor, the stability of the flow control is poor due to the influence of the voltage adoption precision of the existing table look-up method, the flow control can be carried out by real-time adjustment through a PID algorithm, and the stability of the flow control is better; in the medium-pressure section: the battery voltage can be stabilized at the nominal voltage for a long time, so that the constant duty ratio control can be adopted, the steady flow control can be adopted, and the influence of the voltage change on the flow is small; in the low pressure section: the battery voltage is rapidly reduced from the nominal voltage, so as to avoid the influence of the voltage reduction on the flow stability, (1) the target flow can be reduced, the user can continue to use stably, the user can use for a period of time by reducing the cleaning speed until the under-voltage protection is triggered, and the user experience is good; (2) the duty ratio at the moment can be directly adjusted to the maximum, the shortage of the battery pack capacity is reflected to the user through the reduction of the flow, and the user is prompted to stop working to charge.
In general, the preferred embodiments of the present invention are: and at high pressure, the PID algorithm is used for steady flow control, at medium pressure, the constant duty ratio is controlled, and at low pressure, the PID algorithm is used for steady flow control, so that the target flow is reduced. The final technical effect achieved is: in the use process after the battery pack is full of electricity, the flow of the pump liquid component 4 is stable all the time, and the user experience is good. Compared with the existing table look-up method, the invention has stable flow outside the rated working range.
As shown in fig. 5, as a preferred embodiment of the control unit for performing the steady-flow control of the present invention, the switching element 521 is a MOS switch Q2, and the MOS switch Q2 is connected in parallel with the first liquid pump 41 or the second liquid pump 42 (corresponding to the pump P1 in the circuit diagram) through a diode D1 to perform the voltage stabilizing function, in this embodiment, the cathode of the diode D1 is electrically connected with the drain of the MOS switch Q2 and is connected in anti-parallel with the pump P1, so that when the voltage loaded on the pump P1 is higher than the steady-flow value of the diode D1, the diode D1 is turned on reversely in an instant, so as to reduce the voltage to be lower than the cutoff value of the diode D1, thereby performing the voltage stabilizing protection function. Preferably, the switching element 521 is a PMOS transistor switch, however, in other embodiments of the present application, the switching element 521 may be a MOS transistor switch or a transistor switch of other types, that is, the types and types of the switching element 521 are only exemplary in the present application, and should not be limited thereto. Further, the switch element 521 is connected to the positive power supply end of the pump P1, and can control the pump P1 through the negative end, so as to control the flow rate of the pump P1.
The pump driving module 52 further includes a transistor Q1 and a plurality of resistors electrically connected to the transistor Q1, through which the transistor Q1 is electrically connected to the switching element 521, and in this embodiment, the resistors include a first resistor R1 and a second resistor R2 connected in series with a collector of the transistor Q1, a fourth resistor R4 connected in series with a base of the transistor Q1, and a third resistor R3 connected between an emitter and a base of the transistor Q1. Further, the first resistor R1 is further connected between the source and the gate of the MOS transistor Q2, so that the first resistor R1 is connected in parallel with the MOS transistor Q2. Triode Q1 is NPN triode, i.e. crystal triode, so sets up, and when the voltage of loading on pump P1 is too little, accessible triode Q1 amplifies the voltage signal of loading on pump P1, and then can guarantee pump P1's flow stability to avoid because the electric quantity in power supply unit 3 is too low the voltage of loading on pump P1 that causes, make the flow of the washing liquid of pump P1 pump undersize, then influence the cleaning performance of belt cleaning device 100. Of course, in other embodiments of the present application, the transistor Q1 may be another type of transistor, that is, the types and types of the transistor Q1 in the present application are only exemplary, and should not be limited thereto.
The schematic circuit diagram of the component voltage detection module 54 includes a capacitor C1, a fifth resistor R5 connected between the capacitor C1 and the pump P1, and a sixth resistor R6 connected in parallel with the capacitor C1. Specifically, one end of the fifth resistor R5 is connected to the switching element 521, that is, to the drain of the MOS transistor switch Q2; the other end of the fifth resistor R5 is connected with the control module 53 through the capacitor C1 and the sixth resistor R6 so as to send the detected input voltage of the pump liquid component 4 to the control module 53, and the control module 53 can conveniently judge the output flow of the pump liquid component 4 according to the input voltage.
It should be noted that, the schematic circuit diagram of the component voltage detection module 54 in the present application is merely exemplary, and in other embodiments of the present application, the schematic circuit diagram of the component voltage detection module 54 may be configured in other forms, and only the input voltage of the pump assembly 4 needs to be detected and matched with the control module 53, so that the closed-loop control of the voltage loaded on the pump P1 is realized, so as to stabilize the input voltage of the pump assembly 4.
The present invention also provides a flow control method for controlling the operation of the cleaning device 100, the flow control method comprising the steps of:
starting the cleaning device 100, and controlling the switching element 521 to be turned on at a predetermined second duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not less than the first preset voltage, the duty ratio of the switching element 521 matched with the first target flow rate of the predetermined liquid pumping unit 4 is calculated based on the output voltage, and the switching element 521 is controlled at the duty ratio, so that the liquid pumping unit 4 is driven to stably spray the cleaning liquid to the working surface at the first target flow rate.
The following description will explain in detail a process of controlling the washing apparatus 100 using the flow control method.
As shown in fig. 6, a first embodiment is a flow control method in which the flow control method includes the steps of:
starting the cleaning device 100 to turn on the switching element 521 at a predetermined second duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not less than the first preset voltage, the pump liquid component 4 is driven to stably spray the cleaning liquid on the working surface at a preset first target flow rate;
when the output voltage is smaller than the first preset voltage, a first duty ratio of the switching element 521 is obtained according to the first preset voltage and the first target flow, and the switching element 521 is controlled with the first duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set second preset voltage;
when the output voltage is smaller than a second preset voltage, the switching element 521 is controlled according to the output voltage generation control signal to enable the liquid pumping assembly to stably spray the cleaning liquid on the working surface at a preset second target flow, wherein the second target flow is smaller than the first target flow, the first preset voltage is the nominal voltage of the power supply assembly 3, and the second preset voltage is smaller than the first preset voltage.
As can be seen from this first embodiment: when entering the low-voltage section, the voltage of the power supply assembly 3 can be quickly reduced to an under-voltage protection voltage value, the target flow at the moment is reduced, and a user can continuously and stably use the device for a period of time by reducing the cleaning speed until under-voltage protection is triggered, so that the user experience is good.
As shown in fig. 7, a second embodiment is shown, in which the flow control method includes the steps of:
starting the cleaning device 100 to turn on the switching element 521 at a predetermined second duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not less than the first preset voltage, the pump liquid component 4 is driven to stably spray the cleaning liquid on the working surface at a preset first target flow rate;
when the output voltage is smaller than the first preset voltage, a first duty ratio of the switching element 521 is obtained according to the first preset voltage and the first target flow, and the switching element 521 is controlled with the first duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set second preset voltage;
driving the pump assembly 4 at a predetermined second duty cycle when the output voltage is less than a second preset voltage, wherein the second duty cycle is greater than the first duty cycle, the second duty cycle preferably being 100%; the first preset voltage is the nominal voltage of the power supply assembly 3, and the second preset voltage is smaller than the first preset voltage.
As can be seen from this second embodiment: when the low-voltage section is entered, the voltage of the power supply assembly 3 can be quickly reduced to an undervoltage protection voltage value, the duty ratio is directly adjusted to be maximum at the moment, the shortage of the battery pack capacity is reflected to a user through the reduction of the flow, and the user is prompted to stop working to charge.
As shown in fig. 8, a third embodiment is provided, in which the flow control method includes the steps of:
starting the cleaning device 100 to turn on the switching element 521 at a predetermined second duty ratio;
detecting the output voltage of the power supply assembly 3 in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not less than the first preset voltage, the pump liquid component 4 is driven to stably spray the cleaning liquid on the working surface at a preset first target flow rate;
when the output voltage is smaller than a first preset voltage, the switching element 521 is controlled according to the output voltage to enable the liquid pumping assembly to stably spray the cleaning liquid on the working surface at a preset second target flow, wherein the second target flow is smaller than the first target flow, and the first preset voltage is the nominal voltage of the power supply assembly 3.
In summary, the cleaning device 100 of the present invention receives the input voltage of the pump assembly 4 detected by the assembly voltage detection module 54 through the control module 53, and controls the on-duty ratio of the switching element 521 by using the PID algorithm, so that the input voltage of the pump assembly 4 is stable, and thus the output flow rate of the pump assembly 4 is constant. Meanwhile, the control module 53 can also switch the target flow rate of the pump assembly 4 (e.g., a high-voltage section—a first target flow rate, a low-voltage section—a second target flow rate) or switch the control mode of the switching element 521 (e.g., a medium-voltage section, a PID control-steady flow control mode, or a constant duty ratio control mode) according to the magnitude of the output voltage of the power supply assembly 3 detected by the power supply voltage detection module 51.
In summary, in the cleaning device 100 of the present invention, by providing the power voltage detection module 51, the pump liquid driving module 52 and the control module 53, the output voltage of the power supply assembly 3 can be detected in real time by using the power voltage detection module 51, and when the output voltage is not less than the first preset voltage, the control module 53 generates the control signal according to the output voltage, and controls the pump liquid driving module 52 to enable the pump liquid assembly 4 to stably spray the cleaning liquid to the working surface at the preset first target flow, thereby effectively improving the use effect of the cleaning device 100 and enhancing the user experience. Compared with the prior art, the cleaning device 100 of the invention effectively solves the problems of complex flow control or poor stability of the water pump at high voltage in the prior art.
It should be noted that references to "first," "second," "third," etc. in embodiments of the present invention are for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first," "second," "third," etc. may explicitly or implicitly include one or more of such features for distinguishing between the descriptive features, no sequential score, no light score.
In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention.
Claims (8)
1. A cleaning device comprising:
a cleaning liquid container for storing cleaning liquid;
the liquid pumping assembly is connected with the liquid cleaning container and is used for spraying cleaning liquid to the working surface;
the cleaning component is used for cleaning the working surface sprayed with the cleaning liquid;
the power supply assembly is used for supplying electric energy to the cleaning device;
the control unit is connected with the power supply assembly, the liquid pumping assembly and the cleaning assembly and used for controlling the operation of the cleaning device;
the method is characterized in that: the control unit comprises a power supply voltage detection module, a liquid pumping driving module and a control module, wherein the power supply voltage detection module is used for detecting the output voltage of the power supply assembly in real time, the control module is electrically connected with the power supply voltage detection module and the liquid pumping driving module, and when the output voltage is not smaller than a first preset voltage, the control module generates a control signal according to the output voltage and controls the liquid pumping driving module to enable the liquid pumping assembly to spray cleaning liquid to the working surface at a preset first target flow; when the output voltage is smaller than a second preset voltage, the control module generates a control signal according to the output voltage to control the pump liquid driving module to enable the pump liquid assembly to spray cleaning liquid to the working surface at a preset second target flow, wherein the second target flow is smaller than the first target flow, and the second preset voltage is smaller than the first preset voltage;
the control module can also change the target flow of the liquid pumping assembly according to the output voltage of the power supply assembly, and when the output voltage of the power supply assembly is in a high-voltage section, the target flow of the liquid pumping assembly is adjusted in real time by utilizing a PID algorithm; when the output voltage of the power supply assembly is in a medium-voltage section, controlling the target flow of the pump liquid assembly by using a constant duty ratio control mode or a steady flow control mode; and when the output voltage of the power supply assembly is in a low-voltage section, reducing the target flow of the liquid pumping assembly.
2. The cleaning device of claim 1, wherein: the liquid pumping driving module comprises a switching element which is connected in series between the power supply assembly and the liquid pumping assembly, and the control module controls the switching element to be periodically pulsed on so as to drive the liquid pumping assembly to pump the cleaning liquid.
3. The cleaning device of claim 2, wherein: the control module is configured to calculate and acquire a duty cycle of a conduction width of a switching element matched with the set output flow rate of the liquid pumping assembly according to the output voltage.
4. The cleaning device of claim 1, wherein: the control unit also comprises a component voltage detection module which is used for detecting the input voltage of the liquid pumping component, and the control module judges the output flow of the liquid pumping component according to the input voltage.
5. The cleaning device of any one of claims 1 to 4, wherein: the liquid pumping component is a piston type one-way double-way electromagnetic valve.
6. A flow control method of a cleaning apparatus including a pump liquid assembly, a power supply assembly that supplies power to the pump liquid assembly, and a switching element for driving the pump liquid assembly to spray cleaning liquid to a working surface, the flow control method comprising the steps of:
starting a cleaning device, and controlling the switching element to be conducted at a preset second duty ratio;
detecting the output voltage of the power supply assembly in real time, and comparing the output voltage with a set first preset voltage;
when the output voltage is not smaller than the first preset voltage, calculating the duty ratio of the switching element matched with the preset first target flow rate of the liquid pumping assembly according to the output voltage, controlling the switching element according to the duty ratio, and driving the liquid pumping assembly to stably spray cleaning liquid on a working surface at the preset first target flow rate;
when the output voltage is smaller than a second preset voltage, the switching element is controlled according to the output voltage generation control signal to enable the liquid pumping assembly to stably spray cleaning liquid on the working surface at a preset second target flow, wherein the second target flow is smaller than the first target flow, and the second preset voltage is smaller than the first preset voltage;
when the output voltage is in a high-voltage section, the target flow of the pump liquid component is adjusted in real time by utilizing a PID algorithm;
when the output voltage is in the medium-voltage section, controlling the target flow of the pump liquid component by using a constant duty ratio control mode or a steady flow control mode;
and when the output voltage is in a low-voltage section, reducing the target flow of the pump assembly.
7. The flow control method according to claim 6, characterized in that: and when the output voltage is smaller than the first preset voltage, acquiring a first duty ratio of the switching element according to the first preset voltage and the first target flow, and controlling the switching element with the first duty ratio.
8. The flow control method according to claim 6, characterized in that: when the output voltage is smaller than the first preset voltage, the switch element is controlled according to the output voltage generation control signal to enable the pump liquid component to stably spray cleaning liquid on the working surface at a preset second target flow, wherein the second target flow is smaller than the first target flow.
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| CN114776568A (en) * | 2022-04-14 | 2022-07-22 | 深圳市杉川机器人有限公司 | Water shortage protection device and method for water pump |
| CN115013278B (en) * | 2022-06-01 | 2024-09-17 | 广东乐心医疗电子股份有限公司 | Air pump driving method and device and electronic equipment |
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