CN115316896B - Control method and device of cleaning equipment and cleaning equipment - Google Patents
Control method and device of cleaning equipment and cleaning equipment Download PDFInfo
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- CN115316896B CN115316896B CN202211105458.4A CN202211105458A CN115316896B CN 115316896 B CN115316896 B CN 115316896B CN 202211105458 A CN202211105458 A CN 202211105458A CN 115316896 B CN115316896 B CN 115316896B
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- duty ratio
- preset time
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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
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
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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
- A47L11/40—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
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- Cleaning In General (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The application discloses a control method and a device of cleaning equipment and the cleaning equipment, wherein the cleaning equipment comprises a valve motor, and the valve motor is used for driving a valve to switch a valve state so as to be used for matching with the cleaning work of the cleaning equipment, and the method comprises the following steps: responding to a switching instruction aiming at the valve state, and controlling the valve motor to rotate according to a first duty ratio in a first preset time; and after the first preset time, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in a second preset time, and whether the valve is in a valve switching state is detected in the second preset time. The technical scheme provided by the application can improve the stability of the valve state switching process.
Description
Technical Field
The application belongs to the technical field of cleaning equipment control, and particularly relates to a cleaning equipment control method and device and cleaning equipment.
Background
At present, when a cleaning device including a sweeping robot sucks or discharges dirt, the dirt flow path needs to be switched, generally, the position state of a valve is switched to switch the dirt flow path, and when the position state of the valve is switched, the condition that the valve is not successfully switched often occurs, or the condition that the valve is successfully switched but cannot be accurately detected often occurs, so that the problem of weak operation stability of the cleaning device is caused. Based on this, how to improve the stability of the valve state switching process is a technical problem to be solved.
Disclosure of Invention
The embodiment of the application provides a control method and device of cleaning equipment and the cleaning equipment, and further can improve the stability of a valve state switching process at least to a certain extent.
Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.
According to a first aspect of an embodiment of the present application, there is provided a control method of a cleaning apparatus including a valve motor for driving a valve to switch a valve state for cooperation with a cleaning operation of the cleaning apparatus, the method including: responding to a switching instruction aiming at the valve state, and controlling the valve motor to rotate according to a first duty ratio in a first preset time; and after the first preset time, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in a second preset time, and whether the valve is in a valve switching state is detected in the second preset time.
In some embodiments of the application, based on the foregoing, the cleaning apparatus further comprises a photoelectric switch for detecting whether the valve switches valve states.
In some embodiments of the present application, based on the foregoing, the reducing the duty cycle of the motor from the first duty cycle to the second duty cycle in the second preset time includes: determining preset adjustment rates of all the moments in the second preset time according to preset corresponding relations between the adjustment rates and all the moments in the second preset time; and according to the preset regulation rate, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in the second preset time.
In some embodiments of the application, based on the foregoing, the method further comprises: if the valve switching state is not detected within the second preset time, controlling the valve motor to operate within a third preset time according to the second duty ratio; and detecting whether the valve is in a valve switching state or not within the third preset time.
In some embodiments of the application, based on the foregoing, the method further comprises: if the valve switching state is not detected within the third preset time, the duty ratio of the motor is increased from the second duty ratio to a third duty ratio, and the valve motor is controlled to operate according to the third duty ratio within a fourth preset time; detecting whether the valve is in a valve switching state or not in the fourth preset time; and if the valve switching state is not detected within the fourth preset time, triggering a fault prompt.
In some embodiments of the present application, based on the foregoing, the step of reducing the duty cycle of the motor from the first duty cycle to a second duty cycle in a second preset time, and detecting whether the valve switches the valve state in the second preset time includes: the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio, and the valve motor is controlled to operate according to the second duty ratio within the second preset time; and detecting whether the valve is in a valve switching state or not within the second preset time.
In some embodiments of the application, based on the foregoing, the method further comprises: if the valve switching state is not detected within the second preset time, the duty ratio of the motor is increased from the second duty ratio to a fourth duty ratio, and the valve motor is controlled to operate according to the fourth duty ratio within a fifth preset time; and detecting whether the valve is in a valve switching state or not in the fifth preset time.
In some embodiments of the application, based on the foregoing, the method further comprises: if the valve switching state is not detected within the fifth preset time, the duty ratio of the motor is increased from the fourth duty ratio to a fifth duty ratio, and the valve motor is controlled to operate according to the fifth duty ratio within the sixth preset time; detecting whether the valve is in a valve switching state or not within the sixth preset time; and triggering a fault prompt if the valve switching state is not detected within the sixth preset time.
In some embodiments of the application, based on the foregoing, the cleaning apparatus further includes an air pump motor for driving the air pump to perform a suction action or a discharge action for the dirt, the method further comprising: if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to execute the suction action for the dirt according to the first control frequency; and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
In some embodiments of the application, based on the foregoing, the method further comprises: controlling a timer to alternately time the first time length and the second time length; responding to the starting timing of the timer for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state in the first time period, or driving the valve to switch from the second state to the first state; and in response to the timer starting to time the second time period, triggering the air pump motor to drive the air pump to execute the suction action for the dirt in the second time period, or to drive the air pump to execute the discharge action for the dirt.
According to a second aspect of embodiments of the present application, there is provided a control apparatus for a cleaning device including a valve motor for driving a valve to switch a valve state for cooperation with a cleaning operation of the cleaning device, the apparatus comprising: the control unit is used for responding to a switching instruction for the valve state and controlling the valve motor to rotate according to a first duty ratio within a first preset time; the regulating unit is used for regulating the duty ratio of the motor from the first duty ratio to the second duty ratio in a second preset time after the first preset time, and detecting whether the valve is in a valve switching state in the second preset time.
According to a third aspect of embodiments of the present application, there is provided a computer readable storage medium having stored therein at least one program code loaded and executed by a processor to carry out the operations performed by the method according to any of the first aspects above.
According to a fourth aspect of embodiments of the present application, there is provided a cleaning device comprising one or more processors and one or more memories having stored therein at least one program code loaded and executed by the one or more processors to implement the method of any of the embodiments of the first aspect described above.
In the present application, after the valve motor is started, the duty cycle of the valve motor is reduced from the first duty cycle to the second duty cycle until a signal that the valve state is successfully switched is detected. On the one hand, the rotating speed of the valve motor can be reduced, and the valve motor drives the valve to switch the position state through the gear, so that the condition of gear transmission overshoot can be avoided due to the reduction of the rotating speed of the motor, the probability of blocking in the valve gear transmission process can be reduced, and the stability of the cleaning equipment in the operation process is improved. On the other hand, the rotating speed of the valve motor is reduced, the speed of changing the valve position state can be reduced, whether the valve state is successfully switched or not is favorably detected, and enough feedback time is given to the whole control system of the cleaning equipment.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
Fig. 1 shows a schematic diagram of the operation of a cleaning device to which the technical solution of an embodiment of the application can be applied;
FIG. 2 shows a flow chart of a control method of a cleaning apparatus in an embodiment of the application;
FIG. 3 is a detailed flowchart showing a control method of the cleaning apparatus in the embodiment of the present application;
FIG. 4 is a graph showing duty cycle versus time for a valve motor in an embodiment of the present application;
FIG. 5 shows a detailed flowchart of a control method of the cleaning apparatus in an embodiment of the present application;
FIG. 6 is a graph showing duty cycle versus time for a valve motor in an embodiment of the present application;
fig. 7 shows another flowchart of a control method of the cleaning apparatus in the embodiment of the present application.
FIG. 8 shows a block diagram of a control device of a cleaning apparatus in an embodiment of the application;
fig. 9 shows a schematic structural view of a cleaning apparatus in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In order to enable a person skilled in the art to better understand the application, the working principle of the cleaning device according to the application will first be briefly described with reference to fig. 1.
Referring to fig. 1, there is shown a schematic diagram of the operation of a cleaning device to which the technical solution of the embodiment of the present application can be applied.
The cleaning apparatus according to the present application may include a dirt chamber 105, a valve 104, a valve motor 103, an air pump 102, and an air pump motor 101. Wherein the dirt cavity 105 is adapted to receive dirt, such as sewage, air, etc., generated by the cleaning apparatus during cleaning.
Further, as shown in fig. 1, (a) shows a schematic diagram of the cleaning apparatus in a dirt suction operation state, and (b) shows a schematic diagram of the cleaning apparatus in a dirt discharge operation state. Specifically, the air pump 102 sucks the dirt into the dirt cavity 105 by sucking the air in the dirt cavity 105 to form a negative pressure in the dirt cavity 105 under the driving of the air pump motor 101, or the air pump 102 charges the air into the dirt cavity 105 to form a high pressure in the dirt cavity 105 to discharge the dirt contained in the dirt cavity 105 out of the dirt cavity.
Specifically, when the valve motor 103 drives the valve core 108 in the valve 104 to rotate to a position state as shown in fig. (a), the air inlet of the air pump 102 is communicated with the dirt cavity 105, the air in the dirt cavity 105 is sucked, and then the air is discharged outside through the air outlet of the air pump 102 and the valve 104, and in the process, the air in the dirt cavity 105 is sucked to form negative pressure, so that the dirt can be sucked into the dirt cavity 105 from the dirt suction pipe 106. When the valve motor 103 drives the valve core 108 in the valve 104 to rotate to a position state shown in the figure (b), the cleaning device is switched from the dirt suction working state to the dirt discharge working state, at the moment, the air inlet of the air pump 102 is communicated with the outside, the outside air is sucked, then the air is filled into the dirt cavity 105 through the air outlet of the air pump 102, in the process, the air in the dirt cavity 105 is increased to form high pressure, and then the dirt can be discharged out of the dirt cavity 105.
In the present application, it should be explained that the valve core 108 shown in fig. 1 divides the inner cavity of the valve 104 into two spaces, and two pipes are connected in each space, for example, as shown in fig. (a), one space is connected to an air inlet pipe of the air pump and a pipe of the valve inner cavity which is connected to the dirt cavity, and the other space is connected to an air outlet pipe of the air pump and a pipe of the valve inner cavity which is connected to the outside. Also, for example, as shown in fig. (b), one space is communicated with an air inlet pipeline of the air pump and a pipeline of the valve inner cavity communicated with the outside, and the other space is communicated with an air outlet pipeline of the air pump and a pipeline of the valve inner cavity communicated with the dirt cavity. Under the drive of the valve motor 103, the valve core 108 rotates in the valve 104, so that the communication relation among the pipelines is switched, and the flow path of dirt in the cleaning equipment can be switched, so that the cleaning equipment can be switched between a dirt suction working state and a dirt discharge working state.
In the present application, it should be further noted that, the dirt suction pipe and the dirt discharge pipe of the dirt cavity 105 are both provided with the check valve 109, wherein, when the cleaning apparatus is in the dirt suction working state, a negative pressure is formed in the dirt cavity 105, which is lower than the external air pressure, and the dirt can be sucked into the dirt cavity 105 through the check valve in the dirt suction pipe, but the external air cannot enter the dirt cavity 105 through the check valve in the dirt discharge pipe, so that the dirt can be smoothly sucked into the dirt cavity 105. When the cleaning device is in the dirt discharging working state, high pressure is formed in the dirt cavity 105 and is higher than the external air pressure, and dirt in the dirt cavity 105 can be discharged into the outside through the one-way valve in the sewage pipeline, but the external dirt cannot enter the dirt cavity 105 through the one-way valve in the sewage pumping pipeline, so that the dirt in the dirt cavity 105 is smoothly discharged.
In the application, the cleaning equipment control method can be applied to various large, medium and small cleaning equipment, such as sweeping robots, sanitation equipment and the like. Specifically, taking the floor sweeping robot as an example, a large amount of sewage is generated after the floor sweeping robot cleans the floor, and after the floor sweeping robot returns to the robot base station, the robot base station needs to transfer the sewage in the floor sweeping robot, at this time, the sewage in the floor sweeping robot needs to be sucked cleanly, that is, the sewage can be sucked into a sewage cavity (sewage cavity) in the robot base station, and the sewage in the sewage cavity is discharged to other places later.
Referring to fig. 2, there is shown a flowchart of a control method of a cleaning apparatus in an embodiment of the present application, which may be performed by an apparatus having a calculation processing function, the cleaning apparatus including a valve motor for driving a valve to switch a valve state for cooperation with a cleaning operation of the cleaning apparatus. Referring to fig. 2, the control method of the cleaning apparatus at least includes steps 210 to 230, which are described in detail as follows:
in step 210, the valve motor is controlled to rotate at a first duty cycle for a first preset time in response to a switching command for a valve state.
In the present application, the switching control command for the valve state may be a command capable of triggering the valve motor to drive the valve to execute the position state switching operation, and after triggering the command, the valve motor may be started according to the first duty ratio.
In the present application, the first duty cycle may be greater than or equal to a preset duty cycle, where the preset duty cycle may be a duty cycle that satisfies a minimum start-up condition of the valve motor, or may be a duty cycle that satisfies a minimum start-up condition of the valve motor. The first duty ratio for starting the valve motor is larger than or equal to the preset duty ratio, and the valve has the advantages that static friction force existing at the beginning of rotation of the valve can be overcome, the valve can be further guaranteed to be driven smoothly, and therefore the running stability of the whole cleaning equipment is improved.
With continued reference to fig. 2, in step 230, after the first preset time, the duty cycle of the motor is reduced from the first duty cycle to a second duty cycle for a second preset time, and whether the valve switches valve states is detected for the second preset time.
In the present application, the valve state may include two states, i.e., a first state and a second state, where the first state may be understood as a state in which the valve is opened and the second state may be understood as a state in which the valve is closed. It is understood that switching the valve state means that the valve is switched from the first state to the second state or that the valve is switched from the second state to the first state.
It should be noted that, in the present application, whether the valve is switched or not is detected, and in addition to the detection during the second preset time, the detection may be triggered during the first preset time after the valve motor is started.
In the application, after the first preset time, the duty ratio of the valve motor is reduced from the first duty ratio to the second duty ratio in a second preset time until a signal that the valve state is successfully switched is detected. On the one hand, the rotating speed of the valve motor can be reduced, and the valve motor drives the valve to switch the position state through the gear, so that the condition of gear transmission overshoot can be avoided due to the reduction of the rotating speed of the motor, the probability of blocking in the valve gear transmission process can be reduced, and the stability of the cleaning equipment in the operation process is improved. On the other hand, the rotating speed of the valve motor is reduced, the speed of changing the valve position state can be reduced, whether the valve state is successfully switched or not is favorably detected, and enough feedback time is given to the whole control system of the cleaning equipment.
In the present application, by means of the solution as provided in fig. 2, a sufficient feedback time is given to the overall control system of the cleaning device.
In one embodiment of the application, the cleaning device may comprise a photoelectric switch for detecting whether the valve switches the valve state.
In one embodiment of step 230, the step of reducing the duty cycle of the motor from the first duty cycle to the second duty cycle for a second preset time may be performed as shown in fig. 3.
Referring to fig. 3, a detailed flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises the steps 231 to 232:
step 231, determining the preset adjustment rate of each moment in the second preset time according to the preset corresponding relation between the adjustment rate and each moment in the second preset time.
Step 232, according to the preset adjustment rate, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in the second preset time.
In this embodiment, the adjustment rates at each time in the second preset time may be equal, or may be gradually increased, or may be gradually decreased, and it may be understood that the preset correspondence between the adjustment rates and each time in the second preset time may be set according to actual needs, which is not excessively set by the present application.
Further, in the present application, the following steps 241 to 242 may be further performed:
and 241, if the valve switching state is not detected within the second preset time, controlling the valve motor to operate within a third preset time according to the second duty ratio.
And step 242, detecting whether the valve is in a valve state switching state within the third preset time.
In the application, if the valve switching valve state is detected within the second preset time, the valve state switching is successful, if the valve switching valve state is not detected within the second preset time, the valve state is not yet switched successfully, at this time, the valve motor can be continuously controlled to operate according to the second duty ratio within a third preset time to drive the valve to execute the switching action of the position state, and whether the valve is switched or not is detected in real time (for example, detected by a photoelectric switch) within the third preset time.
Further, in the present application, the following steps 243 to 245 may be further performed:
step 243, if the valve switching state is not detected within the third preset time, the duty ratio of the motor is adjusted from the second duty ratio to a third duty ratio, and the valve motor is controlled to operate according to the third duty ratio within a fourth preset time.
Step 244, detecting whether the valve switches the valve state in the fourth preset time.
Step 245, if the valve switching state is not detected within the fourth preset time, triggering a fault prompt.
In the application, if the valve switching state is detected within the third preset time, the valve switching state is successfully switched, and if the valve switching state is not detected within the third preset time, the valve switching state is not successfully switched, and the problems are that the motor or the mechanical mechanism is aged with time, the performance is attenuated and the motor torque is insufficient in a low-speed stage. At this time, the duty ratio of the motor can be increased from the second duty ratio to a third duty ratio, and the valve motor is controlled to operate according to the third duty ratio in a fourth preset time, so as to further control the valve motor to operate to drive the valve to execute the switching action of the position state, and if the valve switching valve state is not detected in the fourth preset time, the condition that the whole system is possibly abnormal is indicated, a fault prompt is triggered to remind a user to overhaul.
In order to improve the valve state switching efficiency, the third duty ratio may be set to 100%.
In order to better understand the above embodiments, an auxiliary description will be given below with reference to fig. 4.
Referring to fig. 4, a graph of duty cycle versus time for a valve motor in an embodiment of the present application is shown.
As is readily understood from the relationship 400, the valve motor is started at a duty cycle of A1 during time T1, then at each time during time T2, the duty cycle of the valve motor is adjusted from A1 to A2 at a constant first adjustment rate, if the valve switching valve state is not detected during time T2, this indicates that the valve state has not been successfully switched, at this time, the valve motor may be continuously controlled to operate to drive the valve to perform the switching action of the position state during time T3, and whether the valve is switched is detected in real time during time T3, if the valve switching valve state is not detected during time T3, this indicates that the valve state has not been successfully switched, at this time, the duty cycle of the motor may be adjusted from A2 to A3, and the valve motor may be controlled to operate according to A3 during time T4, so as to further control the valve motor to operate to drive the switching action of the position state, and if the valve switching valve triggering valve state has not been detected during time T4, this may indicate that the valve has failed.
In another embodiment of the above step 230, the step of reducing the duty cycle of the motor from the first duty cycle to the second duty cycle in the second preset time may be performed according to the steps shown in fig. 5.
Referring to fig. 5, a detailed flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises the steps 233 to 234:
step 233, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio, and the valve motor is controlled to operate according to the second duty ratio within the second preset time.
Step 234, detecting whether the valve switches valve states within the second preset time.
In this embodiment, the duty ratio of the motor is reduced from the first duty ratio to the second duty ratio, which may be that the duty ratio of the motor is directly reduced from the first duty ratio to the second duty ratio, and then the valve is controlled to rotate in a second preset time according to the second duty ratio.
Further, in the present application, the following steps 261 to 262 may be further performed:
step 261, if the valve switching state is not detected within the second preset time, the duty ratio of the motor is increased from the second duty ratio to a fourth duty ratio, and the valve motor is controlled to operate according to the fourth duty ratio within a fifth preset time.
Step 262, detecting whether the valve switches the valve state in the fifth preset time.
In the application, if the valve switching valve state is detected within the second preset time, the valve state switching is successful, if the valve switching valve state is not detected within the second preset time, the valve state is not switched successfully, at this time, the duty ratio of the motor can be adjusted from the second duty ratio to a fourth duty ratio, the operation of the valve motor is controlled to drive the valve to execute the switching action of the position state within a fifth preset time according to the fourth duty ratio, and whether the valve is switched to the valve state is detected in real time within the fifth preset time.
Further, in the present application, the following steps 263 to 265 may be further performed:
step 263, if the valve switching state is not detected within the fifth preset time, the duty ratio of the motor is adjusted from the fourth duty ratio to a fifth duty ratio, and the valve motor is controlled to operate according to the fifth duty ratio within a sixth preset time.
Step 264, detecting whether the valve switches the valve state within the sixth preset time.
And 265, triggering a fault prompt if the valve switching state is not detected within the sixth preset time.
In order to improve the valve state switching efficiency, the fifth duty ratio may be set to 100%.
In order to better understand the above embodiments, an auxiliary description will be given below with reference to fig. 6.
Referring to fig. 6, a graph of duty cycle versus time for a valve motor in an embodiment of the present application is shown.
As is readily understood from the relationship 600, the valve motor is started at the duty ratio A1 in the time T1, then the duty ratio of the valve motor is directly adjusted from the duty ratio A1 to the duty ratio A2, and in the time T2, the valve motor is controlled to operate according to the duty ratio A2 to drive the valve to execute the switching action of the position state, if the valve switching valve state is not detected in the time T2, it is indicated that the valve state is not successfully switched, at this time, the duty ratio of the valve motor can be directly adjusted from the duty ratio A2 to the duty ratio A4, and in the time T5, the valve motor is controlled to operate according to the duty ratio A4, if the valve switching valve state is not detected in the time T5, at this time, the duty ratio of the valve motor can be directly adjusted from the duty ratio A4 to the duty ratio A5, and in the time T6, the valve motor is controlled to operate according to the duty ratio A5 to further control the valve motor to operate to drive the switching action of the position state, and if the valve switching action is not detected in the time T6, the valve is triggered to trigger the valve state if the valve is not detected in the time T6.
In the present application, as mentioned previously, the cleaning apparatus may further include an air pump motor for driving the air pump to perform a suction action or a discharge action with respect to the contaminants.
In the application, if the valve is switched from the first state to the second state, the air pump motor is controlled to drive the air pump to execute the suction action for the dirt according to the first control frequency; and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
In the present application, the suction or discharge action is performed by driving the air pump by one air pump motor by providing two motors, i.e., one valve motor to drive the valve to switch the valve state, in the cleaning apparatus. Specifically, the valve motor is used for driving the valve to switch the valve state, and the switching of the valve state can be linked with the air pump motor to drive the air pump to switch and execute the suction action and the discharge action.
Therefore, compared with the method that the valve and the air pump are alternately driven by one motor, the method has the advantages that the valve and the air pump are respectively driven by the valve motor and the air pump motor (namely frequency division control) because the control frequency of the motor is different from the control frequency of the motor when the valve is driven and the control frequency of the motor is driven, the problem that the same motor is easy to generate mutual crosstalk when the motor is alternately controlled according to different control frequencies can be avoided, the problem that the device on a power supply network is damaged by reverse electromotive force generated by power generation of the motor is avoided, and the safety and the stability of the cleaning equipment in operation are further enhanced.
Further, in the present application, the steps shown in fig. 7 may also be performed.
Referring to fig. 7, another flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises steps 261 to 263:
in step 251, the control timer alternately times the first duration and the second duration.
In step 252, in response to the timer starting to time the first duration, the valve motor is triggered to drive the valve to switch from the first state to the second state or to switch from the second state to the first state within the first duration.
And step 253, in response to the timer starting to time the second time period, triggering the air pump motor to drive the air pump to execute the suction action for the dirt in the second time period, or to drive the air pump to execute the discharge action for the dirt.
In the application, the actions of the air pump for sucking dirt and switching the valve states are relatively independent, when the valve motor acts, the air pump motor is in a standby state, and after the valve motor is switched into place, the air pump motor is started to perform corresponding actions for sucking dirt or discharging dirt.
In the application, the air pump motor and the valve motor in the cleaning equipment all need certain control, but the speed regulation proportion and the control frequency needed by the air pump motor and the valve motor are different according to different working conditions, so that the optimal control effect can be achieved in a time-sharing and frequency-dividing mode on the premise of not increasing extra cost.
The following describes an embodiment of the apparatus of the present application which can be used to carry out the control method of the cleaning device in the above-described embodiment of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the control method of the cleaning device of the present application.
Referring to fig. 8, a block diagram of a control device of a cleaning apparatus including a valve motor for driving a valve to switch a valve state for cooperation with cleaning operation of the cleaning apparatus in an embodiment of the present application is shown.
As shown in fig. 8, a control device 800 of a cleaning apparatus according to an embodiment of the present application includes: a control unit 801 and a turn-down unit 802.
Wherein, the control unit 801 is configured to control rotation of the valve motor according to a first duty ratio within a first preset time in response to a switching instruction for a valve state; and a lowering unit 802, configured to lower the duty ratio of the motor from the first duty ratio to a second duty ratio in a second preset time after the first preset time, and detect whether the valve switches the valve state in the second preset time.
In some embodiments of the application, based on the foregoing, the cleaning apparatus further comprises a photoelectric switch for detecting whether the valve switches valve states.
In some embodiments of the present application, based on the foregoing scheme, the throttling unit 802 is configured to: determining preset adjustment rates of all the moments in the second preset time according to preset corresponding relations between the adjustment rates and all the moments in the second preset time; and according to the preset regulation rate, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in the second preset time.
In some embodiments of the application, based on the foregoing, the apparatus further comprises: a heightening unit, configured to control the valve motor to operate in a third preset time according to the second duty cycle if the valve switching state is not detected in the second preset time; and detecting whether the valve is in a valve switching state or not within the third preset time.
In some embodiments of the present application, based on the foregoing scheme, the heightening unit is configured to: if the valve switching state is not detected within the third preset time, the duty ratio of the motor is increased from the second duty ratio to a third duty ratio, and the valve motor is controlled to operate according to the third duty ratio within a fourth preset time; detecting whether the valve is in a valve switching state or not in the fourth preset time; and if the valve switching state is not detected within the fourth preset time, triggering a fault prompt.
In some embodiments of the present application, based on the foregoing scheme, the throttling unit 802 is further configured to: the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio, and the valve motor is controlled to operate according to the second duty ratio within the second preset time; and detecting whether the valve is in a valve switching state or not within the second preset time.
In some embodiments of the present application, based on the foregoing solution, the elevation adjustment unit is further configured to: if the valve switching state is not detected within the second preset time, the duty ratio of the motor is increased from the second duty ratio to a fourth duty ratio, and the valve motor is controlled to operate according to the fourth duty ratio within a fifth preset time; and detecting whether the valve is in a valve switching state or not in the fifth preset time.
In some embodiments of the present application, based on the foregoing solution, the elevation adjustment unit is further configured to: if the valve switching state is not detected within the fifth preset time, the duty ratio of the motor is increased from the fourth duty ratio to a fifth duty ratio, and the valve motor is controlled to operate according to the fifth duty ratio within the sixth preset time; detecting whether the valve is in a valve switching state or not within the sixth preset time; and triggering a fault prompt if the valve switching state is not detected within the sixth preset time.
In some embodiments of the present application, based on the foregoing, the cleaning apparatus further includes an air pump motor for driving the air pump to perform a suction action or a discharge action for the dirt, the control unit 801 is configured to: if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to execute the suction action for the dirt according to the first control frequency; and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
In some embodiments of the present application, based on the foregoing scheme, the control unit 801 is further configured to: controlling a timer to alternately time the first time length and the second time length; responding to the starting timing of the timer for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state in the first time period, or driving the valve to switch from the second state to the first state; and in response to the timer starting to time the second time period, triggering the air pump motor to drive the air pump to execute the suction action for the dirt in the second time period, or to drive the air pump to execute the discharge action for the dirt.
Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium having at least one program code stored therein, the at least one program code being loaded and executed by a processor to implement operations performed by a control method of a cleaning apparatus as described above.
Based on the same inventive concept, an embodiment of the present application further provides a cleaning device, referring to fig. 9, which shows a schematic structural diagram of the cleaning device in the embodiment of the present application, where the cleaning device includes one or more memories 904, one or more processors 902, and at least one computer program (program code) stored on the memories 904 and capable of running on the processors 902, and when the processors 902 execute the computer program, the control method of the cleaning device is implemented as described above.
Where in FIG. 9 a bus architecture (represented by bus 900), bus 900 may include any number of interconnected buses and bridges, with bus 900 linking together various circuits, including one or more processors, represented by processor 902, and memory, represented by memory 904. Bus 900 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The bus interface 905 provides an interface between the bus 900 and the receiver 901 and the transmitter 903. The receiver 901 and the transmitter 903 may be the same element, i.e. a transceiver, providing a unit for communicating with various other apparatus over a transmission medium. The processor 902 is responsible for managing the bus 900 and general processing, while the memory 904 may be used to store data used by the processor 902 in performing operations.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A control method of a cleaning apparatus, the cleaning apparatus including a valve motor for driving a valve to switch a valve state for cooperation with a cleaning operation of the cleaning apparatus, the method comprising:
responding to a switching instruction aiming at the valve state, and controlling the valve motor to rotate according to a first duty ratio in a first preset time;
and after the first preset time, the duty ratio of the motor is reduced from the first duty ratio to a second duty ratio in a second preset time, and whether the valve is in a valve switching state is detected in the second preset time.
2. The method of claim 1, wherein the cleaning apparatus further comprises a photoelectric switch for detecting whether the valve switches valve states.
3. The method according to claim 1, wherein the method further comprises:
if the valve switching state is not detected within the second preset time, controlling the valve motor to operate within a third preset time according to the second duty ratio;
and detecting whether the valve is in a valve switching state or not within the third preset time.
4. A method according to claim 3, characterized in that the method further comprises:
if the valve switching state is not detected within the third preset time, the duty ratio of the motor is increased from the second duty ratio to a third duty ratio, and the valve motor is controlled to operate according to the third duty ratio within a fourth preset time;
detecting whether the valve is in a valve switching state or not in the fourth preset time;
and if the valve switching state is not detected within the fourth preset time, triggering a fault prompt.
5. The method of claim 1, wherein said decreasing the duty cycle of the motor from the first duty cycle to a second duty cycle for a second preset time and detecting whether the valve switches valve states for the second preset time comprises:
The duty ratio of the motor is reduced from the first duty ratio to a second duty ratio, and the valve motor is controlled to operate according to the second duty ratio within the second preset time;
and detecting whether the valve is in a valve switching state or not within the second preset time.
6. The method of claim 5, wherein the method further comprises:
if the valve switching state is not detected within the second preset time, the duty ratio of the motor is increased from the second duty ratio to a fourth duty ratio, and the valve motor is controlled to operate according to the fourth duty ratio within a fifth preset time;
and detecting whether the valve is in a valve switching state or not in the fifth preset time.
7. The method of claim 6, wherein the method further comprises:
if the valve switching state is not detected within the fifth preset time, the duty ratio of the motor is increased from the fourth duty ratio to a fifth duty ratio, and the valve motor is controlled to operate according to the fifth duty ratio within the sixth preset time;
detecting whether the valve is in a valve switching state or not within the sixth preset time;
And triggering a fault prompt if the valve switching state is not detected within the sixth preset time.
8. The method according to any one of claims 1 to 7, wherein the cleaning apparatus further comprises an air pump motor for driving an air pump to perform a suction action or a discharge action for the dirt, the method further comprising:
if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to execute the suction action for the dirt according to the first control frequency;
and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
9. The method of claim 8, wherein the method further comprises:
controlling a timer to alternately time the first time length and the second time length;
responding to the starting timing of the timer for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state in the first time period, or driving the valve to switch from the second state to the first state;
and in response to the timer starting to time the second time period, triggering the air pump motor to drive the air pump to execute the suction action for the dirt in the second time period, or to drive the air pump to execute the discharge action for the dirt.
10. A control device for a cleaning apparatus, the cleaning apparatus comprising a valve motor for driving a valve to switch a valve state for cooperation with a cleaning operation of the cleaning apparatus, the device comprising:
the control unit is used for responding to a switching instruction for the valve state and controlling the valve motor to rotate according to a first duty ratio within a first preset time;
the regulating unit is used for regulating the duty ratio of the motor from the first duty ratio to the second duty ratio in a second preset time after the first preset time, and detecting whether the valve is in a valve switching state in the second preset time.
11. A computer readable storage medium having stored therein at least one program code loaded and executed by a processor to implement operations performed by a method as recited in any one of claims 1 to 9.
12. A cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one piece of program code loaded and executed by the one or more processors to implement the method of any of claims 1-9.
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| CN202211105458.4A CN115316896B (en) | 2022-09-09 | 2022-09-09 | Control method and device of cleaning equipment and cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211105458.4A CN115316896B (en) | 2022-09-09 | 2022-09-09 | Control method and device of cleaning equipment and cleaning equipment |
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| CN115316896B true CN115316896B (en) | 2023-09-19 |
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| CN105189988A (en) * | 2013-03-13 | 2015-12-23 | 大陆汽车有限公司 | Method for operating a switch valve |
| CN108227756A (en) * | 2018-01-23 | 2018-06-29 | 南京科远自动化集团股份有限公司 | A kind of high-precision valve door control method |
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