CN114699020B - Cleaning device and control method for adapting work between parts of cleaning device - Google Patents
Cleaning device and control method for adapting work between parts of cleaning device Download PDFInfo
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- CN114699020B CN114699020B CN202210334701.3A CN202210334701A CN114699020B CN 114699020 B CN114699020 B CN 114699020B CN 202210334701 A CN202210334701 A CN 202210334701A CN 114699020 B CN114699020 B CN 114699020B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 194
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000007788 liquid Substances 0.000 claims abstract description 209
- 230000006978 adaptation Effects 0.000 claims abstract description 44
- 239000010865 sewage Substances 0.000 claims description 115
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 104
- 238000001514 detection method Methods 0.000 claims description 55
- 238000004422 calculation algorithm Methods 0.000 claims description 30
- 239000013505 freshwater Substances 0.000 claims description 14
- 238000005086 pumping Methods 0.000 claims description 8
- 238000004064 recycling Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 abstract description 7
- 239000011550 stock solution Substances 0.000 abstract 1
- 239000000306 component Substances 0.000 description 19
- 238000013461 design Methods 0.000 description 15
- 238000011084 recovery Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011109 contamination Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000011545 laboratory measurement Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
-
- 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
-
- 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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- 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
- A47L11/4075—Handles; levers
Landscapes
- Cleaning By Liquid Or Steam (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the application provides cleaning equipment and a control method for adapting work among components of the cleaning equipment. According to the technical scheme provided by the embodiment of the application, the liquid duration corresponding to the liquid storage barrel is designed to be matched with the electric duration of the battery assembly, so that the cleaning equipment is used for cleaning indoor or outdoor ground under the condition that the liquid storage barrel is full of the barrel or empty of the barrel and the battery assembly is full of the electricity, and the residual electric quantity of the battery assembly is almost exhausted or reaches the condition that the minimum electric quantity needs to be charged when the liquid storage barrel is used from full of the barrel to empty of the barrel or from empty of the barrel to full of the barrel. That is, the technical scheme that this application embodiment provided, from the angle of work adaptation between the clean equipment use in-process part, let liquid duration and the adaptation of electricity duration, it is quick again to find that the battery does not have the electricity to need to charge the emergence probability of unable continuation work condition after handling the stock solution bucket midway to reduce the user for the use experience of product is more intelligent, more scientific.
Description
Technical Field
The application relates to the technical field of cleaning equipment, in particular to cleaning equipment and a control method for adapting work among components of the cleaning equipment.
Background
Existing cleaning devices, such as floor washers, are basically provided with the following core components: a main motor, a floor brush motor, a pump, a water purifying bucket, a sewage bucket, a battery assembly and the like. The main motor works to generate suction force to recycle sewage to the sewage bucket. The floor brush motor drives the rolling brush to rotate so as to clean the floor. The pump is used for pumping the cleaning solution in the cleaning water barrel and spraying the cleaning solution on the rolling brush. The battery assembly supplies power for loads such as a main motor, a ground brush motor, a pump and the like.
The following may occur during use of the cleaning device by a user: the sewage bucket is full of water to be poured, and continues to work after the sewage bucket is completely poured and installed to find that the water tank is deficient in water and water is needed to be added; after the user removes the clean water again and the two barrels are completely filled with water and the water is added, the battery may not be powered up again at this time, and the user experience is poor.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a solution capable of improving the problem, see below.
In one embodiment of the present application, a cleaning apparatus is provided. The cleaning apparatus includes:
a device main body on which a cleaning device is provided;
the liquid storage barrel is arranged on the equipment main body and used for storing cleaning liquid or recycling sewage, the liquid in the liquid storage barrel reaches a set high capacity and is called full barrel, and the liquid in the liquid storage barrel reaches a set low capacity and is called empty barrel; when the equipment main body works, the liquid storage barrel is from full barrel to empty barrel or from empty barrel to full barrel, and the required time is the duration of liquid;
The battery assembly is arranged on the equipment main body and is used for supplying power to the cleaning equipment, and the duration of the battery assembly is electric duration;
wherein, the liquid duration is adapted to the electrical duration.
In another embodiment of the present application, another cleaning apparatus is provided. The cleaning apparatus includes:
a device main body on which a cleaning device is provided;
the liquid storage barrel is arranged on the equipment main body and is used for storing cleaning liquid or recycling sewage;
the first detection device is used for detecting the available amount of the liquid storage barrel, wherein the available amount is the current available cleaning liquid amount or the current recyclable liquid amount in the liquid storage barrel;
a battery assembly provided on the apparatus body for supplying power to the cleaning apparatus;
the controller is electrically connected with the battery assembly and the first detection device, and is used for acquiring the residual electric quantity of the battery assembly, calculating the working parameters of the equipment main body by utilizing a cruising adaptation algorithm based on the available quantity and the residual electric quantity; and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual quantity of the battery assembly.
In yet another embodiment of the present application, a method of controlling inter-component adaptation work of a cleaning device is provided. The method comprises the following steps:
acquiring the available amount of a liquid storage barrel of the cleaning equipment, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;
acquiring the residual electric quantity of a battery component of the cleaning equipment;
calculating working parameters of the equipment main body by utilizing a cruising adaptation algorithm based on the available quantity and the residual electric quantity;
and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual quantity of the battery assembly.
According to the technical scheme provided by the embodiment of the application, the liquid duration corresponding to the liquid storage barrel is designed to be matched with the electric duration of the battery assembly, so that the cleaning equipment is used for cleaning indoor or outdoor ground under the condition that the liquid storage barrel is full of the barrel or empty of the barrel and the battery assembly is full of the electricity, and the residual electric quantity of the battery assembly is almost exhausted or reaches the condition that the minimum electric quantity needs to be charged when the liquid storage barrel is used from full of the barrel to empty of the barrel or from empty of the barrel to full of the barrel. That is, according to the technical scheme provided by the embodiment of the application, from the angle of work adaptation among components in the use process of the cleaning equipment, the liquid duration is adapted to the electric duration, the occurrence probability that the battery is found to be charged and cannot continue working condition after the user processes the liquid storage barrel halfway is reduced, and the use experience of the product is better.
The above-described embodiments are solutions to the suitability provided from a static, product design level. The technical scheme provided by the other embodiment of the application is also from the angle of work adaptation among the components in the using process of the equipment, but solves the scheme of work adaptation among the components from the dynamic angle. That is, according to the technical scheme provided by the other embodiment of the application, the available amount (the current available cleaning solution amount or the current recyclable liquid amount) of the liquid storage barrel is detected through the first detection device in real time, then the proper working parameters are calculated based on the available amount and the residual circuit of the battery assembly and by utilizing the continuous voyage adaptation algorithm, the equipment main body is controlled to work according to the working parameters, so that the liquid continuous voyage time corresponding to the available amount is adapted to the electric continuous voyage time corresponding to the residual electric quantity, the occurrence probability of insufficient battery electric quantity after the user processes the liquid storage barrel halfway is reduced, and the use experience of the product is more intelligent and scientific.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present application;
FIG. 2 is a schematic view of a cleaning apparatus according to an embodiment of the present application at another angle;
fig. 3 is a schematic diagram of a first implementation manner in which a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device are electrically connected in a cleaning device according to an embodiment of the present application;
fig. 4 is a schematic diagram of a second implementation manner in which a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device are electrically connected in a cleaning device according to an embodiment of the present application;
fig. 5 is a schematic diagram of a third implementation manner in which a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device are electrically connected in a cleaning device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a fourth implementation manner in which a battery assembly, a first motherboard, a main motor, a pump, a first detection device, and a second detection device are electrically connected in a cleaning apparatus according to an embodiment of the present disclosure;
fig. 7 is a flow chart of a control method for adapting work between components of a cleaning device according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.
In some of the flows described in the specification, claims, and drawings described above, a plurality of operations occurring in a particular order are included, and the operations may be performed out of order or concurrently with respect to the order in which they occur. The sequence numbers of operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, 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" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types. In addition, the embodiments described below are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The design thought of the technical scheme of each embodiment of the application is as follows: when the user uses the cleaning device, if the initial liquid storage bucket is full or empty (such as the fresh water in the fresh water bucket is full or the sewage bucket is empty), the battery is fully charged. The user starts to use, and after the liquid storage barrel is used to an empty barrel or a full barrel (such as a clean water barrel is empty or a sewage barrel is full), the electric quantity of the battery assembly is almost exhausted or reaches the condition of the minimum electric quantity (needing to be charged). So that the user can close the end of use and charge the cleaning device. While reducing the probability of the occurrence of: the user uses for a while, and the liquid storage barrel needs to be added with liquid or poured, and the user does not use for a while and does not have electricity after adding liquid or pouring.
The present application innovates from a number of perspectives. One angle is a static angle, and in the design stage, the capacity of the liquid storage barrel and the capacity of the battery assembly are matched and designed. For example, based on the cleaning area of most household users, the capacity of the liquid storage barrel in a certain working mode is designed to clean the whole house or more than 80% (or more), and the electric endurance time of the battery assembly can also ensure the cleaning of the whole house or more than 80% (or more). For example, in this mode of operation: the power of the main motor is low, the pumping output of a pump communicated with the liquid storage barrel is low, and the like. In addition, the present embodiment is not limited to this mode. For example, the above-mentioned operation mode is an operation mode corresponding to a light-pollution environment, that is, an operation mode when the cleaning device detects that the pollution degree is low-pollution in the intelligent mode. The dirt degree can be obtained by detecting the ground through a sensor on the ground brush or by detecting the sewage through a detection device in the recovery pipeline. The other angle is a dynamic angle, innovation is made on control, working adaptation among components of the cleaning equipment is achieved through control, the liquid duration corresponding to the liquid storage barrel is adapted to the electric duration of the battery assembly, the cleaning equipment can work as long as possible, and the occurrence probability of the situation that a user processes the liquid storage barrel for a while and finishes working due to no electricity is reduced.
The following examples will be described from these two innovative perspectives, respectively.
Fig. 1 and 2 show a schematic structural view of a cleaning apparatus according to an embodiment of the present application. In this embodiment, the capacity of the liquid storage barrel and the capacity of the battery assembly are designed in a matching manner from a static angle. As shown in fig. 1 and 2, the cleaning apparatus includes: the apparatus includes an apparatus main body 1, a liquid storage tub 2, and a battery assembly (not shown). Wherein the apparatus body 2 is provided with a cleaning device. The cleaning device as described is a floor brush 3 as shown in fig. 1. The floor brush 3 may include a rolling brush and a floor brush motor that drives the rolling brush to rotate. The liquid storage barrel 2 is arranged on the equipment main body 1 and is used for storing cleaning liquid or recycling sewage, the liquid in the liquid storage barrel 2 reaches a set high capacity and is called full barrel, and the liquid reaches a set low capacity and is called empty barrel; when the equipment main body works, the time required by the liquid storage barrel from full barrel to empty barrel or from empty barrel to full barrel is the duration of liquid. The battery pack is arranged on the equipment main body 1 and is used for supplying power to the cleaning equipment, and the duration of the battery pack is electric duration. Specifically, the liquid duration is adapted to the electric duration.
Wherein, "adapting" may specifically be: the liquid duration is equal to the electric duration; or the liquid duration is smaller than the electric duration and the smaller amount is within a set tolerance of the adaptation requirement. For example, the set tolerance is: and 0 to 5 minutes.
In another implementation, the electrical duration is N times or more than N times the liquid duration. More specifically, the liquid storage bucket is a sewage bucket, and the corresponding liquid duration refers to the corresponding sewage duration of the sewage bucket. The electric duration is N times or more than N times of the sewage duration. For example, the whole house cleaning scene is suitable for cleaning with larger area, the electric duration can be long enough, the cleaning times of the sewage bucket are controlled to be 2-3 times, and the like. Alternatively, the value range of N may be 2 to 6. Preferably, the electric duration is an integer multiple of the sewage duration, and the integer can take values of 2, 3, 4, 5 and 6, on the basis, the electric duration can be an integer multiple of the sewage duration, such as 2 times, 3 times, 4 times, 5 times and 6 times, considering that the actual operation is not completely accurate and a certain fuzzy amount exists.
Different types or functions of cleaning devices may differ in the role of the cartridge. For example, there are cleaning apparatuses having only a liquid tank for storing a cleaning liquid, and the cleaning apparatus is configured such that the cleaning liquid in the liquid tank is constantly or intermittently discharged to the outside by dripping or pumping. The liquid output from the liquid storage barrel can be directly sprayed to the ground, or dripped/sprayed to a rolling brush, a rag and the like, and the embodiment is not limited to the above. Or, the cleaning device special for collecting sewage is provided with only one liquid storage barrel for recycling sewage. As another example, the cleaning apparatus shown in fig. 1 and 2 is provided with a liquid storage tank 2 including a fresh water tank 21 and a sewage tank 22.
Referring to fig. 1 and 2, the liquid storage tank 2 in this embodiment may include a fresh water tank 21 and a sewage tank 22. The clean water barrel 21 is used for storing cleaning liquid, the liquid in the clean water barrel 21 reaches a first set high capacity and is called full barrel, and the liquid reaches a first set low capacity and is called empty barrel; the time required by the clean water bucket 21 from full bucket to empty bucket is clean water duration. The sewage tank 22 is used for recycling sewage, the sewage in the sewage tank 22 reaches a second set high capacity and is called full tank, and the sewage reaches a second set low capacity and is called empty tank; the sewage tank 22 needs a sewage duration from empty tank to full tank. The clear water duration is basically equal to the sewage duration.
It should be noted that, from the perspective of product design, in order to make the duration of the clean water equal to the duration of the sewage, the capacity of the clean water tank is not simply designed to be the same as the capacity of the sewage tank. This should be considered: the amount of the rolling brush water absorption, the recovery rate of the sewage, the recovery amount of the sewage per unit time under the suction force generated by the main motor, the amount of the residual in the main body pipe of the apparatus, and the like. Therefore, these factors need to be taken into account. For example, the ratio of the fresh water bucket capacity to the sewage bucket capacity may be 1.1 to 2. Preferably, the ratio of the fresh water bucket capacity to the sewage bucket capacity can be 1.1-1.3. It should be noted here that: the bilge tank capacity is not the actual tank capacity of the bilge tank, but the maximum marked capacity of the bilge tank, namely the capacity of the max water line of the bilge tank; the reason for this is: the cleaning device is inclined in operation with the device body, and the max water line is arranged such that water does not contact the filter (HEPA) at the top of the wastewater tank in the inclined state.
Or, in another implementation scheme, the clear water duration is M times or more than M times of the sewage duration. Wherein M may be 2 to 3. If M is too large, the capacity of the water cleaning barrel is required to be large, so that the volume of the device is increased, and the device is not light and convenient to use. Preferably, the clear water duration is an integer multiple, such as 2 times or 3 times, of the sewage duration, and on the basis, the clear water duration can be more than 2 times or 3 times of the sewage duration in consideration of a certain fuzzy amount which is not completely accurate in actual operation.
The above is a design innovation performed on the premise that the device main body operates in one operation mode. For example, the apparatus main body has a plurality of operation modes such as a low-gear operation mode, a high-gear operation mode, a smart mode, and the like. Taking a household cleaning device as an example, the household interior environment is not dirty, and in most cases, a user can clean the household cleaning device by using a low-grade working mode or an intelligent mode. It is assumed that in the cleaning device design phase, it is considered that most households have a cleaning area of 80 to 120 square meters, and in most cases a low-range operation mode is used. In design, the battery capacity, the clean water bucket capacity and the sewage bucket capacity are designed by determining the electric quantity and the cleaning liquid quantity required for cleaning 50 square meters of ground in a low-grade working mode.
I.e. the liquid storage barrel is provided with a plurality of working gears corresponding to different working modes of the equipment main body. Wherein, the various working gears of the liquid storage barrel are related to the power of the pump or the main motor. For example, the liquid storage barrel is a clean water barrel, and various working gears of the liquid storage barrel are related to the power of the pump. If the liquid storage barrel is a sewage barrel, various working gears of the liquid storage barrel are related to the power of the main motor. For example, when the liquid storage barrel works in the first gear, the liquid duration is equal to the electric duration. The first gear is the gear with the lowest water output or water inflow in unit time in the various working gears.
Therefore, according to the technical scheme provided by the embodiment, the liquid duration corresponding to the liquid storage barrel is designed to be matched with the electric duration of the battery assembly, so that the cleaning device is used for cleaning the indoor or outdoor ground under the condition that the liquid storage barrel is full of the barrel or the barrel is empty and the battery assembly is full of the electricity, and the residual electric quantity of the battery assembly is almost exhausted or reaches the condition that the minimum electric quantity needs to be charged when the liquid storage barrel is full of the barrel or the barrel is empty of the barrel. That is, according to the technical scheme provided by the embodiment of the application, from the angle of work adaptation among components in the use process of the cleaning equipment, the liquid duration is adapted to the electric duration, the occurrence probability that the battery is found to be charged and cannot continue working condition after the user processes the liquid storage barrel halfway is reduced, and the use experience of the product is better.
The design idea of the present embodiment will be described below in connection with a specific product.
It is assumed that the product has a fresh water tank and a sewage tank. The maximum capacity of the lagoon is 720ml. 720ml herein refers to the capacity of the max water line of the lagoon; rather than the actual capacity of the lagoon. The reason for this is: the cleaning device is inclined in operation with the device body, and the max water line is arranged such that water does not contact the filter (HEPA) at the top of the wastewater tank in the inclined state. The clear water bucket had a capacity of 880ml.
Table 1 below shows the pump flow (ml/min) of the pump in the corresponding operating mode of the cleaning apparatus, i.e. the water yield (ml) per unit time (i.e. 1 minute) of the fresh water tub.
The gear modes can be selected by a user through an interaction device of the cleaning equipment or automatically determined by the cleaning equipment according to the dirt level. Wherein the degree of soiling can be determined on the basis of detection information of a detection device (a second detection device as will be mentioned below) provided on the cleaning apparatus. For example, the second detection means may be provided in the sewage recovery pipeline or in the sewage tank for detecting the degree of soiling of the recovered sewage. The controller of the cleaning device can measure the dirty water dirty condition based on the detection information detected by the second detection device so as to correspondingly obtain the corresponding dirty degree.
Taking the cleaning device as an example when operating in a 1-gear mode:
the nominal capacity of the battery cell in the battery assembly is 4000mAh, and the output capacity of the actual battery assembly is about 3600mAh. In the 1-gear mode, the pump flow rate of the pump is 20ml/min (namely, the clean water bucket works in the 1-gear position), and the power of the main motor is 90W.
According to the following formula I, the calculated duration of the theoretical battery is as follows:
battery duration = (battery pack rated voltage × actual capacity)/overall power
= (3.6v.7x 3600ma h)/90 w= (3.6.7x 3.6)/90=1.008 h (equation one)
In formula one, the rated voltage of the battery pack is 3.6V, which is the number of batteries per rated voltage of each battery, and the battery pack on the current product comprises 7 batteries. According to laboratory measurement, when the battery runs actually, the endurance time of the battery is measured to be 43 minutes, and is shorter than 1h calculated, because the battery actually comprises electric energy loss of other parts such as a ground brush motor, a pump, a display screen and the like besides the working of a main motor.
Clear water duration = clear water barrel capacity/pump flow
= (880 x 98%)/20=43.12 min (formula two)
Sewage duration= (sewage tank capacity + drum water uptake 25ml + tank wall and pipe residual 5 ml)/(water recovery pump flow)
= (720+25+5)/(90% x 20) (1 st mode corresponds to water recovery 90%, can be determined experimentally)
=41.6 min (formula three)
From the above calculations, it can be seen that: the battery duration, the clear water duration and the sewage duration are basically consistent. From a concrete numerical value, the clear water duration is slightly longer than the sewage duration.
When the inter-component endurance adaptation design is carried out, the duration of the above three endurance periods is basically consistent, and the following three parameters can be used as follows: clear water bucket capacity, sewage bucket capacity, battery capacity.
From formulas two and three, it can be derived that: clear water bucket capacity = water recovery = sewage bucket capacity + roll brush water uptake 25ml + bucket wall and pipe residue 5ml. In order to keep the clear water duration basically consistent with the sewage duration, the capacity proportional relation between the clear water bucket and the sewage bucket can be designed according to a formula II and a formula III.
Or in another embodiment, when the clear water duration is required to be more than N times of the sewage duration (n=2 or 3), the capacity proportion relation between the clear water bucket and the sewage bucket can be obtained according to the formula two and the formula three.
The electric duration in the 1-gear mode is basically consistent with the water duration (clear water duration or sewage duration). In other gear modes, the electric endurance time is required to be ensured to be longer than the water endurance time.
Taking the cleaning device as an example in a 5-gear mode: the pump flow rate of the pump is 100ml/min (namely, the clean water barrel works in 5 gears), and the power of the main motor is 120W.
According to the first formula, the calculated duration of the theoretical battery is as follows:
battery duration = (battery pack rated voltage × actual capacity)/overall power
＝(3.6V*7*3600mAh)/120W＝(3.6*7*3.6)/90＝45min
According to laboratory measurements, the battery duration was measured to be approximately 36 minutes during actual operation.
Clear water duration = clear water barrel capacity/pump flow
= (880 x 98%)/100=8.62 min
Sewage duration= (sewage tank capacity + drum water uptake 25ml + tank wall and pipe residual 5 ml)/(water recovery pump flow)
= (720+25+5)/(92% ×100) (5 th gear mode corresponds to 92% water recovery rate)
=8.15 min
From the above, it can be seen that: and the clear water duration and the sewage duration are basically consistent in the 5-gear mode. From a concrete numerical value, the clear water duration is slightly longer than the sewage duration.
The above matters are all that the cleaning equipment is designed by matching the parameters of the sewage bucket, the bucket parameters of the clean water bucket and the battery capacity from a certain gear mode as a design reference. In essence, the smart mode of the cleaning device may also be used as a design basis. When the cleaning equipment works in an intelligent mode and the sewage sensor in the recovery channel detects that sewage is heavy, the main motor can increase power, and the pump flow of the pump is synchronously increased to increase the water yield of clean water; when the sewage is detected to be medium-low sewage, the power of the main motor is reduced, and the pump flow of the pump is synchronously reduced. Therefore, when the parameters of all the components in the intelligent mode are obtained, the parameters of the battery, the water purifying bucket, the sewage bucket and the like can be matched and designed based on the following formula IV, so that the parameters, the shapes and the designs of all the components of the cleaning equipment are more adaptive and scientific.
M (bilge tank capacity + liquid consumption)/water recovery = clear water tank capacity;
battery duration = N (bilge tank capacity + liquid consumption)/(water recovery rate pump flow rate)
Wherein, the pump flow is a pump working parameter in an intelligent mode, and the liquid consumption is a default value (such as 25ml of the water absorption capacity of the rolling brush and 5ml of the residual quantity of the barrel wall and the pipeline); the water recovery rate is related to the power of the main motor in the intelligent mode, and the higher the power of the main motor is, the higher the water recovery rate is. N=2 to 6; m=1 to 3.
Further, the present embodiment also innovates the control of the cleaning device from a dynamic perspective. As shown in fig. 3 to 6, the cleaning apparatus provided in this embodiment may further include: first detection means 4 and controller 9. And the first detection device 4 is used for detecting the available amount of the liquid storage barrel 2, wherein the available amount is the current available cleaning liquid amount or the current recyclable liquid amount in the liquid storage barrel 2. The controller 9 is electrically connected with the battery assembly 10 and the first detection device 4, and is configured to obtain a remaining power of the battery assembly 10, calculate an operating parameter of the device main body according to the available amount and the remaining power, and utilize a cruising adaptation algorithm; and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual quantity of the battery assembly.
Specifically, the operating parameters of the device main body may include, but are not limited to, at least one of the following:
the pump pumps the water pumping quantity of the cleaning solution from the liquid storage barrel, the power of a main motor related to the water outlet quantity of the liquid storage barrel, the output rotating speed of a floor brush motor, the brightness of a display screen on the equipment main body, the starting or closing of a voice playing function on the equipment main body and the like.
The cruising adaptation algorithm in this embodiment has the following core purposes: by adjusting working parameters of working parts of the cleaning equipment, the liquid duration is adapted to the electric duration, so that the cleaning equipment can continuously work for a longer time without being interrupted under the conditions of the current available liquid storage barrel and the current residual battery capacity. The cruising adaptation algorithm is not particularly limited in the embodiment of the application.
For example, if the remaining amount of the battery is not large, and the remaining amount of the clean water in the clean water tank is relatively large, some power consumption functions, such as a voice playing function, a display function of a display screen, and the like, can be turned off to reduce the power consumption of the cleaning device, so as to fully ensure the cleaning duration of the cleaning device.
In a specific embodiment, the liquid storage tank 2 includes a fresh water tank 21 and a sewage tank 22. The cleaning device further comprises a second detection means 5. The second detecting means 5 is electrically connected to the controller 9 for detecting the degree of sewage contamination recovered to the sewage bucket 22. Accordingly, the first detection means 4 above may be used to detect the amount of cleaning liquid currently available in said fresh water tub 21. For example, the first detection device may be a liquid level sensor, and the cleaning liquid amount in the cleaning water barrel can be obtained through the liquid level information sensed by the liquid level sensor.
Accordingly, when calculating the working parameters of the device main body based on the available amount and the remaining power and using a cruising adaptation algorithm, the controller 9 may be configured to:
when the current available cleaning liquid amount is larger than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage dirt degree, wherein the working parameters mainly comprise main motor power and pump water amount;
when the current available cleaning liquid amount is smaller than the threshold value, working parameters of the equipment main body are calculated according to the current available cleaning liquid amount and the residual electric quantity by utilizing a cruising adaptation algorithm, wherein the working parameters mainly comprise main motor power and pumping water amount.
Further, as shown in fig. 3 to 6, the cleaning apparatus provided in this embodiment further includes: a main motor 7, a pump 8 and a first main board 6. Wherein a main motor 7 is provided on the apparatus body for generating a suction force to suck sewage and foreign substances into the sewage bucket 22. A pump 8 is provided on the apparatus body for pumping the cleaning liquid in the clean water tub 21 to the surface to be cleaned.
In one implementation shown in fig. 3, the controller 9 is located on the first main board 6, and the first main board 6 is electrically connected to the main motor 7, the pump 8, the battery assembly 10, the first detecting device 4, and the second detecting device 5, respectively. More specifically, the battery assembly 10 includes a second main board and a battery. The first motherboard 6 may be electrically connected to the second motherboard.
Alternatively, as shown in the second implementation manner of fig. 4, the controller 9 is located on the battery assembly 10, the main motor 7 is electrically connected to the battery assembly 10, the first main board 6 is electrically connected to the pump 8, the first detecting device 4 and the second detecting device 5, respectively, and the first main board 6 is electrically connected to the battery assembly 10 to indirectly control the operation of the pump through communication with the battery assembly 10. Specifically, the controller 9 is disposed on the second motherboard, and the main motor 7 is electrically connected to the second motherboard.
Alternatively, as shown in a third implementation manner in fig. 5, the controller 9 is located on the battery assembly 10, the battery assembly 10 is electrically connected to the main motor 7 and the pump 8, and the first main board 6 is electrically connected to the battery assembly 10, the first detecting device 4 and the second detecting device 5, respectively. Specifically, the controller 9 is disposed on the second main board, and the main motor 7 and the pump 8 are electrically connected to the second main board.
Alternatively, as shown in a fourth implementation manner in fig. 6, the controller 9 is located on the battery assembly 10, and the battery assembly 10 is electrically connected to the main motor 7, the pump 8, the first detecting device 4 and the second detecting device 5, respectively. Specifically, the controller 9 is disposed on the second main board, and the main motor 7, the pump 8, the first detecting device 4, and the second detecting device 5 are all electrically connected to the second main board.
The above is also from the point of view of working adaptations between components during use of the device, but from the dynamic point of view a solution for working adaptations between components. The first detection device is used for detecting the available quantity (the current available cleaning liquid quantity or the current recoverable liquid quantity) of the liquid storage barrel in real time, then based on the available quantity and a residual circuit of the battery assembly, a proper working parameter is calculated by utilizing a continuous voyage adaptation algorithm, and the equipment main body is controlled to work according to the working parameter, so that the liquid continuous voyage duration corresponding to the available quantity is adapted to the electric continuous voyage duration corresponding to the residual electric quantity, the occurrence probability of insufficient battery electric quantity after the liquid storage barrel is processed by a user in the middle is reduced, and the use experience of a product is better.
The following embodiments innovate the control of the cleaning apparatus from a dynamic point of view. That is, the present embodiment provides a cleaning apparatus. The structure of the cleaning apparatus and the electrical connection structure between the electrical components can be respectively seen from fig. 1 to 6 mentioned in the above embodiments, and the cleaning apparatus includes: the device comprises a device body 1, a liquid storage barrel 2, a first detection device 4, a battery assembly 10 and a controller 9. Wherein the device body 1 is provided with a cleaning device. A liquid storage tank 2 is provided on the apparatus body 1 for storing a cleaning liquid or recovering sewage. The first detecting device 4 is configured to detect an available amount of the liquid storage tank 2, where the available amount is a currently available amount of cleaning liquid or a currently recoverable amount of liquid in the liquid storage tank. A battery pack 10 is provided on the apparatus body 1 for supplying power to the cleaning apparatus. The controller 9 is electrically connected with the battery assembly 10 and the first detection device 4, and is configured to obtain a remaining power of the battery assembly 10, calculate an operating parameter of the device main body according to the available amount and the remaining power, and utilize a cruising adaptation algorithm; and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual quantity of the battery assembly.
Specifically, the duration of the liquid corresponding to the available amount is equal to the duration of the electric duration corresponding to the residual electric quantity; or the liquid duration corresponding to the available amount is smaller than the electric duration corresponding to the residual electric quantity, and the smaller amount is within a set tolerance of the adaptation requirement. Wherein the set tolerance may be 0 to 2 minutes.
Further, the liquid storage tank 2 in this embodiment includes a clean water tank 21 and a sewage tank 22. Correspondingly, the cleaning device further comprises a second detection means 5.
The second detecting means 5 is electrically connected to the controller 9 for detecting the degree of sewage contamination recovered to the sewage bucket 22. The first detection means 4 above are used for detecting the amount of cleaning liquid currently available in the fresh water tub 21. Correspondingly, when calculating the working parameters of the device main body based on the available amount and the residual electric quantity by using a cruising adaptation algorithm, the controller 9 is configured to:
when the current available cleaning liquid amount is greater than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage dirt degree;
and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by utilizing a continuous voyage adaptation algorithm according to the current available cleaning liquid amount and the residual electric quantity.
Still further, the cleaning apparatus provided in this embodiment further includes a main motor 7, a pump 8, and a first main board 6. The connection relationship between the main motor 7, the pump 8, the first main board 6, the battery assembly 10, the first detecting device 4, the second detecting device 5, etc., and the setting position of the controller 9 may be referred to the corresponding description above, and the description is omitted herein.
Corresponding to the innovations in the control method from the dynamic point of view of the application, the application also provides a method embodiment as shown in fig. 7, wherein the embodiment is a control method for adapting work between components of a cleaning device, and the method comprises the following steps of;
101. acquiring the available amount of a liquid storage barrel of the cleaning equipment, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;
102. acquiring the residual electric quantity of a battery component of the cleaning equipment;
103. calculating working parameters of the equipment main body by utilizing a cruising adaptation algorithm based on the available quantity and the residual electric quantity;
104. and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual quantity of the battery assembly.
For example, the liquid storage tank comprises a clean water tank and a sewage tank. Correspondingly, the step 103 "calculating the working parameter of the device main body by using the endurance adaptation algorithm based on the available amount and the remaining power" may specifically include:
1031. obtaining sewage dirt degree recovered to the sewage bucket;
1032. when the current available cleaning liquid amount is greater than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage dirt degree;
1033. and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by utilizing a continuous voyage adaptation algorithm according to the current available cleaning liquid amount and the residual electric quantity.
In 1032, for example, table 1 above, the apparatus main body is determined to operate in the corresponding gear mode according to the sewage contamination level. In different gear modes, the pump flow rate of the pump can be different, and the power of the main motor is the same or different.
1033 described above. The cruising adaptation algorithm is not limited in this embodiment. The endurance adaptation algorithm can be obtained based on theoretical derivation and other means or can be directly selected as a machine learning model, such as a convolutional neural network model (with simple structure and light weight), and can be trained in advance, and the trained model is configured on the cleaning equipment, such as stored in a storage area of the first main board, so that the controller can call the model. The machine learning model can also learn the use habit of the user for training in the use process of the user so as to improve the intelligent degree of the cleaning equipment.
The technical scheme provided by the embodiment is also from the angle of work adaptation among the components in the using process of the equipment, but solves the scheme of work adaptation among the components from the dynamic angle. That is, according to the technical scheme provided by the other embodiment of the application, the available amount (the current available cleaning solution amount or the current recyclable liquid amount) of the liquid storage barrel is detected in real time through the first detection device, then the appropriate working parameters are calculated based on the available amount and the residual circuit of the battery assembly and by utilizing the continuous voyage adaptation algorithm, the equipment main body is controlled to work according to the working parameters, so that the liquid continuous voyage duration corresponding to the available amount is adapted to the electric continuous voyage duration corresponding to the residual electric quantity, the occurrence probability of insufficient battery electric quantity after the user processes the liquid storage barrel halfway is reduced, and the use experience of the product is better.
In summary, the technical scheme provided by the embodiment of the application considers the problem of cooperative work matching of all parts of the cleaning equipment from the design stage, such as matching of liquid duration and electric duration, matching of clear water duration and sewage duration and the like, so that design parameters of all parts of the cleaning equipment are more adapted and more scientific in the design stage. By adding a more intelligent algorithm, such as a cruising adaptation algorithm, on the operation control of the actual cleaning equipment, each part of the cleaning equipment is intelligently adapted on working parameters in the actual cleaning process, and the cleaning equipment is further more scientific and intelligent in control.
The following describes the schemes provided in the embodiments of the present application in conjunction with specific usage scenarios.
Scene one
The user takes off the cleaning device who provides this application embodiment from the charging seat, fills the clear water bucket with cleaning solution before using, and the sewage bucket emptys to the empty bucket, then starts. The user holds the handle to push the cleaning equipment to clean the ground in the house, and the user cleans each house one by one according to the preference sequence of the user. After cleaning the whole house, the user finds that the clear water in the clear water bucket is not much, the sewage bucket is almost full, the electric quantity of the battery is also not much, and the battery is just right. The user then places the cleaning device on the charging dock to continue charging so that it is full of power the next time it is cleaned. The user removes the sewage bucket and tips over and installs it back again.
Scene two
The user takes off the cleaning device who provides this application embodiment from the charging seat and cleans the house ground. Before using, the clean water bucket is filled with cleaning solution, the sewage bucket is poured into an empty bucket, and then the machine is started. After a period of time, the first detection device of the cleaning equipment detects that the cleaning liquid amount of the cleaning water barrel is lower than 50%, and at the moment, the controller of the cleaning equipment calculates working parameters of the equipment main body by utilizing a continuous voyage adaptation algorithm based on the available amount of the cleaning liquid and the residual electric quantity of the battery, such as determining the pump flow of the pump, the power of the main motor and the like. Subsequently, the controller controls the operation of the apparatus main body in accordance with the calculated operation parameters. After the whole house is cleaned, the user finds that the clear water in the clear water bucket is not much, the sewage bucket is almost full, the electric quantity of the battery is not much, and the user just happens. The user then places the cleaning device on the charging dock to continue charging so that it is full of power the next time it is cleaned. The user removes the sewage bucket and tips over and installs it back again.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (13)
1. A cleaning apparatus, comprising:
a device main body on which a cleaning device is provided;
the liquid storage barrel is arranged on the equipment main body and used for storing cleaning liquid or recycling sewage, the liquid in the liquid storage barrel reaches a set high capacity and is called full barrel, and the liquid in the liquid storage barrel reaches a set low capacity and is called empty barrel; when the equipment main body works, the liquid storage barrel is from full barrel to empty barrel or from empty barrel to full barrel, and the required time is the duration of liquid;
the battery assembly is arranged on the equipment main body and is used for supplying power to the cleaning equipment, and the duration of the battery assembly is electric duration;
based on the liquid duration, adjusting working parameters of the equipment main body related to the electric duration to enable the liquid duration to be matched with the electric duration;
The liquid duration is equal to the electric duration; or the electric duration is N times of the liquid duration, and the value range of N is 2-6.
2. The cleaning apparatus of claim 1, wherein the liquid storage tank comprises:
the cleaning water barrel is used for storing cleaning liquid, wherein the liquid in the cleaning water barrel reaches a first set high capacity and is called full barrel, and the liquid reaches a first set low capacity and is called empty barrel; the time required by the clear water barrel from full barrel to empty barrel is clear water duration;
the sewage bucket is used for recycling sewage, the sewage in the sewage bucket reaches a second set high capacity and is called full bucket, and the sewage reaches a second set low capacity and is called empty bucket; the sewage bucket is from empty to full, and the required time is the sewage duration;
the clear water duration is equal to the sewage duration, or M times of the sewage duration, and M is 2-3.
3. The cleaning apparatus of claim 2, wherein a ratio of the fresh water bucket capacity to the dirty water bucket capacity is 1.1-2.5.
4. A cleaning device according to any one of claims 1 to 3 wherein the liquid storage barrel has a plurality of operating gear positions;
When the liquid storage barrel works in a first gear, the liquid duration is equal to the electric duration;
the first gear is the gear with the lowest water output or water inflow in unit time in the various working gears.
5. A cleaning device according to any one of claims 1 to 3, further comprising:
the first detection device is used for detecting the available amount of the liquid storage barrel, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;
the controller is electrically connected with the battery assembly and the first detection device, and is used for acquiring the residual electric quantity of the battery assembly, calculating the working parameters of the equipment main body related to the electric duration by utilizing a duration adaptation algorithm based on the available quantity and the residual electric quantity; and controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity is adapted to the electric duration corresponding to the residual electric quantity.
6. The cleaning apparatus of claim 5, wherein the operating parameters of the apparatus body comprise at least one of:
the power of the main motor, the output rotating speed of the floor brush motor, the brightness of a display screen on the equipment main body and the voice playing function on the equipment main body are started or stopped.
7. The cleaning apparatus of claim 5, wherein the liquid storage tank comprises a clean water tank and a sewage tank; the cleaning apparatus further includes:
the second detection device is electrically connected with the controller and is used for detecting the sewage dirt degree recovered to the sewage bucket;
the first detection device is used for detecting the current available cleaning liquid amount in the clear water barrel;
the controller is configured to, when calculating the operating parameter of the device main body based on the available amount and the remaining power and using a duration adaptation algorithm:
when the current available cleaning liquid amount is larger than or equal to a set threshold value, determining working parameters of the equipment main body according to the sewage dirt degree; or,
and when the current available cleaning liquid amount is smaller than the set threshold value, calculating working parameters of the equipment main body according to the current available cleaning liquid amount and the residual electric quantity by utilizing a cruising adaptation algorithm.
8. The cleaning apparatus as recited in claim 5, further comprising:
a main motor provided on the apparatus body for generating a suction force to suck sewage into the sewage bucket;
the pump is arranged on the equipment main body and is used for pumping the cleaning liquid in the cleaning water barrel to the rolling brush and/or the surface to be cleaned; and
A first main board;
the controller is positioned on the first main board, and the first main board is electrically connected with the main motor, the pump, the battery assembly, the first detection device and the second detection device respectively; or,
the controller is positioned on the battery assembly, the main motor is electrically connected with the battery assembly, the first main board is electrically connected with the pump, the first detection device and the second detection device respectively, and the first main board is electrically connected with the battery assembly to indirectly control the pump to work through communication with the battery assembly;
or the controller is positioned on the battery assembly, the battery assembly is respectively and electrically connected with the main motor and the pump, and the first main board is respectively and electrically connected with the battery assembly, the first detection device and the second detection device;
or the controller is positioned on the battery assembly, and the battery assembly is respectively and electrically connected with the main motor, the pump, the first detection device and the second detection device.
9. A cleaning apparatus, comprising:
a device main body on which a cleaning device is provided;
The liquid storage barrel is arranged on the equipment main body and is used for storing cleaning liquid or recycling sewage;
the first detection device is used for detecting the available amount of the liquid storage barrel, wherein the available amount is the current available cleaning liquid amount or the current recyclable liquid amount in the liquid storage barrel;
a battery assembly provided on the apparatus body for supplying power to the cleaning apparatus;
the controller is electrically connected with the battery assembly and the first detection device and is used for acquiring the residual electric quantity of the battery assembly, and the residual electric quantity corresponds to the electric duration; calculating working parameters of the equipment main body related to the electric duration by utilizing a duration adaptation algorithm based on the available quantity and the residual electric quantity; controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity is adapted to the electric duration corresponding to the residual electric quantity;
the liquid duration is equal to the electric duration; or the electric duration is N times of the liquid duration, and the value range of N is 2-6.
10. The cleaning apparatus of claim 9, wherein the liquid storage tank comprises a fresh water tank and a dirty water tank; the cleaning apparatus further includes:
The second detection device is electrically connected with the controller and is used for detecting the sewage dirt degree recovered to the sewage bucket;
the first detection device is used for detecting the current available cleaning liquid amount in the clear water barrel;
the controller is configured to, when calculating the operating parameter of the device main body based on the available amount and the remaining power and using a duration adaptation algorithm:
when the current available cleaning liquid amount is greater than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage dirt degree;
and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by utilizing a continuous voyage adaptation algorithm according to the current available cleaning liquid amount and the residual electric quantity.
11. The cleaning apparatus defined in claim 10, further comprising:
a main motor provided on the apparatus body for generating a suction force to suck sewage and foreign substances into the sewage bucket;
the pump is arranged on the equipment main body and is used for pumping the cleaning liquid in the cleaning water barrel to the surface to be cleaned; and
a first main board;
the controller is located on the first main board, and the first main board is electrically connected with the main motor, the pump, the battery assembly, the first detection device and the second detection device respectively; or,
The controller is positioned on the battery assembly, the main motor is electrically connected with the battery assembly, the first main board is electrically connected with the pump, the first detection device and the second detection device respectively, and the first main board is electrically connected with the battery assembly to indirectly control the pump to work through communication with the battery assembly;
or the controller is positioned on the battery assembly, the battery assembly is respectively and electrically connected with the main motor and the pump, and the first main board is respectively and electrically connected with the battery assembly, the first detection device and the second detection device;
or the controller is positioned on the battery assembly, and the battery assembly is respectively and electrically connected with the main motor, the pump, the first detection device and the second detection device.
12. A control method for adapting work between parts of a cleaning device is characterized in that,
acquiring the available amount of a liquid storage barrel of the cleaning equipment, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;
acquiring the residual electric quantity of a battery component of the cleaning equipment;
calculating working parameters of the equipment main body related to the electric duration by utilizing a duration adaptation algorithm based on the available quantity and the residual electric quantity;
Controlling the equipment main body to work according to the working parameters, so that the liquid duration corresponding to the available quantity of the liquid storage barrel is adapted to the electric duration corresponding to the residual electric quantity of the battery assembly;
the liquid duration is equal to the electric duration; or the electric duration is N times of the liquid duration, and the value range of N is 2-6.
13. The method of claim 12, wherein the liquid storage tank comprises a fresh water tank and a sewage tank; and
based on the available amount and the residual electric quantity, calculating working parameters of the equipment main body by using a cruising adaptation algorithm, wherein the working parameters comprise:
obtaining sewage dirt degree recovered to the sewage bucket;
when the current available cleaning liquid amount is greater than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage dirt degree; or,
and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by utilizing a continuous voyage adaptation algorithm according to the current available cleaning liquid amount and the residual electric quantity.
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| PCT/CN2023/078148 WO2023185337A1 (en) | 2022-03-30 | 2023-02-24 | Cleaning device and method for controlling adaptation between components of cleaning device |
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| WO2021060662A1 (en) * | 2019-09-26 | 2021-04-01 | 엘지전자 주식회사 | Robot cleaner and method for controlling robot cleaner |
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| CN110685243A (en) * | 2019-10-28 | 2020-01-14 | 福建龙马环卫装备股份有限公司 | Clear water volume and operational duration prompting system for cleaning vehicle and cleaning vehicle |
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| CN215016857U (en) * | 2021-01-29 | 2021-12-07 | 中振同辂(江苏)机器人有限公司 | Floor washing robot with automatic water spraying amount adjusting function |
| CN113796792A (en) * | 2021-09-23 | 2021-12-17 | 宁波洒哇地咔电器有限公司 | Surface cleaning equipment and self-cleaning floor mopping control method thereof |
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| WO2023185337A1 (en) | 2023-10-05 |
| CN114699020A (en) | 2022-07-05 |
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