CN114814974A

CN114814974A - In-place installation detection method, cleaning equipment and readable storage medium

Info

Publication number: CN114814974A
Application number: CN202210332188.4A
Authority: CN
Inventors: 夏抑非; 何俊良; 王奥; 何吾佳
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-07-29

Abstract

An in-place installation detection method, a cleaning apparatus, and a readable storage medium are disclosed, in which a slop pail is detachably provided on a body of the cleaning apparatus, a first detection element is provided between the slop pail and the body, the first detection element being configured to generate a first signal when the slop pail is installed in place, and a second detection element is provided in a sewage suction pipe between the slop pail and a sewage suction port of the cleaning apparatus, the second detection element being configured to generate a second signal when sewage is detected. The cleaning equipment combines the first signal and the second signal to carry out installation detection in place on the sewage bucket, avoids the misinformation problem that the sewage bucket is not installed in place due to the fact that only the Hall sensor is used for leading to, improves the accuracy of installation detection in place, and ensures that the cleaning equipment cannot stop working due to false alarm under the condition that the sewage bucket is installed in place. In addition, the method is also suitable for detecting whether the clean water bucket is installed in place.

Description

In-place installation detection method, cleaning equipment and readable storage medium

Technical Field

The application relates to the technical field of artificial intelligence, in particular to an in-place installation detection method, cleaning equipment and a readable storage medium.

Background

With the development of Artificial Intelligence (AI) technology, various cleaning devices, such as floor cleaning machines, cloth cleaning machines, etc., are increasingly entering the lives of people.

Usually, a detachable slop pail is assembled on the cleaning device, and a hall sensor is installed on the slop pail. And if the cleaning equipment detects the Hall signal, the sewage bucket is considered to be installed in place and works. If the Hall signal cannot be detected, the sewage bucket is not installed in place, and the cleaning equipment cannot work at the moment.

However, when the slop pail is mounted in place, but the hall sensor fails or the hall signal is temporarily lost, the washing apparatus erroneously thinks that the slop pail is not mounted in place and stops working.

Disclosure of Invention

The application provides an in-place installation detection method, cleaning equipment and a readable storage medium, which are used for determining whether a sewage bucket is in place or not by combining signals of various detection elements, so that the accuracy of in-place installation detection is improved, and the cleaning equipment is ensured not to stop working due to false alarm under the condition that the sewage bucket is in place.

In a first aspect, an embodiment of the present application provides an installation-in-place detection method applied to a cleaning device, where the cleaning device includes a body, a slop pail detachably mounted on the body, a first detection element disposed between the slop pail and the body and configured to generate a first signal when the slop pail is installed in place, and a second detection element disposed in a sewage suction pipe between the slop pail and a sewage suction port of the cleaning device and configured to generate a second signal when sewage is detected, the method including:

determining whether the first signal and the second signal are detected during the execution of the current task;

stopping executing the current task when the first signal and the second signal are not detected;

and outputting first prompt information to prompt a user to install the sewage bucket.

In a possible implementation, the washing apparatus further includes a clean water tub detachably mounted on the body, a third detection element disposed between the clean water tub and the body and configured to generate a third signal when the clean water tub is mounted in place, and a fourth detection element configured to generate a fourth signal when clean water is detected, the method further including:

determining whether the third signal is detected during the execution of the current task;

if the third signal is not detected, stopping executing the current task and outputting second prompt information to prompt a user to install the clear water barrel;

determining whether the fourth signal is detected;

and if the fourth signal is not detected, outputting third prompt information to prompt a user to add water into the clear water barrel.

In a third aspect, an embodiment of the present application provides a cleaning apparatus, including:

a body;

a slop pail detachably mounted on the body;

the cleaning water bucket is detachably assembled on the machine body;

a first sensing element disposed between the slop pail and the body, configured to generate a first signal when the slop pail is mounted in place;

a second detection element disposed in the sewage suction pipe between the slop pail and the sewage suction port, configured to generate a second signal when the sewage is detected;

a third detecting element disposed between the cleaning water tub and the body, configured to generate a third signal when the cleaning water tub is mounted in place;

a fourth detection element configured to generate a fourth signal when fresh water is detected;

a memory and a processor disposed on the body;

the memory for storing a computer program;

the processor is coupled with the memory for executing the computer program in the memory to cause the cleaning apparatus to implement the method as described above for the first aspect or various possible implementations of the first aspect.

In a feasible implementation manner, the fourth detection element is arranged in a clean water pipeline between the clean water barrel and the water outlet; or the fourth detection element is arranged at the bottom of the clear water barrel; or the fourth detection element is arranged at any position from the lowest water level line of the clean water barrel to the bottom.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are configured to implement the method according to the first aspect or various possible implementation manners of the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program, which when executed by a processor, implements the method according to the first aspect or the various possible implementations of the first aspect.

According to the installation-in-place detection method, the cleaning device and the readable storage medium, the sewage bucket is detachably arranged on the body of the cleaning device, the first detection element is arranged between the sewage bucket and the body and is configured to generate a first signal when the sewage bucket is installed in place, and the second detection element is arranged in the sewage suction pipeline between the sewage bucket and the sewage suction port of the cleaning device and is configured to generate a second signal when sewage is detected. The cleaning equipment combines the first signal of the first detection element and the second signal of the second detection element to carry out installation in-place detection on the sewage bucket, so that the problem of misinformation that the sewage bucket is not installed in place due to the fact that only the Hall sensor is used for avoiding is solved, the accuracy of installation in-place detection is improved, and the cleaning equipment is ensured not to stop working due to misinformation under the condition that the sewage bucket is installed in place. In addition, the method is also suitable for detecting whether the clean water bucket is installed in place.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1A is a schematic diagram of a 45 degree view of a cleaning apparatus provided in an embodiment of the present application;

FIG. 1B is a schematic diagram of a back side of a cleaning apparatus provided in an embodiment of the present application;

FIG. 1C is a schematic front view of FIG. 1B;

FIG. 1D is a right side view of FIG. 1B;

FIG. 1E is a left side view of FIG. 1B;

FIG. 2 is a schematic end view of a slop pail in a method for detecting installation in place according to an embodiment of the present application;

FIG. 3 is a schematic view of an end face position of a slop pail without a filter assembly installed in an in-position detection method according to an embodiment of the present application;

FIG. 4 is a schematic cross-sectional view illustrating the mating position of the body and the slop pail in the method for detecting the installation in place according to the embodiment of the present application;

FIG. 5 is a schematic structural diagram of a filter assembly installed in a position detection method according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of another cleaning apparatus provided in the practice of the present application;

FIG. 7 is a flow chart of a method for detecting installation in place according to an embodiment of the present disclosure;

FIG. 8 is a flow chart illustrating self-cleaning of the cleaning apparatus in the in-place installation detection method according to the embodiment of the present disclosure;

fig. 9 is another flowchart of a method for detecting a mounting position according to an embodiment of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Currently, most cleaning equipment is equipped with a slop pail and a clear water pail. Under the condition that the sewage bucket and the clear water bucket are installed in place, the cleaning machine is not damaged and the cleaning effect is optimal. For this reason, it is necessary to detect whether the sewage bucket and the clear water bucket are mounted in place. The common in-place installation detection mode is mostly based on Hall sensors for detection. Taking the sewage bucket as an example, a hall sensor is arranged between the sewage bucket and the body of the cleaning equipment, and if the cleaning equipment does not detect a hall signal, the sewage bucket is not installed in place. At the moment, the cleaning equipment sends out prompt information in the modes of voice, indicator lights and the like to prompt a user that the sewage bucket is not installed in place.

However, if the hall sensor fails and the hall sensor signal is lost temporarily when the slop pail is mounted in place, the cleaning device may erroneously send out a prompt message because the hall signal is not detected, which is called as a false alarm. When the false alarm occurs, the cleaning equipment stops working. In practice, however, the slop pail is mounted in place and the cleaning device should not be taken out of service. The false alarm causes that the cleaning equipment can not normally complete the task, and the working efficiency is reduced.

Based on this, the embodiment of the application provides an in-place installation detection method, a cleaning device and a readable storage medium, which combine signals of various detection elements to determine whether a slop pail is in place, so as to improve accuracy of in-place installation detection, ensure that the cleaning device does not stop working due to false alarm when the slop pail is in place, and achieve the purposes of ensuring that the cleaning device normally completes tasks and improving working efficiency.

Fig. 1A is a schematic view of a 45-degree viewing angle of a cleaning apparatus provided in an embodiment of the present application, fig. 1B is a schematic view of a back surface of the cleaning apparatus provided in the embodiment of the present application, and fig. 1C is a schematic view of a front surface of fig. 1B. FIG. 1D is a right side view of FIG. 1B. Fig. 1E is a left side view of fig. 1B.

Referring to fig. 1A to 1E, a cleaning apparatus provided in an embodiment of the present application includes a body 11, a dirty water tank 12, and a clean water tank 13. Two mounting grooves are arranged at corresponding positions of the machine body 11, wherein the shape and the size of one mounting groove are matched with those of the sewage bucket 11; the shape and the size of the other mounting groove are matched with those of the clear water barrel. The sewage bucket 12 and the clear water bucket 13 are arranged in corresponding mounting grooves and then participate in enclosing a part of the outer contour of the machine body 11, so that the structure of the cleaning equipment is more compact.

In fig. 1A to 1E, a first detection element provided between the waster tub 12 and the body 11, a second detection element provided in the soil suction pipe between the waster tub 12 and the soil suction port of the washing apparatus, a fan, and the like are not illustrated. One end of the sewage suction pipeline is a sewage suction port on the floor brush, and the other end of the sewage suction pipeline is communicated with the sewage bucket 12. In the working process, a cleaning brush, a cleaning surface, a sewage suction pipeline and the like of the cleaning equipment form a closed cavity, and a fan provides negative pressure through the sewage suction pipeline to suck sewage and the like into the sewage bucket 12. When the cleaning equipment is a ground cleaning machine, the cleaning surface is the ground; when the cleaning equipment is a cloth washing machine, the cleaning surface is a sofa, a curtain, a cushion and the like.

In addition, in fig. 1A to 1E, a third detecting element provided between the clean water tub 13 and the body 11, a fourth detecting element provided in the clean water pipe between the clean water tub 13 and the water outlet, and the like are not illustrated. In the working process, the clear water barrel 13 sprays water to the cleaning brush through the clear water pipeline.

Fig. 2 is a schematic end view of a slop pail in an installation position detection method according to an embodiment of the present application. Fig. 3 is a schematic view of the position of the end surface of the slop pail without a filter assembly installed in the method for detecting the installation position according to the embodiment of the present application. Fig. 4 is a schematic cross-sectional view illustrating the matching position of the body and the slop pail in the installation position detection method provided by the embodiment of the application. FIG. 5 is a schematic structural diagram of a filter assembly installed in a position detection method according to an embodiment of the present disclosure.

Referring to fig. 2-5, in the above embodiment, the filter assembly 14 is detachably disposed on the slop pail 12, and a first detection element is disposed between the filter assembly 14 and the body 11, and is configured to be triggered, i.e. generate a first signal, when the filter assembly 14 is mounted in place with the slop pail 12. And detecting whether the first signal and the second signal can be acquired or not by the cleaning equipment in the process of executing the current task, and if the first signal and the second signal can be acquired, determining that the sewage bucket 12 is installed in place and continuing to execute the current task. If the first signal is available but the second signal is not available, then there is a possibility that the cleaning apparatus has not begun cleaning or the second sensing element has failed, and the washing apparatus determines that the dirt barrel 12 is in place and can continue to perform the current task. If the first signal cannot be acquired but the second signal can be acquired, the cleaning device considers that the first detection element is invalid, determines that the slop pail 12 is installed in place, and continues to execute the current task. If the first signal and the second signal cannot be acquired, the cleaning device considers that the slop pail 12 is not installed in place and sends a first prompt message to prompt a user to install the slop pail 12.

Alternatively, the filter assembly 14 of the present embodiment may be removably mounted to the waste bin 12 and the first sensing element between the filter assembly 14 and the body 11 may be triggered only when the waste bin 12 is in place. That is, if false alarms are not considered, when the first detection element triggers, i.e., generates, the first signal, it is indicated that the slop pail is mounted in place. Additionally, when the first sensing element is activated, it indicates that the filter assembly 14 is currently installed in the waste basket 12. Thus, in the present embodiment, the first sensing element is activated, indicating that the pail 12 is in place and the filter assembly 14 is mounted on the pail 12. Through the arrangement, the situation that the cleaning equipment is directly cleaned due to the fact that the filter assembly 14 and the sewage bucket 12 are not installed in place can be prevented, the cleaning equipment is prevented from being damaged, and the service life of the cleaning equipment is prolonged.

In practice, when the user needs to dispose of the waste water in the waste water tank 12, the filter assembly 14 is removed first to dump the waste water in the waste water tank 12, because the cleaning device uses the negative pressure principle to pump the waste water into the waste water tank 12. If the filter assembly 14 is not provided between the tub 12 and the wind tunnel, it is highly likely that moisture in the tub 12 enters the main motor along the wind tunnel, causing damage to the main motor. The filter assembly 14 is mounted on the tub 12, so that the filter assembly 14 needs to be removed when treating sewage, and the filter assembly 14 is reassembled to the tub 12 before the tub 12 is mounted on the body 11. During the disassembly, the user may neglect to install the filter assembly 14 and directly mount the slop pail 12 to the body 11. At this time, if the washing apparatus performs the washing work, there is a high possibility that the moisture in the soil tub 12 is sucked into the main motor. In the embodiment of the application, the first detection element is arranged between the filter assembly 14 and the machine body 11, whether the filter assembly 14 is neglected for loading or not is detected through the first detection element, whether the sewage bucket 12 is installed in place or not is detected, and the intellectualization of the cleaning equipment is improved.

Referring to fig. 2-5, the end surface of the slop pail 12 is provided with an opening 121 communicated with the inner cavity of the slop pail 12, and the filter assembly 14 is detachably mounted in the opening 121. For example, the filter assembly 14 may be installed in the opening 121 by way of an interference fit, such that the filter assembly 14 closes the opening 121. When the slop pail 12 is mounted with the body 11, the inner cavity of the slop pail 12 is communicated with the air duct of the body 11 through the filter assembly 14, so that the slop water is pumped into the slop pail 12 for storage. The filter assembly 14 functions to block water or water vapor in the slop pail 12 from entering the air duct, preventing the water or water vapor from damaging the main motor in the air duct.

In the above embodiment, the edge of the filter assembly 14 has a flange 141 extending outward, and the first detecting element includes a trigger element disposed at the position of the flange 141 and a sensing element disposed at a corresponding position of the body 11, and the trigger element is configured to move into a detection area in which the sensing element is located when the slop pail 12 is mounted in place. The position of the trigger element on the filter assembly 14 corresponding to the sensing element with both the canister 12 and the filter assembly 14 in place can be used as a sensing zone and the first signal output by the sensing element when the trigger element is in the sensing zone can be used to indicate that both the canister 12 and the filter assembly 14 are in place.

The first detecting element may be based on magnetic induction, photoelectric induction, or mechanical switch, and the triggering element disposed on the filter assembly 14 and the sensing element disposed on the body cooperate with each other to output the first signal. In one embodiment, the triggering element is a magnet 142 and the sensing element is a hall sensor 143 disposed on the body 11. The hall sensor 143 generates a different hall signal, i.e., a first signal, according to a change in the distance of the magnet 142 from its own position. The intensity of the hall signal is stronger as the magnet 142 is closer to the hall sensor 143. Therefore, the washing apparatus can determine the position of the magnet 142 by outputting hall signals of different intensities according to the position of the magnet 142 by the hall sensor 143, and can determine the position of the filter assembly 14 to which the magnet 142 is attached. The washing apparatus can determine whether the filter assembly 14 is mounted and the tub 12 is mounted in place using the intensity of the hall signal output from the hall sensor 143 when the magnet 142 is located in the sensing area as a preset threshold value and using the preset threshold value as a determination condition for determining whether the magnet 142 is located in the sensing area. There are various ways to determine the position or movement state of the filter assembly 14 and the slop pail 12 by the hall sensor 143 and the magnet 142, which are only exemplified herein, and the embodiment of the present application is not limited thereto.

The mounting position and the operation principle of the first detection element, and the like are described above. The difference between the third detecting element and the first detecting element is that the filter assembly is not arranged on the clear water barrel, and the rest is similar to the first detecting element, and the description of the first detecting element can be referred to, and the description is omitted here.

A second sensing element is disposed in the sewage pipe between the slop pail 12 and the sewage suction opening of the cleaning device and is configured to generate a second signal when sewage is sensed. The second detection element is, for example, a contamination sensor or the like, and the second signal is, for example, a contamination value of the contaminated water or the like.

The fourth detection element is configured to generate a fourth signal when clean water is detected. The fourth detection element is, for example, a photosensor or the like, and the fourth signal is, for example, a photoelectric signal or the like. The position of the fourth detection element is flexible. For example, the fourth detection element is arranged in the clean water pipe between the clean water tank and the water outlet. For another example, the fourth detecting element is disposed at the bottom of the clean water tub. For another example, the fourth detecting element is arranged at any position from the lowest water level line of the clear water barrel to the bottom.

The body 11 is provided with a memory and a processor, and the processor executes computer instructions stored in the memory so as to combine a first signal of the first detection element and a second signal of the second detection element to detect that the sewage bucket 12 is installed in place, thereby avoiding the false alarm problem that the sewage bucket is not installed in place due to only relying on a Hall sensor. The clean water barrel 13 is mounted in place and detected by combining the third signal of the third detection element and the fourth signal of the fourth detection element, so that the false alarm that the clean water barrel is not mounted in place due to the fact that only a Hall sensor is relied on is avoided. In actual implementation, the installation in-place detection can be performed only on the sewage bucket 12 and the installation in-place detection can be performed only on the clear water bucket 13 as required, and the installation in-place detection can be performed on the sewage bucket 12 and the clear water bucket 13 simultaneously.

It will be appreciated that the cleaning apparatus may include other components, such as a fan assembly, a wiper assembly, a main motor, etc., in addition to the components illustrated in fig. 1A-5.

It will also be appreciated that the cleaning apparatus illustrated in fig. 1A-5 is an integral cleaning apparatus, in which all components move following the movement of the main body during operation. However, the installation-in-place detection method provided by the embodiment of the application is also applicable to the separated cleaning equipment. For example, please refer to fig. 6, fig. 6 is a schematic structural diagram of another cleaning apparatus provided in the present application. Referring to fig. 6, the cleaning apparatus main body 11, the slop pail 12, the clear water pail 13, the cleaning brush 15 is connected with the main body 11 through the extension pipe 16, the handle 17 is arranged on the cleaning brush 15, the cleaning brush 15 is convenient for the user to operate, the cleaning brush 15 is provided with a low-abrasion and fine brush, and the surface of the cleaning object can be cleaned. A sewage suction pipeline and a clean water pipeline are arranged in the extension pipe 16, and the cleaning brush 15 is communicated with the clean water barrel 13 through the clean water pipeline and is communicated with the sewage barrel 12 through the sewage pipeline. In the working process, the main machine does not need to be moved, and the cleaning brush 15 moves under the control of a user, so that the carpet, the sofa, the curtain and other cloth products in a certain range are cleaned.

Next, a mounting position detection method according to an embodiment of the present application will be described in detail based on the above description of fig. 1A to 6. Exemplary please refer to fig. 7. Fig. 7 is a flowchart of a method for detecting installation in place according to an embodiment of the present application. The present embodiment is a detailed description of the in-position installation detection method from the perspective of detecting whether a slop pail is in place. The embodiment comprises the following steps:

701. determining whether a first signal and a second signal are detected in the current task, and if the first signal and the second signal are detected, executing step 702; if the first signal is not detected but the second signal is detected, executing step 703 and step 704; if the first signal is detected but the second signal is not detected, go to step 705; if the first signal and the second signal are not detected, step 706 is performed.

In the embodiment of the application, the current task refers to a starting task or a cleaning task. And when the current task is a starting task, continuously executing the current task refers to continuously starting, and after the starting is finished, executing a cleaning task, a self-cleaning task and the like according to the operation of a user or a default flow. Stopping executing the current task means stopping starting the machine and keeping the cleaning equipment in a state of being incapable of working.

When the current task is a cleaning task, continuing to execute the cleaning task means continuing to clean the ground, and the like. Stopping executing the current task refers to stopping cleaning.

702. The cleaning device continues to perform the current task.

The cleaning device detects the first signal and the second signal simultaneously, which indicates that the first detection element and the second detection element are both effective. At the moment, the cleaning equipment continues to work normally and continues to detect whether the sewage bucket is installed in place, namely the first signal and the second signal are continuously detected, and judgment is made according to whether the first signal and/or the second signal are detected.

703. The cleaning apparatus determines that the first sensing element is failed.

704. The cleaning device stops detecting whether the slop pail is mounted in place and continues to execute the current task.

The cleaning device is able to detect the second signal but not the first signal, indicating that there is sewage in the sewage suction pipe, the slop pail is in place, but the first detection element is disabled or the first signal is temporarily lost, and therefore the cleaning device does not detect the first signal. At this point, the cleaning device does not prompt the user that the slop pail is not in place, but instead defaults to having the slop pail in place and continues to work. Meanwhile, the cleaning equipment stops detecting whether the sewage bucket is installed in place or not, so that the false alarm is avoided. Stopping detecting whether the slop pail is installed in place means: the washing apparatus stops the logic for judging whether the slop pail is mounted in place based on the detection signal (first signal and/or second signal). Specifically, the cleaning device continues to detect the first signal during the current task, but does not send the first prompt message because the first signal is not detected. The meaning of stopping detecting whether the clear water bucket is mounted in place is the same as that of stopping detecting whether the dirty water bucket is mounted in place.

705. The cleaning equipment determines that the sewage bucket is installed in place and continues to execute the current task.

The cleaning device is able to detect the first signal but not the second signal, indicating that the slop pail is mounted in place and the second detection element is failed or the second signal is temporarily lost. At this time, the washing apparatus continues to perform the current task and continues to detect whether the slop pail is mounted in place, i.e. continuously detects the first signal.

706. The cleaning device stops executing the current task.

707. The cleaning equipment determines that the sewage bucket is not installed in place and sends first prompt information to prompt a user to install the sewage bucket.

When the cleaning device does not detect the first signal and the second signal at the same time, the cleaning device considers that the slop pail is not installed in place. At the moment, the cleaning equipment prompts a user that the sewage bucket is not installed in place through indicator lamp flashing, voice broadcasting and the like, and the sewage bucket is reloaded.

According to the installation in-place detection method provided by the embodiment of the application, the sewage bucket is detachably arranged on the body of the cleaning equipment, the first detection element is arranged between the sewage bucket and the body and is configured to generate a first signal when the sewage bucket is installed in place, and the second detection element is arranged in the sewage suction pipeline between the sewage bucket and the sewage suction port of the cleaning equipment and is configured to generate a second signal when sewage is detected. The cleaning equipment combines the first signal of the first detection element and the second signal of the second detection element to carry out installation in-place detection on the sewage bucket, so that the problem of misinformation that the sewage bucket is not installed in place due to the fact that only the Hall sensor is used for avoiding is solved, the accuracy of installation in-place detection is improved, and the cleaning equipment is ensured not to stop working due to misinformation under the condition that the sewage bucket is installed in place.

Optionally, in the above embodiment, after determining that the first detection element is invalid, the cleaning device continuously detects the first signal in the process of continuing to execute the current task. And recovering to detect whether the sewage bucket is installed in place or not from the moment when the first signal is detected again.

Resuming the detection of whether the slop pail is mounted in place, with respect to the stop detection, refers to the cleaning device resuming the determination logic that determines whether the slop pail is mounted in place based on the detection signals (the first signal and the second signal). Specifically, the first signal is continuously detected when the first signal is newly detected, the second signal is continuously detected once the first signal is not detected, and whether the slop pail is mounted in place is determined by combining the first signal and the second signal. The meaning of the restoration detection of whether the clear water bucket is mounted in place described below is the same as the meaning of the restoration detection of whether the dirty water bucket is mounted in place.

Illustratively, the cleaning device does not detect the first signal, it may be that the first signal is temporarily lost, etc. For example, the first detection element includes a hall sensor and a magnet, and water is on the magnet, so that the cleaning device cannot detect the first signal; for another example, the magnet is affected by other magnetic fields, which results in the hall sensor failing to generate the first signal or generating an erroneous first signal. However, after a while, water evaporates from the magnet. The other magnetic field is removed, etc., so that the first signal is restored. Therefore, after the cleaning device considers that the first detection element is failed, whether the first signal can be acquired is periodically or randomly detected. Once the first signal is detected, the detection of whether the slop pail is in place is resumed when the first signal is re-detected. The sewage bucket is prevented from being moved away in the working process, the cleaning equipment is prevented from working under the condition that the sewage bucket is not installed or installed in place, and the service life of the cleaning equipment is prolonged.

Optionally, in the above embodiment, when the first signal is detected again during the process of detecting whether the slop pail is mounted in place by the washing device, whether the first signal and the second signal are detected is continuously determined. And then, executing subsequent processes according to the detection results of the first signal and the second signal. For example, if the first signal and the second signal are detected simultaneously, the next action is as in step 702, and the washing apparatus continues to perform the current step. For another example, if the first signal is not detected but the second signal is detected, the following operations are shown in step 703 and step 704. For another example, if the first signal is detected but the second signal is not detected, as shown in step 705. For another example, if the first signal and the second signal are not detected, the next actions are shown as step 706 and step 707.

By adopting the scheme, after the cleaning equipment determines that the first detection element is invalid every time, the cleaning equipment continuously detects the first signal and detects the first signal again, and then the cleaning equipment continues to combine the first signal and the second signal to determine that the sewage bucket is installed in place, so that the problem of misinformation that the sewage bucket is not installed in place due to the fact that only the Hall sensor is used is avoided, and the accuracy of installation in place detection is improved.

Optionally, in the above embodiment, each time the cleaning device determines that the first detection element has failed, a first record indicating that the first detection element has failed is generated. And, from generating the first record, updating the first record based on whether a first signal is detected. If the first signal is re-detected, the first record is updated to be valid for the first detection element. If the first signal is not detected, the first detection element in the first record is continuously kept invalid. If the cleaning equipment identifies a starting instruction when the cleaning equipment is powered off, and if the first signal is not detected and the first record indicates that the first detection element is invalid, the cleaning equipment executes a starting task and does not prompt that the sewage bucket is not installed in place. This is because the washing apparatus defaults the first sensing element to fail according to the first record, and thus does not judge whether the slop pail is mounted in place according to whether the first signal is detected.

And if the cleaning equipment executes the starting task and detects the first signal and the first record indicates that the first detection element is invalid, updating the first record. Meanwhile, as the first record is generated, whether the first detection element fails or not can be determined in real time according to the first record in the current working process of the cleaning equipment, and whether the sewage bucket is installed in place or not is further determined by combining the first signal and the second signal.

By adopting the scheme, the first record for recording whether the first detection element is effective is generated, so that the false alarm that the sewage bucket is not installed in place can not occur when the first signal cannot be detected again in the next operation.

Optionally, in the above embodiment, if the current task is a startup task, the cleaning device determines whether the first signal and the second signal are detected after a preset time period elapses since the startup task is executed.

For example, the second signal is a signal from a second sensing element disposed in the sewage pipe, and the second sensing element takes a certain time to absorb water, and if the water absorption time is not enough, the second sensing element cannot send the second signal even if water exists in the sewage pipe. Therefore, the time point when the cleaning device detects the second signal is a preset time length since the startup task is executed, the preset time length may be 2 seconds, 3 seconds, and the like, and the embodiment of the application is not limited.

In addition, the preset time duration is mainly set for the second signal, so that the time point of detecting the first signal by the cleaning equipment is not limited by the preset time duration, namely the first signal can be detected by the cleaning equipment at any time from the start task execution.

By adopting the scheme, when the current task is the starting task, the cleaning equipment detects the second signal after the preset time from the execution of the starting task, so that the situation that the second signal is not sent because the second detection element does not absorb enough water is avoided, and the accuracy of detecting whether the sewage bucket is installed in place is further ensured.

Generally, the cleaning equipment has a self-cleaning function. In the embodiment of the application, the cleaning equipment can enter the self-cleaning mode in two states.

The first method comprises the following steps: the cleaning device enters a self-cleaning mode in case of failure of the first detection element.

Under the failure state of the first detection element, a user sends a self-cleaning instruction by pressing a physical key, voice and the like, and after the cleaning equipment identifies the self-cleaning instruction, self-cleaning is executed to respond to the self-cleaning instruction. In the self-cleaning process, the cleaning equipment does not detect whether the sewage bucket is installed in place, namely does not detect whether the first signal is received. Furthermore, the second signal does not need to be detected.

By adopting the scheme, when the cleaning equipment is automatically cleaned under the failure state of the first detection element, whether the sewage bucket is installed in place is not detected, and the defect that the sewage bucket is not installed in place in the self-cleaning process is avoided.

And the second method comprises the following steps: the cleaning device enters a self-cleaning mode in case the first detection element is active.

In the effective state of the first detection element, a user sends a self-cleaning instruction by pressing a physical key, voice and the like, and after the cleaning equipment identifies the self-cleaning instruction, self-cleaning is executed to respond to the self-cleaning instruction. In the self-cleaning process, the cleaning equipment continuously detects whether the sewage bucket is installed in place, namely continuously detects the first signal. Once the first signal is not detected, the self-cleaning is stopped. During the self-cleaning process, the second signal need not be detected.

By adopting the scheme, when the cleaning equipment is automatically cleaned under the effective state of the first detection element, whether the sewage bucket is installed in place or not is continuously detected, and the situation that a user moves out the sewage bucket and the cleaning equipment is automatically cleaned under the condition that the sewage bucket is not installed in place to damage the cleaning equipment is avoided.

Fig. 8 is a flowchart illustrating self-cleaning of a cleaning apparatus in a method for detecting an in-place installation according to an embodiment of the present disclosure. The embodiment comprises the following steps:

801. and (5) preparing a sterilization liquid.

802. And (5) rolling and brushing for soaking.

803. And (6) rolling and brushing for cleaning.

804. And (5) cleaning the pipeline.

805. And (4) deep cleaning.

806. And (6) drying by a rolling brush.

Referring to fig. 8, assuming that the washing apparatus enters into self-cleaning in case of failure of the first detecting element, the processes of steps 801-806 are not performed any more to detect whether the slop pail is mounted in place according to the first signal, nor to detect the second signal.

Assuming that the washing apparatus enters self-cleaning in the case where the first sensing element is active, the first signal is continuously sensed during the execution of steps 801-806, and it is determined whether the slop pail is mounted in place according to whether the first signal is sensed. Once the first signal is not detected, the cleaning apparatus considers that the user forcibly removes the slop pail and the cleaning apparatus is immediately shut down.

In conclusion: in the case where the first sensing element is effective during the self-cleaning, the washing apparatus performs a single sensing, i.e., determines whether the slop pail is mounted in place based on the first signal only, regardless of the second signal. This is because, during the cleaning

apparatus performing steps

801 and 802, the suction force is not generated by the main motor, and the second detecting element does not emit the second signal. Therefore, the cleaning equipment can detect whether the sewage bucket is installed in place or not in the self-cleaning process by performing single detection.

It should be noted that, since the main motor generates the suction force and the second sensing element senses the contaminated water and generates the second signal in steps 803 to 806, the washing apparatus may also perform a combined sensing of determining whether the slop pail is mounted in place by combining the first signal and the second signal.

The above describes in detail how to detect whether the slop pail is mounted in place. Next, how to detect whether the clean water tub is mounted in place will be described in detail. For example, please refer to fig. 9, fig. 9 is another flowchart of the installation-in-place detection method according to the embodiment of the present application. The embodiment comprises the following steps:

901. determining whether the third signal is detected or not in the process of executing the current task by the cleaning equipment, and if the third signal is not detected, executing a step 902; if the third signal is detected, step 906 is performed.

The description of the current task can refer to step 701 in fig. 7, and is not repeated here.

902. The cleaning equipment outputs second prompt information.

Illustratively, if the third signal can not be detected, the cleaning equipment sends out second prompt information in modes of voice broadcasting, indicator lamp flickering and the like so as to prompt a user to install the clear water barrel. At this time, if the third detection element fails, a false alarm occurs.

903. The cleaning equipment determines whether the fourth signal is detected, and if the fourth signal is detected, step 904 is executed; if the fourth signal is not detected, step 907 is executed.

The fourth detecting element is, for example, a photoelectric sensor, etc., when the clean water tank supplies water to the rolling brush through the clean water pipeline, water is in the clean water pipeline, and when the cleaning equipment detects a photoelectric signal, namely, the fourth signal, the installation of the clean water bucket is in place.

904. The cleaning apparatus determines that the third sensing element is failed.

905. The cleaning equipment stops detecting whether the clear water bucket is installed in place or not and continues to execute the current task.

The cleaning device can detect the fourth signal but cannot detect the third signal, which indicates that clean water is in the clean water pipeline and the clean water bucket is installed in place, but the first detection element fails or the third signal is temporarily lost, so the cleaning device cannot detect the third signal. At this time, the cleaning device does not prompt the user that the cleaning water bucket is not installed in place, but defaults that the cleaning water bucket is installed in place and continues to work. Meanwhile, the cleaning equipment stops detecting whether the clear water barrel is installed in place or not, so that false alarm is avoided. Stopping detecting whether the clear water barrel is installed in place means that: the washing apparatus stops the judgment logic that judges whether the clean water tub is mounted in place based on the detection signal (the third signal and/or the fourth signal). Specifically, the cleaning device detects the third signal during the current task, but does not send out the second prompt message because the third signal is not detected.

906. The cleaning device continues to perform the current task.

907. The cleaning equipment outputs third prompt information to prompt the user to add water into the clear water barrel.

According to the installation in-place detection method provided by the embodiment of the application, the clear water barrel is detachably arranged on the body of the cleaning equipment, the third detection element is arranged between the clear water barrel and the body and is configured to generate a third signal when the clear water barrel is installed in place, the fourth detection element is arranged in the clear water pipeline between the clear water barrel and the clear water opening of the cleaning equipment and is configured to generate a fourth signal when the clear water is detected. The cleaning equipment combines the third signal of the third detection element and the fourth signal of the fourth detection element to install the clear water barrel in place for detection, so that the problem of misinformation that the clear water barrel is not installed in place due to the fact that only the Hall sensor is used for detection is avoided, the accuracy of in-place installation detection is improved, and the cleaning equipment is ensured not to generate misinformation due to the fact that the Hall sensor fails under the condition that the clear water barrel is installed in place.

Optionally, in the above embodiment, after determining that the third detecting element is invalid, the cleaning device continuously detects the third signal in the process of continuing to execute the current task. And when the third signal is detected again, detecting whether the clean water bucket is installed in place or not is resumed.

For the stop detection, the recovery detection of whether the clean water barrel is installed in place refers to: the cleaning apparatus resumes the judgment logic of judging whether the clean water tub is mounted in place based on the detection signals (the third signal and the fourth signal). Specifically, when the third signal is detected again, the third signal is continuously detected, and once the third signal is not detected, the fourth signal is continuously detected, and whether the clean water bucket is installed in place is determined by combining the third signal and the fourth signal.

Illustratively, the cleaning device does not detect the third signal, it may be that the third signal is temporarily lost, etc. For example, the third detection element includes a hall sensor and a magnet, and water is on the magnet, so that the cleaning device cannot detect the third signal; for another example, the magnet is affected by other magnetic fields, which results in the hall sensor failing to generate the third signal or generating an erroneous third signal. However, after a while, water evaporates from the magnet. The other magnetic field is removed, etc., so that the third signal is restored. Therefore, after the cleaning device considers that the third detection element is failed, whether the third signal can be acquired is periodically or randomly detected. Once the third signal is detected, the detection of whether the clear water barrel is installed in place is resumed after the third signal is detected again. The cleaning device has the advantages that the cleaning device is prevented from working under the condition that the cleaning bucket is not installed or installed in place during working, the cleaning bucket is prevented from being moved away, and the like, and the service life of the cleaning device is prolonged.

Optionally, in the above embodiment, each time the cleaning device determines that the third detecting element fails, a second record indicating that the third detecting element fails is generated. And, from generating the second record, updating the second record based on whether a third signal is detected. If the third signal is re-detected, the second record is updated to be valid for the third detection element. If the third signal is not detected, the third detecting element in the second record is continuously kept invalid. If the cleaning equipment identifies a starting instruction when the cleaning equipment is powered off, if the third signal is not detected and the second record indicates that the third detection element is invalid, the cleaning equipment executes a starting task and does not prompt that the cleaning water bucket is not installed in place. This is because the washing apparatus defaults the third detecting element to fail according to the second record, and thus does not judge whether the clean water tub is mounted in place according to whether the third signal is detected.

And if the cleaning equipment executes the starting task and detects the third signal and the second record indicates that the third detection element is invalid, updating the second record. Meanwhile, due to the fact that the second record is generated, whether the third detection element fails or not can be determined in real time according to the second record in the current working process of the cleaning equipment, and whether the clean water barrel is installed in place or not is determined by combining the third signal and the fourth signal.

By adopting the scheme, the second record for recording whether the third detection element is effective or not is generated, so that the false alarm that the clear water barrel is not installed in place can not occur when the third signal cannot be detected again in the next operation.

From the perspective of the clean water tub, the cleaning apparatus may enter the self-cleaning mode in two states.

The first state: the cleaning device enters a self-cleaning mode in case the third detection element fails.

And under the failure state of the third detection element, a user sends a self-cleaning instruction by pressing a physical key, voice and the like, and after the cleaning equipment identifies the self-cleaning instruction, self-cleaning is executed to respond to the self-cleaning instruction. In the self-cleaning process, the cleaning equipment does not detect whether the clean water barrel is installed in place, namely, whether the third signal is received is not detected any more. Furthermore, the fourth signal does not need to be detected.

By adopting the scheme, when the cleaning equipment is automatically cleaned under the failure state of the third detection element, whether the clean water barrel is installed in place is not detected, and the defect that the clean water barrel is not installed in place in the self-cleaning process is avoided.

The second state: the cleaning device enters a self-cleaning mode in case the third detection element is active.

And under the effective state of the third detection element, a user sends a self-cleaning instruction by pressing a physical key, voice and the like, and after the cleaning equipment identifies the self-cleaning instruction, self-cleaning is executed to respond to the self-cleaning instruction. In the self-cleaning process, the cleaning device judges whether the third signal can be detected. If the third signal can be detected, the self-cleaning is continuously performed. Once the third signal is not detected, the self-cleaning is stopped.

The self-cleaning process is as shown in fig. 8, and the embodiments of the present application are not limited thereto.

According to the above, it can be seen that: in the self-cleaning process, from the perspective of the clean water barrel, if the cleaning equipment enters the self-cleaning mode under the condition that the third detection element is effective, in the self-cleaning process, once the clean water barrel is detected not to be installed in place, the cleaning equipment stops working.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored, and when the computer instructions are executed by a processor, the computer instructions are used to implement the in-place installation detection method implemented by the above cleaning apparatus.

The embodiment of the present application further provides a computer program product, which contains a computer program, and the computer program is used for implementing the in-place installation detection method implemented by the above cleaning device when being executed by a processor.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An in-position detection method applied to a cleaning apparatus including a body, a slop pail detachably mounted on the body, a first detection element disposed between the slop pail and the body and configured to generate a first signal when the slop pail is mounted in position, and a second detection element disposed in a soil suction pipe between the slop pail and a soil suction port of the cleaning apparatus and configured to generate a second signal when soil is detected, the method comprising:

2. The method of claim 1, further comprising:

determining that the first detection element is failed when the first signal is not detected but the second signal is detected;

and stopping detecting whether the sewage bucket is installed in place or not, and continuing to execute the current task.

3. The method of claim 2, wherein after determining that the first detection element is disabled when the first signal is not detected but the second signal is detected, further comprising:

and when the first signal is detected again, detecting whether the sewage bucket is installed in place or not is resumed.

4. The method of claim 2, wherein after determining that the first detection element is disabled when the first signal is not detected but the second signal is detected, further comprising:

identifying a self-cleaning instruction;

and entering a self-cleaning mode to execute self-cleaning in response to the self-cleaning instruction.

5. The method of claim 2, wherein after determining that the first detection element is disabled when the first signal is not detected but the second signal is detected, further comprising:

generating a first record indicating failure of the first detection element;

updating the first record according to whether the first signal is detected or not since the first record is generated;

and after a starting command is identified after shutdown, if the first signal is not detected and the first record indicates that the first inspection element is invalid, executing a starting task and not prompting that the sewage bucket is not installed in place.

6. The method of any one of claims 1-5, further comprising:

if the first signal is detected, continuing to execute the current task;

after a self-cleaning instruction is identified, entering a self-cleaning mode to execute self-cleaning, and judging whether a first signal is detected or not;

and if the first signal is not detected, stopping executing self-cleaning.

7. The method of any of claims 1-5, wherein determining whether the first signal and the second signal are detected during the performance of the current task comprises:

and when the current task is a starting task, determining whether the first signal and the second signal are detected after a preset time length from the execution of the starting task.

8. The method according to any one of claims 1-5, wherein the cleaning apparatus further comprises a clean water tank detachably mounted on the body, a third detection element disposed between the clean water tank and the body configured to generate a third signal when the clean water tank is mounted in place, and a fourth detection element configured to generate a fourth signal when clean water is detected, the method further comprising:

determining whether the fourth signal is detected;

9. The method of claim 8, further comprising:

determining that the third detection element is failed when the third signal is not detected but the fourth signal is detected;

and stopping detecting whether the clear water barrel is installed in place or not, and continuing to execute the current task.

10. The method of claim 9, wherein after determining that the third detection element is disabled when the third signal is not detected but the fourth signal is detected, further comprising:

and when the third signal is detected again, detecting whether the clean water bucket is installed in place or not is resumed.

11. The method of claim 9, wherein after determining that the third detection element is disabled when the third signal is not detected but the fourth signal is detected, further comprising:

identifying a self-cleaning instruction;

12. The method of claim 9, further comprising:

if the third signal is detected in the process of executing the current task, continuing to execute the current task;

after a self-cleaning instruction is identified, entering a self-cleaning mode to execute self-cleaning, and judging whether a third signal can be detected or not;

and if the third signal is not detected, stopping executing self-cleaning.

13. The method of claim 9, wherein after determining that the third detection element is disabled when the third signal is not detected but the fourth signal is detected, further comprising:

generating a second record indicating failure of the third detection element;

updating the second record according to whether the third signal is detected or not since the second record is generated;

after the power-on command is identified after the power-off, if the third signal is not detected and the second record indicates that the third detection element is invalid, the power-on task is executed and the clear water barrel is not prompted to be installed in place.

14. A cleaning apparatus, comprising:

a body;

a slop pail detachably mounted on the body;

the cleaning water bucket is detachably assembled on the machine body;

a memory and a processor disposed on the body;

the memory for storing a computer program;

the processor is coupled to the memory for executing the computer program in the memory to cause the cleaning apparatus to implement the method of any one of claims 1 to 13.

15. The apparatus of claim 14,

the fourth detection element is arranged in the clean water pipeline between the clean water barrel and the water outlet;

alternatively, the first and second electrodes may be,

the fourth detection element is arranged at the bottom of the clear water barrel;

alternatively, the first and second electrodes may be,

the fourth detection element is arranged at any position from the lowest water level line of the clean water barrel to the bottom.