CN115919216A

CN115919216A - Water tank device, cleaning equipment and fluid parameter detection method

Info

Publication number: CN115919216A
Application number: CN202310126405.9A
Authority: CN
Inventors: 陈艺章
Original assignee: Chengdu Fushi Technology Co ltd
Current assignee: Chengdu Fushi Technology Co ltd
Priority date: 2023-02-16
Filing date: 2023-02-16
Publication date: 2023-04-07

Abstract

The invention provides a water tank device for cleaning equipment, which comprises a cleaning piece for cleaning the ground, wherein the water tank device comprises a detection device and a control device for detecting the quality of sewage; the detection device comprises a detection water tank, an image detection module and a detection mark, wherein the image detection module and the detection mark are positioned on two sides of the detection water tank; the control device comprises a control unit electrically connected with the image detection module and used for controlling the image detection module to shoot the detection mark to obtain a detection image as a reference, and sending a first control signal when the definition of the detection image is equal to or close to a preset definition threshold of a calibration image so as to control the cleaning equipment to execute cleaning operation or stop the cleaning operation. In addition, the invention also provides cleaning equipment and a fluid parameter detection method. The problem that cleaning device can't intelligent judge sewage quality and operate according to the scheme is effectively solved.

Description

Water tank device, cleaning equipment and fluid parameter detection method

Technical Field

The invention relates to the technical field of ground cleaning equipment, in particular to a water tank device, cleaning equipment and a fluid parameter detection method.

Background

In the prior art, the core of a floor cleaning device, such as a sweeping robot, a mopping robot, etc., lies in the identification and detection of a floor object by the robot. Aiming at the problem that the intelligent degree of a robot such as a base station or a water tank integrated on the robot is insufficient, intelligent detection cannot be achieved so as to judge the cleaning condition and the equipment state of the robot, and existing equipment on the market can only simply judge whether the water quantity in the water tank is sufficient or not, and intelligent detection cannot be achieved.

Disclosure of Invention

The invention provides a water tank device, a cleaning device and a fluid parameter detection method, which can intelligently detect sewage in a water tank.

In a first aspect, an embodiment of the present invention provides a water tank device for a cleaning device, the water tank device being configured to supply clean water to a cleaning member of the cleaning device and recover sewage generated after the cleaning member is cleaned, wherein the cleaning member is used for cleaning a floor, and the water tank device includes a detection device and a control device, which are configured to detect quality of the sewage;

the detection device comprises a detection water tank, and an image detection module and a detection mark which are arranged on two opposite sides of the detection water tank, wherein the detection water tank is made of transparent materials and is used for collecting sewage generated after the cleaning piece is cleaned each time and detecting the water quality of the sewage by using the image detection module;

the control device comprises a first control unit, wherein the first control unit is electrically connected with the image detection module and is used for controlling the image detection module to shoot the detection mark to obtain a detection image as a reference, and sending a first control signal when the definition of the detection image is equal to or close to a preset definition threshold of a calibration image so as to control the cleaning equipment to execute cleaning operation or stop cleaning operation. Optionally, the first control unit includes a detection module, a processing module, and a notification module;

the detection module is electrically connected with the image detection module and is used for controlling the image detection module to shoot a detection image of the detection mark through the detection water tank after the detection water tank is full of sewage;

the processing module is electrically connected with the detection module and used for comparing the detection image with a calibration image of a detection mark and sending a first control signal when the definition of the detection image is equal to or close to the definition threshold of the calibration image;

the notification module is electrically connected with the processing module and used for controlling the cleaning equipment to execute cleaning operation or suspend cleaning operation according to the first control signal.

Optionally, the definition threshold of the calibration image is the definition corresponding to the calibration image of the detection mark obtained by the image detection module in advance when the detection water tank is filled with purified water.

Optionally, the water tank device further comprises a sewage collecting tank to which sewage generated after each cleaning of the cleaning member is collected;

the detection water tank comprises a first water inlet communicated with the sewage collecting tank, and the detection water tank collects the same amount of sewage to be detected every time from the sewage collecting tank _。

Optionally, the water tank device further comprises: the sewage tank comprises a second water inlet which is communicated with the first water outlet and is used for recycling sewage stored in the detection water tank after each detection;

the valve is arranged at the joint of the sewage tank and the detection water tank, and the control device further comprises a switch controller which is electrically connected with the valve and used for controlling the valve to be opened after detection is finished so as to discharge sewage into the sewage tank.

Optionally, the amount of the sewage generated by cleaning the cleaning member by the water tank device every time is larger than the amount of the sewage collected by the detection water tank every time;

the sewage tank further comprises a third water inlet which is communicated with the sewage collecting tank and is used for collecting the residual sewage after the detection water tank collects the sewage.

Optionally, the wastewater tank further includes: the first dToF module is arranged on the sewage tank and comprises a first light emitter and a first light receiver, the first light emitter is used for emitting first detection light, and the first light receiver is used for receiving first reflection light reflected by the sewage liquid level through the first detection light;

the control device further comprises a second control unit which is electrically connected with the first light emitter and the first light receiver and used for receiving first emitting time for emitting the first detection light and first receiving time for receiving the first reflected light; calculating first flight time according to the first transmitting time and the first receiving time, and calculating the sewage level according to the first flight time and a first preset speed; and when the sewage water level is higher than the preset sewage water level, generating a corresponding second control signal to inform a user to control the cleaning equipment to execute a corresponding water changing operation or control the cleaning equipment to execute a corresponding water changing operation.

Optionally, the cistern device further comprises a clean water cistern and a cleaning assembly; the water purifying tank is connected with the cleaning component and is used for storing purified water for the cleaning component to wash the cleaning component; the cleaning component is used for cleaning the cleaning piece and generating sewage, wherein the sewage flows into the sewage collecting tank;

the water purifying tank comprises a second dToF module arranged on the water purifying tank, the second dToF module comprises a second light emitter and a second light receiver, the second light emitter is used for emitting second detection light, and the second light receiver is used for receiving second reflection light reflected by the second detection light through the liquid level of the purified water;

the control device further comprises a third control unit, and the third control unit is electrically connected with the second light emitter and the second light receiver and is used for acquiring the purified water level of the purified water tank.

Optionally, the control device includes a fourth control unit, and the fourth control unit is electrically connected to the second control unit and the third control unit respectively; and the water level controller is used for acquiring the sewage water level by using the second control unit and the purified water level by using the third control unit, calculating a water level difference value according to the sewage water level and the purified water level, and sending a water leakage prompt to inform a user when the difference value is greater than a preset difference value.

In a second aspect, embodiments of the present invention further provide a cleaning device, including a cleaning member and the water tank device according to the first aspect, wherein the cleaning member is integrally assembled with the water tank device or detachably assembled with the water tank device.

In a third aspect, an embodiment of the present invention further provides a fluid parameter detection method, which is applied to a water tank device of a cleaning device, where the water tank device is used to supply clean water to a cleaning member of the cleaning device and recover sewage generated after the cleaning member is cleaned, and the water tank device includes a detection device and a control device, where the detection device is used to detect the quality of the sewage; the detection device comprises a detection water tank, and an image detection module and a detection mark which are arranged on two opposite sides of the detection water tank, wherein the detection water tank is made of transparent materials; the fluid parameter comprises water quality, and the fluid parameter detection method comprises the following steps:

controlling the image detection module to shoot a detection image of the detection mark after the sewage in the water tank is fully collected;

and comparing the detection image with a calibration image of a detection mark, and sending a first control signal when the definition of the detection image is within a preset definition threshold range of the calibration image so as to control the cleaning equipment to execute cleaning operation or stop the cleaning operation.

Optionally, the cleaning equipment further comprises a foul water tank, a clean water tank, a first dToF module arranged in the foul water tank and a second dToF module arranged in the clean water tank; the fluid parameter further comprises a water level, and the fluid parameter detection method further comprises:

the first dToF module is used for sending first detection light to the sewage tank and receiving first reflection light reflected by the first detection light;

acquiring a first emission time for receiving and emitting the first detection light and a first receiving time for receiving the first reflection light;

calculating a first time of flight from the first transmit time and the first receive time;

calculating the height of the sewage according to the first flight time and a first preset speed;

determining the relation between the sewage height and a preset sewage height, and sending a water change prompt when the sewage level is higher than the preset sewage level so as to inform a user to control the cleaning equipment to execute corresponding water change operation or control the cleaning equipment to execute corresponding water change operation;

and/or the second dToF module is used for emitting second detection light to the water purifying tank and receiving second reflection light reflected by the second detection light;

acquiring a second emission time for receiving and emitting the second detection light and a second receiving time for receiving the second reflection light;

calculating a second time of flight from the second time of transmission and the second time of reception;

calculating the purified water level according to the second flight time and a second preset speed;

and comparing the water level of the purified water with a preset water level of the purified water, and sending a water adding prompt when the water level of the purified water is lower than the preset water level so as to inform a user to control the cleaning equipment to execute corresponding water adding operation or control the cleaning equipment to execute corresponding water adding operation.

Optionally, the fluid parameter detection method further comprises:

acquiring a first variable quantity of the sewage level and a second variable quantity of the purified water level of two adjacent times;

calculating a difference between the first variation and the second variation; and

and when the difference is greater than the preset difference, sending a water leakage prompt to inform a user.

According to the water tank device, the cleaning equipment and the fluid parameter detection method provided by the invention, the image detection module and the detection mark are respectively arranged on the two opposite sides of the detection water tank, the image detection module can shoot the opposite detection mark through sewage collected in the detection water tank, and generates a corresponding first control signal according to a comparison result of the definition of the shot detection image and the definition of a preset calibration image, so as to control the cleaning equipment to execute cleaning operation or stop the cleaning operation, so that the water quality detection is carried out on the sewage after cleaning a cleaning piece, and whether to continue cleaning the current area or stop the cleaning operation is judged according to the detection result, so that the intelligent cleaning operation is realized, the human intervention is not needed, and the user experience is favorably improved.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a water tank device according to a first embodiment of the present invention.

Fig. 2 is a schematic view of an internal structure of a water tank device according to a first embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a detection water tank according to a first embodiment of the present invention.

Fig. 4 is a schematic diagram of an internal structure of a first control unit according to a first embodiment of the present invention.

Fig. 5 is a schematic diagram of an internal structure of a first dtef module according to a first embodiment of the present invention.

Fig. 6 is a schematic diagram of an internal structure of a second dToF module according to the first embodiment of the present invention.

Fig. 7 is a schematic structural view of a water tank device according to a second embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention.

Fig. 9 is a flowchart of a fluid parameter detection method according to an embodiment of the present invention.

Fig. 10 is a first sub-flowchart of a fluid parameter detection method according to an embodiment of the present invention.

Fig. 11 is a second sub-flowchart of a fluid parameter detection method according to an embodiment of the present invention.

Fig. 12 is a third sub-flowchart of a fluid parameter detecting method according to an embodiment of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances, in other words that the embodiments described are to be practiced in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, may also include other things, such as processes, methods, systems, articles, or apparatus that comprise a list of steps or elements is not necessarily limited to only those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such processes, methods, articles, or apparatus.

It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a water tank device according to a first embodiment of the present invention. Fig. 2 is a schematic view of an internal structure of a water tank device according to a first embodiment of the present invention. Fig. 3 is a schematic structural diagram of a detection water tank according to a first embodiment of the present invention.

In a first aspect, a first embodiment of the present invention provides a water tank device 100 for a cleaning apparatus 1000, the water tank device 100 being used for supplying clean water to cleaning members 200 of the cleaning apparatus 1000 and recovering contaminated water generated after the cleaning members 200 are cleaned. Wherein, the cleaning member 200 is used for floor cleaning, and the water tank device 100 includes a detecting device 1 for detecting the quality of the sewage and a control device 2. The detection device 1 comprises a detection water tank 12, detection marks 8 and an image detection module 11, wherein the detection marks 8 and the image detection module 11 are arranged on two opposite sides of the detection water tank, and the detection water tank 12 is used for collecting and detecting sewage generated after cleaning of the cleaning piece 200 every time. Alternatively, the detection mark 8 and the image detection module 11 may be fixed on opposite sides of the detection water tank 12 by fixing members or bonding members.

Further, the detection water tank 12 is made of transparent material, such as transparent plastic made of PC, PET or PVC, and the volume of the detection water tank 12 is not too large, so that the detection water tank is easy to collect full sewage. Image detection module 11 and detection mark 8 set up in the both sides that detect the water tank relatively, guarantee that image detection module 11 sees through the sewage that detects in the water tank 12 and can acquire the detection image of opposite detection mark 8 to judge the dirty degree of sewage according to the definition that detects the image. For example: when the definition of the detection image shot through the detection water tank 12 is poor, it indicates that the sewage in the detection water tank is turbid, and the ground in the current area needs to be continuously cleaned; and the definition of the detection image shot through the detection water tank 12 is higher, which indicates that the sewage in the detection water tank 12 is clearer, and the cleaning of the ground in the current area can be stopped.

Specifically, the image detection module 11 is configured to capture a detection image of the detection mark 8 to detect the quality of the sewage, and transmit a signal to the control device 2, and the control device 2 analyzes the received signal and executes a corresponding instruction according to an analysis result, such as a prompt instruction, a cleaning maintenance instruction, and a stop instruction.

Optionally, the image detection module 11 includes a CCD camera or a CMOS camera. In addition, a light supplementing module can be arranged according to the light condition in the detection device 1, so that the image quality is ensured.

Alternatively, the detection mark 8 is a colored ring mark or a cross mark, as long as the mark captured by the image detection module is convenient.

Alternatively, the detection mark 8 may also be a self-luminous pattern mark that is stuck on the outer side surface of the detection water tank 12.

Referring to fig. 4, fig. 4 is a schematic diagram of an internal structure of a first control unit according to a first embodiment of the present invention.

Specifically, the control device 2 includes a first control unit 21. The first control unit 21 is electrically connected to the image detection module 11, and is configured to control the image detection module 11 to capture a detection image of the detection mark 8 after the detection water tank collects full sewage, compare the detection image with a calibration image of the detection mark 8, and send a first control signal when a definition of the detection image is equal to or close to a definition threshold of the calibration image, so as to control the cleaning device to perform a cleaning operation or suspend the cleaning operation.

It should be noted that, the more impurities in the sewage, the lower the clarity of the sewage, that is, the more impurities, the dirtied water becomes, and under the same cleaning conditions, the dirtied water after a single cleaning can reflect the dirtied condition of the single ground. When the sharpness of the detected image is equal to or close to the sharpness threshold of the calibration image, a corresponding first control signal is generated to control the cleaning apparatus 1000 to perform the cleaning operation or to suspend the cleaning operation. When the definition of the detected image is equal to or close to the definition threshold of the calibration image, the impurities generated on the cleaning floor are considered to be less, and the cleaning requirement is met. Combining with the predetermined task, if a single room is cleaned, sending out the corresponding cleaning stopping operation, etc.; if all the rooms are cleaned and the current room is the first room, corresponding cleaning execution operation is sent out, and the cleaning of the second room is carried out after the current first room is cleaned.

Optionally, in some embodiments, the first control unit 21 comprises a detection module 211 and a processing module 212. The detection module 211 and the processing module 212 are respectively electrically connected to the image detection module 11, and are configured to control the image detection module 11 to capture a detection image of the detection mark 8 through the detection water tank 12 after the detection water tank 12 collects full sewage.

Specifically, the detection module 211 may be electrically connected to a water level sensor (not shown) at the top of the detection water tank 12, and when the detection water tank 12 is full of sewage, the water level sensor sends a water level signal to the detection module 211, and the detection module 211 controls the image detection module 11 to operate, so as to capture an image of the detection mark 8 on the other side of the detection water tank 12. The processing module 212 compares the detection image with the calibration image of the detection mark 8 and sends a first control signal when the definition of the detection image is equal to or close to the definition threshold of the calibration image, so as to control the cleaning device to perform the cleaning operation or to suspend the cleaning operation.

It should be noted that the calibration image of the detection mark 8 can be obtained by shooting the image of the detection mark 8 by the image detection module 11 in advance under the condition that the detection water tank 12 is filled with pure water, and the definition corresponding to the calibration image is the definition threshold of the calibration image. Because the waste water for cleaning the cleaning piece hardly reaches the water quality degree of the purified water, when the definition of the detection image is close to the definition threshold of the calibration image, the water quality can be considered to basically reach the water purification standard. In a specific embodiment, the detection images of the detection marks 8 corresponding to different sewage gradients may also be stored in the processing module 212 in advance, so that the sharpness comparison of the images is facilitated.

Optionally, in some embodiments, the first control unit 21 further includes a notification module 213, and the notification module 213 is electrically connected to the processing module 212 and configured to control the cleaning apparatus 1000 to perform the cleaning operation or suspend the cleaning operation according to the first control signal.

In conclusion, the water tank device is provided with a detection device and a control device for detecting the quality of the sewage. The detection image of the detection mark is shot through the detection water tank by the image detection module, then the detection image is compared with the calibration image, the quality of sewage generated by detecting and cleaning the cleaning piece is indirectly reflected through the image definition, and the cleaning degree of the cleaning piece for cleaning the ground is reflected through the dirty degree of the sewage; when the control device judges that the definition of the detected image is equal to or close to the definition threshold of the calibrated image, a first control signal is sent to control the cleaning piece to perform cleaning operation or stop the cleaning operation, so that the current cleaning task is intelligently executed based on the dirt degree of the sewage, and the current cleaning task is executed or stopped, the intelligent degree of the cleaning device is improved, and the user experience is increased.

Optionally, in some embodiments, with continued reference to fig. 1, the tank arrangement 100 further comprises a sewage collection tank 3, and sewage generated after each cleaning of the cleaning member 200 is collected to the sewage collection tank 3.

Further, the detection water tank 12 includes a first water inlet 121, and the first water inlet 121 communicates with the sewage collection tank 3, and the amount of sewage to be detected collected from the sewage collection tank 3 at a time by the detection water tank 12 is the same.

It should be noted that, when the detection water tank 12 is higher than the sewage collecting tank 3, a circulating pump may be disposed on a communication pipeline between the first water inlet 121 of the detection water tank 12 and the sewage collecting tank 3, so as to conveniently pump the sewage to the detection water tank 12; when the bottom of detection water tank 12 is less than or equal to the bottom of sewage collecting tank 2, detection water tank 12 can communicate with sewage collecting tank 3, need not set up the circulation and can collect sewage.

In summary, the cleaning members 200 need to be cleaned once each time a certain area is cleaned. The sewage collecting tank 3 collects the sewage generated by washing the cleaning member 200, and a part of the sewage flows into the inspection water tank 12 through the first water inlet 121. The sewage amount to be detected, which is collected from the sewage collecting tank 3 each time, of the detection water tank 12 is the same, so that the volume standard during detection is consistent. The image detection module 11 of this scheme promptly need see through the image that detects the mark 8 of detecting water tank 12 shooting, because the difference of water yield, probably partly detect the mark 8 and not sheltered from by sewage, just also can't detect the quality of water of sewage, and then produce diversified testing result, moreover accurate inadequately. The amount of sewage to be detected collected by the detection water tank 12 from the sewage collection tank 3 at each time is the same, so that the stability and the accuracy of detection can be improved.

Optionally, in some embodiments, with continued reference to fig. 1, the water tank apparatus 100 further comprises: the sewage tank 4 and the valve 5, the detection water tank 12 further comprises a first water outlet, the sewage tank 4 comprises a second water inlet, and the second water inlet is communicated with the first water outlet and used for recovering the sewage stored in the detection water tank 12 after each detection.

Specifically, the valve 5 is disposed at a connection portion between the sewage tank 4 and the detection water tank 12, as shown in fig. 2, the control device 2 further includes a switch controller 25, and the switch controller 25 is electrically connected to the valve 5 and is configured to control the valve 5 to open after the detection is completed so as to discharge sewage into the sewage tank 4.

Alternatively, in some embodiments, the amount of sewage generated by the tank device 100 per washing of the cleaning member 200 is larger than the amount of sewage collected per time by the sensing tank 12. The wastewater tank 4 further comprises a third water inlet 41, and the third water inlet 41 is communicated with the wastewater collection tank 3 and is used for collecting wastewater left after being collected by the detection water tank 12.

In summary, the water used to wash the cleaning members 200 during cleaning needs to be used in a large amount for high cleanliness. Taking the household type cleaning apparatus 1000 as an example, the cleaning apparatus 1000 needs to be additionally provided with a sewage tank 4 for receiving sewage, such as a 5L volume water tank; the test tank 12 for testing the wastewater requires only a modest level, such as a 3cm by 10cm tube or a 6cm by 3cm by 10 5cm flat box. The high-volume sewage tank 4 can meet the requirement that a user can replace sewage once after using the sewage tank for multiple times, so that convenience is improved; the small-volume detection water tank 12 is small in size, does not occupy too much internal space of the cleaning device 1000, and is convenient to mount in a limited space.

Optionally, in some embodiments, with continued reference to fig. 1, the waste tank 4 further comprises: the first dtoF module 13 is disposed on the sewage tank 4, the first dtoF module 13 includes a first optical emitter 131 and a first optical receiver 132, the first optical emitter 131 is configured to emit first detection light, and the first optical receiver 132 is configured to receive first reflection light reflected by the sewage level.

Referring to fig. 5, fig. 5 is a schematic diagram of an internal structure of a first dtef module according to an embodiment of the present invention.

Alternatively, in some embodiments, the waste water tank 4 is substantially a rectangular body, the first dToF module 13 is disposed on the bottom surface of the waste water tank 4, when the waste water tank 4 is filled with waste water, the surface of the waste water is parallel to the bottom surface, and the light is flown through the surface by the first light emitter 131 and then reflected back to the first light receiver 132 by the surface. In other embodiments, the first dtod module 13 is disposed on the top surface of the waste water tank 4 (as shown in fig. 1), and the light is transmitted by the first optical transmitter 131 to fly above the liquid surface, and then reflected by the liquid surface to the first optical receiver 132. It is understood that the former detects the actual liquid level, and the latter detects the distance from the first light emitter 131 to the liquid level, and then converts the height into the actual liquid level according to the height of the entire wastewater tank 4.

In other embodiments, a first dtod module 13 is provided on the side of the waste water tank 4, and the dtod module is used as a trigger sensor to indicate when a certain liquid level is reached.

Optionally, in some embodiments, the control device 2 includes a second control unit 22, and the second control unit 22 is electrically connected to the first light emitter 131 and the first light receiver 132, and is configured to receive a first emitting time for emitting the first detection light and a first receiving time for receiving the first reflection light. And calculating first flight time according to the first transmitting time and the first receiving time, and calculating the sewage level according to the first flight time and a first preset speed. When the wastewater level is greater than the preset wastewater level, a corresponding second control signal is generated to notify the user to control the cleaning apparatus 1000 to perform a corresponding water change operation, or to control the cleaning apparatus 1000 to perform a corresponding water change operation.

In this embodiment, the cleaning apparatus 1000 may be an apparatus having an automatic water changing function, that is, the sewage tank 4 is further provided with a water outlet pipe or a water outlet, the water outlet pipe or the water outlet is connected to an external sewage tank, and when a water changing condition is satisfied, the control device 2 controls components such as a water pump and an electric valve to discharge water in the sewage tank 4.

In other embodiments, the cleaning device 1000 may also be a device without an automatic water changing function, and the cleaning device 1000 is provided with an acousto-optic device such as a buzzer, an indicator light, a display screen, and the like, and when the water changing condition is met, the acousto-optic device reminds the user to perform a corresponding water changing operation on the sewage tank 4.

In summary, the first dtod module 13 is disposed in the sewage tank 4, the distance from the first dtod module 13 to the sewage liquid level in the sewage tank 4 is obtained by the first dtod module 13, the distance is converted into the liquid level height, whether the liquid level of the sewage tank 4 reaches the warning line or the water change line is judged, and the water change notification is sent when the liquid level exceeds the warning line or the water change line, so that the convenience of water change is improved.

Optionally, in some embodiments, the tank assembly 100 further comprises a clean water tank 6 and a cleaning assembly 7. The water purifying tank 6 is connected with the washing component 7 and is used for storing purified water for washing the cleaning piece 200 by the washing component 7; the washing assembly 7 is used to wash the cleaning member 200 and generate sewage, which flows into the sewage collecting tank 3.

Further, the water purification tank 6 comprises a second dtot f module 14 arranged in the water purification tank 6, the second dtot f module 14 comprises a second optical emitter 141 and a second optical receiver 142, the second optical emitter 141 is used for emitting second detection light, and the second optical receiver 142 is used for receiving second reflection light reflected by the purified water through the purified water surface.

Alternatively, the cleaning assembly 7 and the sewage collecting groove 3 may be disposed at the bottom of the water tank device 100, and after each time the cleaning member 200 completes the cleaning of the floor, the cleaning member 200 automatically seeks to be docked with the water tank device 100, so as to clean the cleaning member 200, and the water generated after the cleaning is collected by the sewage collecting groove 3.

Referring to fig. 6 in combination, fig. 6 is a schematic diagram illustrating an internal structure of a second dToF module according to a first embodiment of the present invention.

In the present embodiment, the fresh water tank 6 is substantially rectangular, the second dtot f module 14 is disposed on the bottom surface of the rectangular parallelepiped, when the fresh water tank 6 contains fresh water, the surface of the fresh water is parallel to the bottom surface, and the light is flown through the liquid surface by the second light emitter 141 and then reflected back to the second light receiver 142 by the liquid surface. In other embodiments, the second dtot module 14 is disposed on the top surface of the rectangular parallelepiped, and the light is emitted from the second light emitter 141, flies above the liquid surface, and is reflected by the liquid surface back to the second light receiver 142. The former calculates the actual liquid level height, and the latter calculates the distance from the liquid level height to the second light emitter 141, and then converts the liquid level height. In other embodiments, a second dtaf module 14 may be disposed on the side, and the dtaf module may be used as a trigger sensor to give an indication when a certain liquid level is reached.

Optionally, the control device 2 further includes a third control unit 23, and the third control unit 23 is electrically connected to the second light emitter 141 and the second light receiver 142, and is configured to obtain the purified water level of the purified water tank 6. The third control unit 23 is configured to receive a second emission time for emitting the second detection light and a second reception time for receiving the second reflected light; calculating second flight time according to the second transmitting time and the second receiving time, and calculating the purified water level according to the second flight time and a second preset speed; when the purified water level is lower than the preset purified water level, a corresponding third control signal is generated to inform a user to control the cleaning apparatus 1000 to perform a corresponding water adding operation or to control the cleaning apparatus 1000 to perform a corresponding water adding operation.

In this embodiment, cleaning device 1000 can be for having the equipment of automatic water changing function, and water purification case 6 still is provided with filler pipe or filler promptly, and filler pipe or filler are connected with external water source, and when satisfying the water shortage condition, controlling means 2 control components and parts such as water pump, electric valve are followed water source and are drawn water into in water purification case 6.

In other embodiments, the cleaning device 1000 may also be a device without an automatic water adding function, and the cleaning device 1000 is provided with an acousto-optic device such as a buzzer, an indicator light, a display screen, and the like, so that when the water shortage condition is met, the user is reminded to perform corresponding water adding operation on the water purification tank 6 through the acousto-optic device.

In summary, the second dtaf module 14 is arranged in the purified water tank 6, the distance from the second dtaf module 14 to the purified water level in the purified water tank 6 is obtained through the second dtaf module 14, the distance is converted into the liquid level height, whether the liquid level in the purified water tank 6 reaches the warning line or the water adding line is judged, and the water adding notification is sent when the purified water level is lower than the warning line or the water adding line.

Optionally, the control device 2 includes a fourth control unit 24, and the fourth control unit 24 is electrically connected to the second control unit 22 and the third control unit 23, respectively; for obtaining the sewage level by the second control unit 22 and the purified water level by the third control unit 23, calculating a water level difference value according to the sewage level and the purified water level, and when the difference value is greater than a preset difference value, sending a water leakage prompt to notify a user.

In summary, the water tank device 100 in this embodiment further has a function of detecting water leakage and a corresponding electronic component. In the case of a washing and mopping integrated household robot, the water purification function is mainly performed in three ways, i.e., a cleaning cloth for wetting the cleaning member 200, cleaning the cleaning member 200, and filling water into the cleaning member 200. The three dosage can be obtained through experiments, the specified dosage is compared with the sewage increment amount every time, and if the deviation exceeding the preset difference value occurs, the water leakage phenomenon can be considered to exist.

In a specific embodiment, considering that the detection of the sewage level is influenced by the real water volume and the dirty substances together, the sewage with the dirty substances can make the water volume be high; if the water leakage judgment is inaccurate by directly utilizing the sewage water level. In order to eliminate the influence of the dirty substances, a comparison table which can express the corresponding relation between the dirty degree and the water level influence degree is obtained in advance through experiments, and if the proportion of the sewage with the dirty degree of 0 to the clean water is 1 to 1, the water leakage comparison can be directly carried out; the ratio of the sewage with the dirty degree of 2 to the clean water is 1:1.2, namely, the water level height of the sewage is firstly divided by 1.2 to obtain the change of the real water quantity in the sewage tank 4, and then the water leakage comparison is carried out.

Optionally, the clean water tank 6 further comprises a float 61, and the float 61 is disposed in the clean water tank 6 and can float up and down along with the liquid level for reflecting the second detection light emitted by the second dtod module 14.

Specifically, buoy 61 is a substantially 10cm by 10cm rectangular plate or a circular plate having a diameter of 10cm, and the provision of buoy 61 in clean water tank 6 can greatly increase the area in which light is effectively reflected, making detection more sensitive. In a specific embodiment, the shape of the fresh water tank 6 can be adapted to the specific shape.

In some embodiments, as shown in fig. 1, the detection water tank 12 is arranged above the sewage collection tank 3, in which case a corresponding circulation pump is added when the sewage collection tank 3 discharges sewage into the detection water tank 12, so as to ensure sufficient water pressure.

Referring to fig. 7, fig. 7 is a schematic structural diagram of a water tank device according to a second embodiment of the present invention. In the second embodiment, the detection water tank 12 and the sewage collecting tank 3 are arranged side by side in the horizontal direction, and the detection water tank 12 and the sewage collecting tank 3 can be communicated in a communicating manner by adopting a communicating vessel, so that the sewage collecting tank 3 and the detection water tank 12 maintain a unified water level. The design can save power devices for pumping sewage, save power devices such as a circulating pump and the like, can additionally improve efficiency and reduce cost.

Besides, in the second embodiment of the present invention, except for the change of the structure of the detection water tank and the connection manner with the sewage collecting tank 3, the rest of components, the connection relationship between the components, and the operation manner can all refer to the first embodiment, and the description is not repeated herein.

It should be noted that the positional relationships among the fresh water tank 6, the detection water tank 12, the sewage collection tank 3, and the foul water tank 4 in the tank device 100 according to the first and second embodiments of the present invention are not limited to those illustrated in fig. 1 and 7, and may be adjusted according to different types of cleaning equipment as long as the functions of water quality detection, water level detection, and water change are satisfied.

Referring to fig. 8, fig. 8 is a schematic structural diagram of a cleaning apparatus according to a first embodiment of the present invention.

It should be noted that the water tank device adopts the improvement of the above characteristics, and the advantages and the disadvantages are consistent with the above design; the cleaning elements are in keeping with the features of conventional cleaning elements and will not be described in great detail herein.

In a second aspect, an embodiment of the present invention provides a cleaning apparatus 1000, which includes a cleaning member 200 and a water tank device 100 in each of the foregoing embodiments, wherein the cleaning member 200 is integrally assembled with the water tank device 100 or detachably assembled.

In the exemplary embodiment, the cleaning apparatus 1000 is mainly composed of two types, the first type is a large-sized cleaning apparatus 1000 in which the cleaning member 200 is integrally assembled with the water tank device 100, and the second type is a small-sized apparatus in which the cleaning member 200 is detachably assembled with the water tank device 100. Wherein, the first water tank device 100 and the cleaning member 200 are integrated into a whole, typically a cleaning cart or a large cleaning robot; the second water tank is separated from the cleaning member 200, that is, the water tank device 100 is separately provided with a base station, the cleaning member 200 is independently a small cleaning robot, and the small cleaning robot returns to the base station to perform self cleaning after cleaning a certain area.

The cleaning equipment that this embodiment provided, included cleaning member and aforementioned each embodiment the water tank device, this water tank device detects the sewage that washs cleaning member production through setting up detection device, the dirty degree through sewage reflects the clean degree on the clean ground of cleaning member, specifically set up image detection module and detection mark respectively through detection device's detection water tank both sides, the image detection module can see through the sewage of collecting in detection water tank and shoot opposite detection mark, and the comparison result of the definition of the detection image according to detection mark and the definition of the calibration image of detection mark produces corresponding first control signal, in order to control cleaning equipment carries out cleaning operation or stops cleaning operation, thereby carry out water quality testing to the sewage after rinsing cleaning member, judge whether to continue to clean current region or stop clean operation according to the result that detects again, thereby realize intelligent cleaning operation, do not need the artificial intervention, be favorable to promoting user experience.

In a third aspect, an embodiment of the present invention provides a fluid parameter detection method. Referring to fig. 9 in combination, fig. 9 is a flowchart of a fluid parameter detection method according to an embodiment of the invention. The water tank device 100 applied to the cleaning apparatus 1000 according to the foregoing embodiment of the present invention, the water tank device 100 being used for supplying clean water to the cleaning member 200 of the cleaning apparatus 1000 and recovering sewage generated after the cleaning member 200 is cleaned, the water tank device 100 including a detecting device 1 and a control device 2 for detecting the quality of the sewage; the detection device 1 comprises a detection water tank 12, and an image detection module 11 and a detection mark 8 which are arranged on two opposite sides of the detection water tank 12, wherein the detection water tank 12 is made of a transparent material; the fluid parameter comprises water quality, and the fluid parameter detection method comprises the following steps:

and step S101, controlling the image detection module to shoot a detection image of the detection mark.

Step S102, comparing the detection image with the calibration image of the detection mark, and sending a first control signal when the definition of the detection image is equal to or close to a preset definition threshold value of the calibration image so as to control the cleaning equipment to execute the cleaning operation or stop the cleaning operation.

It should be noted that, the more impurities in the sewage, the lower the clarity of the sewage, that is, the more impurities, the dirtied water becomes, and under the same cleaning conditions, the dirtied water after a single cleaning can reflect the dirtied condition of the single ground. When the sharpness of the detected image is equal to or close to the sharpness threshold of the calibration image, a corresponding first control signal is generated to control the cleaning apparatus 1000 to perform the cleaning operation or to suspend the cleaning operation. When the definition of the detected image is equal to or close to the definition threshold of the calibration image, the impurities generated by the cleaning floor are considered to be less, and the cleaning requirement is met. Combining with a fixed task, if a single room is cleaned, sending out a corresponding cleaning stopping operation and the like; if all the rooms are cleaned and the current room is the first room, corresponding cleaning execution operation is sent out, and the second room is cleaned after the current first room is cleaned.

In the fluid parameter detection method provided by the embodiment, the image detection module is used for shooting the detection image of the detection mark through the detection water tank, and the comparison of the image definition of the detection image and the calibration image is carried out to indirectly reflect the water quality of the sewage generated by detecting and cleaning the cleaning piece, so that the degree of cleanness of the cleaning piece for cleaning the ground is reflected by the degree of dirtiness of the sewage; when the definition of the detected image is judged to be equal to or close to the definition threshold of the calibrated image, a first control signal is sent to control the cleaning piece to perform cleaning operation or stop the cleaning operation, so that the current cleaning task is intelligently performed based on the dirt degree of the sewage, and the current cleaning task is performed or stopped, the intelligent degree of the cleaning equipment is improved, and the user experience is increased. .

Referring to fig. 10 and fig. 11 in combination, fig. 10 is a first sub-flowchart of a fluid parameter detection method according to an embodiment of the invention. Fig. 11 is a second sub-flowchart of a fluid parameter detection method according to an embodiment of the present invention.

Optionally, the cleaning apparatus 1000 further includes a foul water tank 4, a fresh water tank 6, a first dtaf module 13 provided to the foul water tank 4, and a second dtaf module 14 provided to the fresh water tank 6; the fluid parameter also comprises a water level, and the fluid parameter detection method also comprises the following steps:

step S201, a first dtaf module is used to emit a first detection light to the sewage tank and receive a first reflection light reflected by the first detection light.

Step S202, a first emitting time for receiving the emitted first detection light and a first receiving time for receiving the first reflected light are acquired.

Step S203, a first time of flight is calculated according to the first transmission time and the first reception time.

Specifically, the time of flight is obtained by subtracting the emission time from the reception time.

Step S204, calculating the sewage height according to the first flight time and the first preset speed.

Specifically, a comparison table of a first preset speed, that is, a comparison table of the degree of contamination and the degree of influence of the speed, may be obtained in advance through experiments, and for example, the speed ratio of the sewage and the clean water with the contamination degree coefficient of 0 is 1 to 1; the ratio of sewage and clean water with the dirty degree coefficient of 2 is 1 to 1.2, namely the clean water speed is divided by 1.2 to obtain the real speed in the sewage tank 4. The dirty degree coefficient of the water tank 12 is obtained through the detection water tank 12 every time, then the average value is calculated to be used as the dirty degree coefficient of the sewage tank 4, the first preset speed is obtained by contrasting a comparison table of the first preset speed according to the dirty degree coefficient of the sewage tank 4, and the sewage height is obtained by multiplying the first preset speed by the first flight time.

Step S205, determining a relationship between the sewage height and a preset sewage height, and when the sewage level is higher than the preset sewage level, sending a water change prompt to notify a user to control the cleaning device 1000 to perform a corresponding water change operation, or to control the cleaning device 1000 to perform a corresponding water change operation.

Specifically, when the cleaning device 1000 is a base station and a cleaning robot device, the base station is provided with an automatic water changing function, i.e., a sewage pipe is provided to connect the external sewage tank, and when the sewage level of the sewage tank 4 of the base station is higher than a preset sewage level, the corresponding switch is automatically turned on to discharge the sewage in the sewage tank 4. When the cleaning device 1000 does not have the automatic water changing function, sound and light devices such as a buzzer, a display screen and an LED lamp are improved to prompt a user to change water manually.

Optionally, the cleaning device 1000 further has a function of detecting a water level of the purified water and giving a water adding prompt or performing a water adding operation. The fluid parameter also comprises a water level, and the fluid parameter detection method also comprises the following steps:

step S301, a second dToF module is used for sending second detection light to the water purifying tank and receiving second reflection light reflected by the second detection light.

Step S302, a second emission time to receive the emitted second detection light and a second reception time to receive the second reflected light are acquired.

Step S303, calculating a second time of flight according to the second transmitting time and the second receiving time.

And step S304, calculating the purified water level according to the second flight time and the second preset speed.

Specifically, the second preset speed, that is, the speed at which light flies in the purified water, may be obtained experimentally in advance. And multiplying the first flight time by a second preset speed to obtain the purified water level.

And S305, comparing the water level of the purified water with a preset purified water level, and sending a water adding prompt to inform a user to control the cleaning equipment to perform corresponding water adding operation or control the cleaning equipment to perform corresponding water adding operation when the purified water level is lower than the preset purified water height.

Specifically, when cleaning device 1000 is basic station and cleaning robot equipment, when the basic station was provided with automatic function of adding water, the external water source was connected to the filler pipe promptly, when the water purification water level of the water purification case 6 of basic station was less than preset water purification height, opened corresponding switch automatically and introduced the external water source in water purification case 6. When the cleaning device 1000 does not have the automatic water changing function, the sound and light devices such as the buzzer, the display screen and the led lamp are improved to prompt the user that water needs to be added due to manual water shortage.

This embodiment is through the water level that detects sewage case and/or clean water tank, and accessible time automatic to the sewage case trade water and/or carry out the moisturizing to the clean water tank, perhaps the suggestion user trades water and/or carries out the moisturizing to the clean water tank to the sewage case, is favorable to realizing intelligent moisturizing, the trade water of water tank device to promote cleaning device's availability factor, further increase user experience.

Referring to fig. 12 in combination, fig. 12 is a third sub-flowchart of a fluid parameter detecting method according to an embodiment of the invention.

Optionally, the fluid parameter detection method further comprises the following steps:

and S401, acquiring a first variable quantity of the sewage water levels of two adjacent times and a second variable quantity of the purified water level.

Specifically, a first variation of the sewage level of two adjacent times is acquired as an increase of the sewage level and a second variation of the clean water level is acquired as a clean water level decrease.

In step S402, a difference between the first variation and the second variation is calculated.

Specifically, the difference of the variation is obtained by subtracting the first variation from the second variation, that is, how much sewage is recovered in one cleaning. Taking a washing and mopping integrated household robot as an example, the purpose of water purification is mainly three-fold, namely, wetting the cleaning cloth of the cleaning member 200, washing the cleaning member 200, and injecting water into the cleaning member 200. The dosage of the three purposes can be obtained through experiments, the specified dosage is compared with the sewage increment of each time, and if the deviation exceeding the preset difference value occurs, the water leakage phenomenon can be considered to exist.

Optionally, controlling means 2 and alarm device electric connection, when controlling means 2 detects there is the problem of leaking, but the signal can be sent and make alarm device send the alarm of leaking to the suggestion user overhauls water tank device 100.

And step S403, when the difference value is larger than the preset difference value, sending a water leakage prompt to inform a user.

In a specific embodiment, considering that the detection of the sewage level is influenced by both the real water amount and the dirty substances, the sewage with the dirty substances can make the water amount be falsely high; if the sewage level is directly used for water leakage judgment, the judgment is inaccurate. In order to eliminate the influence of the dirty substances, a comparison table, namely a comparison table of the dirty degree and the water level influence degree is obtained in advance through experiments, and if the ratio of the dirty water with the dirty degree of 0 to the clean water is 1:1, water leakage comparison can be directly carried out; the ratio of sewage and clean water with a degree of soiling of 2 is 1:1.2, dividing the height of the sewage water level by 1.2 to obtain the change of the real water quantity in the sewage tank 4, and then detecting the water leakage.

This embodiment is through the detection of the first change volume of adjacent twice sewage water level and the second change volume of water purification water level, can in time discover whether there is the phenomenon of leaking water in water tank device 100, has increased cleaning device's intelligent function to can also indicate the user to overhaul water tank device 100, thereby avoid the wet and smooth and water tank device 100's of ground problem of short circuit because of leaking the bring, improve cleaning device's safety in utilization.

In the fluid parameter detection method provided by each embodiment of the invention, the image detection module and the detection mark are respectively arranged on the two opposite sides of the detection water tank of the detection device, the image detection module is used for shooting the detection image of the detection mark through the detection water tank, and then the water quality of sewage generated by detecting and cleaning the cleaning piece is indirectly reflected according to the comparison result of the detection image and the calibration image, so that the degree of cleanness of the cleaning piece for cleaning the ground is reflected according to the degree of dirtiness of the sewage; when the definition of the detected image is judged to be equal to or close to the definition threshold of the calibrated image, a first control signal is sent to control the cleaning piece to perform cleaning operation or stop the cleaning operation, so that the current cleaning task is intelligently performed based on the dirt degree of the sewage, and the current cleaning task is performed or stopped, the intelligent degree of the cleaning equipment is improved, and the user experience is increased.

In addition, detect through the water level to clean water tank and sewage case, be favorable to promoting the cleaning device moisturizing, trade the convenience of water, thereby promote user experience, and the detection through the first change of adjacent twice sewage water level and the second change of clean water level, whether there is the water leakage phenomenon in the discovery water tank device in time, and the suggestion user overhauls the water tank device, thereby avoid the ground slippery and the short circuit problem of water tank device because of leaking the bring, improve cleaning device's safety in utilization.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, insofar as these modifications and variations of the invention fall within the scope of the claims of the invention and their equivalents, the invention is intended to include these modifications and variations.

The above-mentioned embodiments are only examples of the present invention, which should not be construed as limiting the scope of the present invention, and therefore, the present invention is not limited by the claims.

Claims

1. A water tank device for a cleaning device, the water tank device is used for supplying clean water to a cleaning piece of the cleaning device and recovering sewage generated after the cleaning piece is cleaned, wherein the cleaning piece is used for cleaning the ground, and the water tank device is characterized by comprising a detection device and a control device which are used for detecting the quality of the sewage;

the control device comprises a first control unit, wherein the first control unit is electrically connected with the image detection module and is used for controlling the image detection module to shoot the detection mark to obtain a detection image as a reference, and sending a first control signal when the definition of the detection image is equal to or close to a preset definition threshold of a calibration image so as to control the cleaning equipment to execute cleaning operation or stop cleaning operation.

2. The water tank device according to claim 1, wherein the first control unit comprises a detection module, a processing module and a notification module;

3. The water tank device as claimed in claim 2, wherein the definition threshold of the calibration image is the definition corresponding to the image obtained by the image detection module when the detection water tank contains clean water.

4. The tank arrangement according to claim 1, characterized in that it further comprises a sewage collection tank to which sewage generated after each cleaning of the cleaning member is collected;

the detection water tank comprises a first water inlet which is communicated with the sewage collecting tank, and the amount of sewage to be detected collected by the detection water tank from the sewage collecting tank at each time is the same _。

5. The water tank apparatus as claimed in claim 4, wherein the water tank apparatus further comprises: the sewage detection device comprises a sewage tank and a valve, wherein the detection water tank further comprises a first water outlet, the sewage tank comprises a second water inlet, and the second water inlet is communicated with the first water outlet and is used for recovering sewage stored in the detection water tank after each detection;

6. The tank assembly of claim 5 wherein each cleaning of said cleaning member by said tank assembly produces a greater volume of waste than each collection by said test tank;

the sewage tank also comprises a third water inlet which is communicated with the sewage collecting tank and used for collecting the sewage left after the detection water tank collects the sewage.

7. The water tank apparatus as claimed in claim 5, wherein the sump further comprises: the first dToF module is arranged in the sewage tank and comprises a first light emitter and a first light receiver, the first light emitter is used for emitting first detection light, and the first light receiver is used for receiving first reflection light reflected by the sewage liquid level through the first detection light;

the control device further comprises a second control unit which is electrically connected with the first light emitter and the first light receiver and used for receiving first emitting time for emitting the first detection light and first receiving time for receiving the first reflected light; calculating first flight time according to the first transmitting time and the first receiving time, and calculating a sewage level according to the first flight time and a first preset speed; and when the sewage water level is higher than the preset sewage water level, generating a corresponding second control signal to inform a user to control the cleaning equipment to execute a corresponding water changing operation or control the cleaning equipment to execute a corresponding water changing operation.

8. The cistern device of claim 7, further comprising a clean water tank and a cleaning assembly; the water purifying tank is connected with the cleaning component and is used for storing purified water for the cleaning component to wash the cleaning component; the cleaning component is used for cleaning the cleaning piece and generating sewage, wherein the sewage flows into the sewage collecting tank;

the water purifying tank comprises a second dToF module arranged in the water purifying tank, the second dToF module comprises a second light emitter and a second light receiver, the second light emitter is used for emitting second detection light, and the second light receiver is used for receiving second reflection light reflected by the liquid level of the purified water through the second detection light;

9. The water tank device as claimed in claim 8, wherein the control device comprises a fourth control unit electrically connected to the second control unit and the third control unit, respectively; and the water level controller is used for acquiring the sewage water level by using the second control unit and the purified water level by using the third control unit, calculating a water level difference value according to the sewage water level and the purified water level, and sending a water leakage prompt to inform a user when the difference value is greater than a preset difference value.

10. A cleaning device comprising a cleaning member and a tank device as claimed in any one of claims 1 to 9, the cleaning member being integrally assembled with the tank device or detachably assembled therewith.

11. The fluid parameter detection method is characterized by being applied to a water tank device of cleaning equipment, wherein the water tank device is used for supplying clean water to a cleaning piece of the cleaning equipment and recovering sewage generated after the cleaning piece is cleaned, and comprises a detection device and a control device for detecting the quality of the sewage; the detection device comprises a detection water tank, and an image detection module and a detection mark which are arranged on two opposite sides of the detection water tank, wherein the detection water tank is made of transparent materials; the fluid parameter comprises water quality, and the fluid parameter detection method comprises the following steps:

and comparing the detection image with a calibration image, and sending a first control signal when the definition of the detection image is within a preset definition threshold range of the calibration image so as to control the cleaning equipment to execute cleaning operation or stop cleaning operation.

12. The fluid parameter sensing method of claim 11, wherein the cleaning apparatus further comprises a foul water tank, a clean water tank, a first dtot module provided to the foul water tank, and a second dtot module provided to the clean water tank; the fluid parameter further comprises a water level, and the fluid parameter detection method further comprises:

13. The fluid parameter detection method of claim 12, further comprising:

and when the difference is larger than the preset difference, sending a water leakage prompt to inform a user.