CN117398029A - Cleaning equipment, control method and device thereof - Google Patents
Cleaning equipment, control method and device thereof Download PDFInfo
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- CN117398029A CN117398029A CN202311302645.6A CN202311302645A CN117398029A CN 117398029 A CN117398029 A CN 117398029A CN 202311302645 A CN202311302645 A CN 202311302645A CN 117398029 A CN117398029 A CN 117398029A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 304
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000010865 sewage Substances 0.000 claims abstract description 119
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 94
- 239000007788 liquid Substances 0.000 claims abstract description 83
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 33
- 238000003860 storage Methods 0.000 claims description 21
- 230000009471 action Effects 0.000 abstract description 5
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 17
- 230000000875 corresponding effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 238000005096 rolling process Methods 0.000 description 6
- 239000002689 soil Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 239000011538 cleaning material Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000007791 liquid phase Substances 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000012071 phase Substances 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—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
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Cleaning In General (AREA)
Abstract
The invention discloses cleaning equipment, a control method and a device thereof. In the invention, whether the cleaning piece or the sewage sucking pipeline has redundant sewage is judged by monitoring the liquid content change of the cleaning piece, the sewage sucking pipeline and other executing components, and the suction action of the suction component is stopped after the cleaning piece or the sewage sucking pipeline has redundant sewage, so that the water stain residue on the cleaning surface caused by the outflow of the sewage in the cleaning piece or the sewage sucking pipeline after the cleaning equipment stops working is avoided.
Description
Technical Field
The invention belongs to the technical field of cleaning appliances, and particularly relates to cleaning equipment, a control method and a control device thereof.
Background
In the current household cleaning equipment, the floor washing machine is an indispensable household cleaning equipment, and can clean dry stains and wet stains, and the main working principle is that liquid in a liquid storage tank is sprayed to a cleaning object, and then the floor washing machine is rotationally cleaned by a floor brush assembly arranged at the bottom, and sewage generated by a fan component is sucked into a sewage tank through a sewage suction pipe after cleaning. In the cleaning equipment in the prior art, a user shuts down the corresponding equipment after cleaning is finished, but often the user can find residual sewage on the ground after removing the cleaning equipment after stopping.
Disclosure of Invention
Therefore, the invention aims to provide cleaning equipment capable of avoiding residual water stains on a cleaning surface after shutdown caused by residual water in a cleaning piece and a dirt suction pipe, and a control method and a control device thereof.
In order to solve the above technical problems, the present invention provides a control method of a cleaning device, including:
in addition, in order to achieve the above object, the present invention also provides a control apparatus including a memory, a processor, and a control program of a cleaning device stored on the memory and executable on the processor, the control program of the cleaning device being configured to implement the steps of the control method of the cleaning device as described above.
In addition, to achieve the above object, the present invention also provides a cleaning apparatus comprising:
a main body;
the execution assembly comprises a sewage tank, a sewage suction pipeline and a cleaning piece, wherein the sewage tank, the sewage suction pipeline and the cleaning piece are arranged on the main body, and the sewage suction pipeline is communicated with the sewage tank and a sewage suction port arranged towards the cleaning piece;
a suction assembly including a blower provided to the main body for providing suction to cause the liquid of the target area to flow toward the executing assembly; the method comprises the steps of,
the control device as described above, wherein the control device is electrically connected to the suction assembly and the actuator assembly, respectively.
The technical scheme provided by the invention has the following advantages:
the control method of the cleaning equipment provided by the invention comprises the following steps: and receiving a stop operation instruction of the cleaning equipment, controlling the suction assembly to continue to work, acquiring the related information containing liquid of the execution assembly, and controlling the suction assembly to stop working according to the related information containing liquid. In the embodiment provided by the invention, whether the excessive sewage exists in the cleaning piece or the sewage suction pipeline is judged by monitoring the liquid content change of the cleaning piece, the sewage suction pipeline, the sewage tank and/or other execution components, and the suction action of the suction component is stopped after the excessive sewage does not exist in the cleaning piece or the sewage suction pipeline, so that the water stain residue on the cleaning surface caused by the outflow of the sewage in the cleaning piece or the sewage suction pipeline after the cleaning equipment stops working is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control method of a cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 3 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 4 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 5 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 6 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 7 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
fig. 8 is a schematic structural diagram of an embodiment of a control device provided by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those of ordinary skill in the art that in various embodiments of the present invention, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the claimed technical solution of the present invention can be realized without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present invention, and the embodiments can be mutually combined and referred to without contradiction.
The invention provides cleaning equipment, which mainly adopts a cleaning piece to clean a surface to be cleaned and is combined with a suction component to adsorb dirt and foreign matters on the surface to be cleaned. Specifically, the cleaning apparatus includes a main body, a suction assembly, an execution assembly, and a control device.
The form of the cleaning apparatus is not limited, and in practical use, the cleaning apparatus may be operated in an upright state, in a horizontal state, or may be operated in a manner that is switched between an upright state and a horizontal state. The cleaning device can be a hand-held walking device operated by a user or a walking device which can realize autonomous planning of a path under the cooperative action of a preset control program and related drive. The cleaning device can be used for dry cleaning of the surface to be cleaned, such as a sweeping robot, or wet cleaning of the surface to be cleaned, such as a mopping robot, or a floor cleaning machine, a window cleaning machine, etc. The cleaning device provided by the invention has the function of adsorbing the liquid reserved on the surface to be cleaned, and particularly in one embodiment, the cleaning device can spray the cleaning liquid or clear water to the surface to be cleaned in operation, the cleaning liquid or clear water is mixed with dirt on the surface to be cleaned to form sewage, and then the suction assembly is used for providing negative pressure to suck the sewage on the surface to be cleaned so as to achieve the aim of wet cleaning the surface to be cleaned. In another embodiment, the cleaning device may not have a spraying function, but the suction component can be used for providing negative pressure to absorb the sewage existing on the surface to be cleaned, so as to achieve the function of sucking and cleaning the surface to be cleaned.
The suction assembly is arranged on the main body and comprises a fan and an air duct, and the fan is used for driving air flow to flow into the air duct from the suction opening so as to provide negative pressure for adsorbing dirt and foreign matters on the surface to be cleaned. The execution assembly is also arranged on the main body and comprises a sewage tank and a sewage suction pipeline. Specifically, can offer suction port and advance dirty mouthful on the sewage case, the fan passes through the wind channel intercommunication suction port, makes sewage incasement produce the negative pressure, and dirt suction pipe then communicates into dirty mouthful and the dirt suction mouth that is close to the clean surface setting, and when cleaning equipment operation, sewage flows into the sewage case from the clean surface of waiting to inhale dirt suction mouth inflow dirt suction pipe back under the effect of negative pressure in the sewage case. In a preferred embodiment, the executing assembly further comprises a cleaning member, the cleaning member may comprise a rolling brush, a rag, and/or a rubber strip, etc. to have the functions of sucking water and scraping, the cleaning member is used for sucking sewage on a surface to be cleaned, and preferably the sewage sucking port is arranged towards the cleaning member, so that the sewage sucked by the cleaning member is sucked into the sewage tank through the sewage sucking port, the suction force provided by the suction assembly can be understood to drive the sewage in the target area to flow to the cleaning member and then to be sucked into the sewage tank, and of course, the sewage in the target area part can also be directly sucked into the sewage sucking port without passing through the cleaning member and then flow into the sewage tank. It should be noted that, in the present invention, the target area is a part of the surface to be cleaned, which refers to an area of the surface to be cleaned that can be affected by the suction force provided by the suction assembly at the present moment in the operation of the cleaning device, that is, the water in the target area can be driven to flow toward the execution assembly (including the sewage tank, the sewage pipeline and/or the cleaning member) under the suction force of the suction assembly, so that the state of the water content of the execution assembly changes. Specifically, the water storage amount of the sewage tank can be increased, the water flowing through the sewage pipe can be made to flow, and the liquid content of the cleaning member can be increased or decreased.
In a preferred embodiment, the cleaning member may further comprise a driving mechanism and a rolling brush, wherein the driving mechanism is in driving connection with the rolling brush to drive the rolling brush to rotate, so that the rolling friction of the rolling brush is utilized to realize the dragging and washing or dirt scraping of the surface to be cleaned. For driving the rotation of the roller brush relative to the main body, the driving mechanism may be constituted directly by a driver, such as a motor; alternatively, the driving mechanism may be formed by combining a driver with a transmission assembly, and the transmission assembly may perform reversing, speed regulation, and the like on the rotation output of the driver, for example, a gear assembly, a worm and gear assembly, and the like; the linear output of the actuator may be converted into a rotational output and transmitted, for example, a rack-and-pinion assembly, a screw nut mechanism, a rocker mechanism, or the like.
Referring to fig. 8, the present invention further provides a control device 10, where the control device 10 may be separately configured to be modularized and adapted to be universal for cleaning devices of various specifications; alternatively, the control device may be installed in a specific cleaning apparatus of a certain specification.
In practical application, the control device is electrically connected with the suction assembly and the driving mechanism respectively. The control means comprise a control unit comprising a memory 102, a processor 101 and a control program of the cleaning device stored on said memory and being operable on said processor, the control program of the cleaning device being configured to implement the steps of the control method of the cleaning device as described in the various embodiments below.
Where the memory 102 and the processor 101 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 101 and the memory 102 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 101 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 101.
The processor 101 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 102 may be used to store data used by processor 101 in performing operations.
Based on the foregoing, the following describes implementation details of an embodiment of a control method for a cleaning device according to the present invention, which are provided for convenience of understanding only and are not necessary to implement the present embodiment.
Referring to fig. 1, the control method of the cleaning apparatus includes:
and step S1, receiving a stop operation instruction of the cleaning equipment, and controlling the suction assembly to continue to work.
In this step, the instruction to stop the cleaning apparatus may be an instruction to control the cleaning apparatus to shut down, or an instruction to control the cleaning apparatus to suspend the operation. The generation mode of the operation stopping instruction is not limited, and the operation stopping instruction can be triggered and generated by various input units, such as a key arranged on the equipment, a key on a remote controller, an input instruction on a remote operation equipment and the like, or can be generated based on a preset control program, such as reaching a preset operation time, or receiving a sewage tank water full signal, or receiving a low-power signal and the like, or can be generated by receiving an operation stopping sound control command and the like sent by a user in a voice interaction function.
In a specific implementation, the time point when the operation stopping instruction is received is determined by the control device to receive the corresponding electric signal. Generally, in the operation process of the device, the suction assembly continuously provides negative pressure, the cleaning device can be in a walking state or an in-situ operation state, after receiving an operation stopping instruction, the suction assembly continuously works to provide negative pressure to suck water in a target area, the cleaning piece and the dirt sucking pipeline, and the cleaning device can stop walking or can continue walking for a period of time.
And S2, acquiring the related information of the inclusion of the executing assembly, and controlling the suction assembly to stop working according to the related information of the inclusion.
In this step, the execution assembly may include at least one of a sewage tank, a sewage suction pipe and a cleaning member, and may further include other components capable of reacting to the residual condition of the water in the sewage tank and the cleaning member. When the suction assembly continuously works, the liquid containing state in the execution assembly changes, the liquid containing related information refers to the related information which can feed back the liquid containing state of the execution assembly, the specific type of the related information is determined by the type of the execution assembly and the detection mode of the related information, the action of acquiring the liquid containing related information of the execution assembly is not limited in the embodiment, and the action can be started immediately after the operation stopping instruction is received, or can be started after a period of time passes after the operation stopping instruction is received according to the requirement.
In the specific implementation, when no residual water is basically left in the target area, the cleaning piece or the sewage suction pipeline according to the related information of the liquid containing machine, the residual water does not basically flow to the ground even if the suction is stopped, the suction assembly is controlled to stop working at the moment, the situation that the cleaning surface is water stain after the cleaning equipment stops working due to residual sewage in the cleaning piece, the sewage suction pipeline and other parts can be effectively avoided, and the preset condition for controlling the suction assembly to stop working can be considered to be reached at the moment. The judging mode of the relevant information of the liquid containing machine is changed according to the specific content of the type of the executing assembly and the relevant information of the liquid containing machine, for example, when the relevant information of the liquid containing machine is the liquid containing amount of the cleaning piece, the preset condition can be considered to be reached when the liquid containing amount of the cleaning piece is lower than a preset liquid containing amount threshold value, when the relevant information of the liquid containing machine is the residual sewage condition in the sewage sucking pipeline, the preset condition can be considered to be reached when the sewage in the sewage sucking pipeline basically passes through, and when the relevant information of the liquid containing machine is the water storing amount of the sewage box, the water storing amount of the sewage box can be considered to be reached when the water storing amount of the sewage box is basically not increased in a certain period of time. In this step, whether the suction stopping condition is reached or not is judged by the related information containing the liquid, and the residual water in the execution assembly does not flow to the ground basically, so that the suction assembly can be controlled to stop working.
In this embodiment, after receiving the instruction of stopping the operation of the cleaning device, the suction assembly may continue to operate, and suction the target area, the cleaning member, and residual water in the dirt suction pipe into the sewage tank, and during this period, when it is determined that the suction is stopped according to the information containing the liquid phase, there is basically no preset condition that residual water in the execution assembly flows to the ground, it may be considered that there is basically no residual water in the target area, the cleaning member, or the dirt suction pipe, and even if the suction is stopped, residual water does not basically flow to the ground, and at this time, the suction assembly is controlled to stop operation, so that a situation that water stain exists on the cleaning surface after the cleaning device stops operation due to residual water in the cleaning member, the dirt suction pipe, and other components may be effectively avoided.
Based on the above-described embodiments, an alternative embodiment of the control method of the cleaning apparatus of the present invention is proposed, in which the execution unit includes a cleaning member for adsorbing the liquid in the target area, and the liquid-containing phase information of the execution unit is cleaning member operation information reflecting the liquid-containing amount of the cleaning member, and the following is merely implementation details provided for convenience of understanding, and is not essential to the implementation of the present embodiment.
Referring to fig. 2, the step S2 includes:
s20, acquiring the working information of the cleaning piece, and controlling the suction assembly to stop working according to the working information of the cleaning piece.
In this step, the working information of the cleaning member is an index which has a specific relationship with the liquid content of the cleaning member, changes with the change of the liquid content of the cleaning member, and is easy to detect. For example, the weight value of the cleaning member, the humidity of the cleaning member, the resistance between two electrodes disposed at intervals in the cleaning member, the electric parameters such as current or voltage, the output power of a driving motor driving the cleaning member, and the like. The mode of acquiring the cleaning piece working information of the cleaning piece corresponds to the specific type of the cleaning piece working information, for example, the weight value of the cleaning piece is acquired by a weighing mode, and the output power of the driving motor is acquired by a detection circuit arranged in the control device.
Specifically, the cleaning member operation information can be measured and recorded, so that whether the preset condition that the suction is stopped or the residual water in the execution assembly flows to the ground is reached can be judged through the detection of the cleaning member operation information, and the suction assembly can be controlled to stop working. Based on this, the present invention provides the following three possible embodiments of the cleaning tool operation information to enable the determination of whether the suction assembly can be controlled to stop operation based on the associated information. It is understood that the detection method of the cleaning member operation information in the present embodiment is not limited to the following three types.
In the first embodiment, the cleaning member operation information is a cleaning member weight value. Referring to fig. 3, the step S20 includes:
step S21, detecting the weight value of the cleaning piece as the working information of the cleaning piece.
And S22, when the weight value of the cleaning piece is smaller than a preset weight threshold value, controlling the suction assembly to stop working.
In the present embodiment, the weight value of the cleaning material can intuitively and accurately reflect the liquid content of the cleaning material. Specifically, as the liquid content in the cleaning member increases, the weight value of the cleaning member increases, and as the liquid content in the cleaning member decreases, the weight thereof decreases. In particular, the change in cleaning member weight can be monitored by a weight sensor and a pressure sensor provided to the cleaning member support member. In addition, a weight threshold value may be preset according to the kind of cleaning member, the water absorbing capacity, etc., and the weight threshold value may be preset in a program by a manufacturer before shipment according to a design, or may be set by a dealer or a user in the program by himself. When the weight of the cleaning member is above the weight threshold, it is considered that the remaining water in the cleaning member is not sucked into the sewage tank, and easily flows onto the cleaning surface after the cleaning apparatus stops working, resulting in residual sewage. When the weight value of the cleaning member is below the weight threshold value, the cleaning member is considered to be no longer at risk of excessive water flowing to the cleaning surface. Therefore, when the weight value of the cleaning piece is smaller than the preset weight threshold value, the suction assembly can be controlled to stop working, and the cleaning surface sewage residue caused by residual water in the cleaning piece can be avoided.
In a second embodiment, the cleaning member is provided with a detection electrode, the electrical parameter measured by the detection electrode is cleaning member operation information, and the step S20 includes:
and step, acquiring the electrical parameters measured by the detection electrode as the working information of the cleaning piece.
And controlling the suction assembly to stop working when the electrical parameter of the detection electrode is within a preset electrical parameter threshold range.
In the embodiment, the liquid content of the cleaning member is fed back through the electrical parameters of the detection electrode, so that the detection speed is high, and the change of the liquid content of the cleaning member can be fed back more accurately and rapidly. In a specific implementation, at least two detection electrodes are arranged on the cleaning piece at intervals. When the liquid content in the cleaning member is increased, the material between the two detection electrodes is relatively dry, and thus the resistance is higher, and when the liquid content in the cleaning member is decreased, the material between the two detection electrodes is relatively wet, and thus the resistance is lower. Further, a detection circuit connected with the two detection electrodes can be provided, and the electrical parameters of the detection electrodes can be a resistance value between the two detection electrodes, a voltage between the two detection electrodes, a current flowing in the detection circuit and the like, and all the electrical parameters can change along with the change of the humidity of the material between the two detection electrodes, so that the change of the liquid content of the cleaning piece can be indirectly fed back.
In addition, the electrical parameter threshold value can be preset according to the specific type of the electrical parameter, the type of the cleaning piece, the water absorption capacity and the like, and can be preset in a program by a manufacturer according to design before delivery, or can be set in the program by a dealer or a user.
When the electrical parameter of the detection electrode is out of the preset electrical parameter threshold, it is considered that the residual water in the cleaning member is not sucked into the sewage tank, and the residual water is easily flowed onto the cleaning surface after the cleaning device stops working, so that the sewage remains. And when the electrical parameter of the detection electrode is within the preset electrical parameter threshold value, the cleaning member is considered to be free from the risk of flowing residual water to the cleaning surface. And then can control suction subassembly stop work, can avoid remaining water liquid in the cleaning member to lead to clean surface sewage to remain.
In a third embodiment, the cleaning member is driven by a driving motor to rotate, the working information of the cleaning member is a value related to the output power of the driving motor, referring to fig. 4, and the step S20 includes:
step S23, obtaining the output power related value of the driving motor as the cleaning piece working information.
And step S24, when the output power related value is within the output power related threshold range, controlling the suction assembly to stop working.
In this embodiment, the output power related value can be obtained by using the structure of the cleaning device itself, and no additional component is required for detecting the working information of the cleaning member, so that the production cost of the cleaning device can be effectively reduced. Specifically, as the content of the cleaning member increases, the weight thereof is greater, and the power required to drive the cleaning member to rotate at the same rotational speed increases, while as the content of the cleaning member decreases, the weight thereof is smaller, and the power required to drive the cleaning member to rotate at the same rotational speed is lower. Thus, as the liquid content of the cleaning member changes, the output power related value of the driving motor changes, and the output power related value may be any value capable of feeding back the load of the driving motor, for example, the output power, the output current, etc. of the driving motor, the output power related value may be obtained by a detection circuit provided in the driving circuit, and in general, the cleaning apparatus itself is provided with the detection circuit of the driving motor, so that in this embodiment, no additional hardware is required, and only software upgrade is required to achieve the function.
The specific range of the output power related threshold value is changed according to factors such as the type of a driving motor, the working gear, the type of a cleaning member and the like, and can be set according to actual needs.
In this embodiment, when the output-related value is outside the output-related threshold, it is considered that there is still residual water in the cleaning member that is not sucked into the sewage tank, and that flows easily onto the cleaning surface after the cleaning apparatus stops working, resulting in sewage remaining, and when the output-related value is within the output-related threshold, it is considered that there is no longer a risk of residual water flowing to the cleaning surface by the cleaning member. And then can control suction subassembly stop work, can avoid remaining water liquid in the cleaning member to lead to clean surface sewage to remain.
In this embodiment, through the working information of the cleaning member, such as the weight of the cleaning member, the electrical parameter of the detection electrode disposed therein, or the output power of the driving motor, it can be inferred whether there is excessive residual water in the cleaning member, and when the working information of the cleaning member reaches the preset condition, it can be considered that there is substantially no residual water in the cleaning member, and no residual water flows to the ground even if the suction is stopped, and at this time, the suction assembly is controlled to stop working, so that the situation that water stains exist on the cleaning surface after the cleaning apparatus stops working due to residual sewage in the cleaning member, the sewage suction pipe, and other components can be effectively avoided.
Based on the first implementation in the above embodiment, further, the following is only provided for easy understanding, and is not a necessity for implementing the present embodiment.
The step S21 includes:
controlling to lift the base of the cleaning piece so as to suspend the cleaning piece;
the manner in which the cleaning element base is controlled to be raised during this step is not limited, and is related to the hardware configuration of the cleaning apparatus. For example, in one embodiment, the underside of the base of the cleaning device is provided with a retractable supporting leg, and after receiving the operation stopping instruction of the cleaning device, the supporting leg can be controlled to pop up to prop up the base of the cleaning device, so that the cleaning piece is suspended, and the weight value of the cleaning piece can be accurately measured. Preferably, the action of controlling the base of the lifting cleaning member is performed in a delayed manner after receiving a stop operation instruction of the cleaning device, so that the cleaning member is lifted up again after continuing to operate for a certain time to detect the weight of the cleaning member, and the cleaning effect on the cleaning surface is prevented from being influenced after the cleaning member is lifted up.
And detecting the weight value of the cleaning piece as the working information of the cleaning piece.
In this embodiment, the weight value of the cleaning member can be accurately detected by lifting the cleaning member in advance, so that whether the executing assembly reaches the preset liquid-containing state can be judged according to the change of the weight value of the cleaning member.
Further, based on the second implementation in the above embodiment, the following is merely implementation details provided for ease of understanding, and is not necessary to implement the present embodiment.
The step S24 includes:
step, acquiring the current running gear of the cleaning equipment;
in this step, the current operation gear of the cleaning apparatus refers to an operation gear corresponding to the rotational speed of the cleaning member. It will be appreciated that the higher the current operating range, the higher its rotational speed and the greater the required drive power. In each gear, the rotational speed of the cleaning member is substantially constant. For example, when the cleaning apparatus is operated in a low gear, the rotational speed of the cleaning member is V1, and when the cleaning apparatus is operated in a high gear, the rotational speed of the cleaning member is V2, V1 being smaller than V2. In each operating gear, the output power of the driving motor can be changed within the corresponding output power range of the operating gear, and basically changes along with the weight change of the cleaning piece.
Acquiring an output power related threshold corresponding to the current running gear according to the current running gear;
in this step, the output-related threshold value corresponding to each operation range is set such that, in the operation range, when the drive motor is operated below the output-related threshold value, residual water in the cleaning member is not substantially sucked out, and even if the suction assembly is stopped, residual water in the cleaning member does not flow to the cleaning surface.
And judging that the execution assembly is in the preset liquid-containing state when the output power related value is in the output power related threshold range.
In this step, the output power related threshold corresponding to the gear is obtained according to the current running gear of the cleaning device, when the output power related value is out of the output power related threshold, it is considered that residual water in the cleaning member is not sucked into the sewage tank, after the cleaning device stops working, the residual water is easy to flow onto the cleaning surface, so that sewage remains, and when the output power related value is within the output power related threshold, it is considered that the cleaning member is no longer at risk of residual water flowing to the cleaning surface. Furthermore, the suction assembly can be controlled to stop working, so that the cleaning surface sewage residue caused by residual water in the cleaning piece can be avoided.
In this embodiment, the corresponding threshold range related to the output power is determined according to the current running gear of the cleaning device, and no additional hardware is required to monitor the real-time rotation speed of the cleaning member, which is beneficial to reducing the production cost.
Based on the above embodiments, in an alternative embodiment, the execution assembly includes a soil sucking pipe, the soil sucking pipe is used for communicating the soil box with the soil sucking port disposed towards the cleaning member, the liquid-containing related information of the execution assembly is a liquid residue related value reflecting the liquid residue condition in the soil sucking pipe, and the following is only implementation details provided for understanding convenience, but not a necessity of implementing the present embodiment.
Referring to fig. 5, the step S20 includes:
s201, acquiring a liquid residue related value of the dirt suction pipeline, and controlling the suction assembly to stop working when the liquid residue related value of the dirt suction pipeline is within a preset liquid residue related threshold range.
In this step, the liquid residue-related value feeds back whether there is water in the dirt suction pipe, which can be accurately measured and recorded to determine whether there is residual water flowing in the dirt suction pipe, and when there is substantially no residual water flowing in the dirt suction pipe, it can be considered that both the cleaning member and the target area are substantially free of residual water. The specific type of the liquid residue-related value is not limited, and may be, for example, humidity in the dirt suction pipe, shielding of the dirt suction pipe, or the like.
Further, the step of S201 includes:
and step, acquiring the shielding rate in the dirt suction pipeline detected by the dirt sensor in a first preset duration range before the current time as the relevant value of the liquid residue.
In the step, whether the sewage suction pipeline passes water liquid in a first preset duration range is judged by detecting whether the sewage suction pipeline is shielded in the first preset duration range.
And controlling the suction assembly to stop working when the maximum value of the shielding rate is smaller than a preset shielding rate threshold value.
In this step, if the dirty sensor does not detect the occlusion or the maximum value of the occlusion rate is smaller than the preset occlusion rate threshold, it can be considered that there is substantially no residual water in the target area, the cleaning member and the dirt suction pipe. The shielding rate threshold value can be preset in a program by a manufacturer according to design before leaving a factory, and can also be set in the program by a dealer or a user.
In this embodiment, whether the target area, the cleaning member, and the dirt suction pipe are substantially free of residual water can be indirectly determined by detecting whether the dirt suction pipe is blocked within the first preset time period. At the moment, the suction assembly is controlled to stop working, so that the situation that water stains exist on the cleaning surface after the cleaning equipment stops working due to residual sewage in the cleaning piece, the sewage suction pipeline and other parts can be effectively avoided. Because the cleaning device is typically equipped with a dirt sensor to prompt the user to clean the dirt suction pipe to avoid clogging of the dirt suction pipe, in this embodiment, detection of the circulation of water in the dirt suction pipe can be achieved only by software upgrades without adding additional hardware.
Preferably, the step of obtaining the shielding rate in the dirt suction pipe detected by the dirt sensor in the first preset duration range before the current time as the liquid residue related value includes:
and responding to a power-on instruction of the cleaning equipment, and controlling the dirt sensor to detect the shielding rate of the dirt suction pipeline.
In the step, the power-on instruction of the cleaning equipment refers to a received instruction when the cleaning equipment is powered on and started, and before the cleaning equipment starts working, the dirt sensor detects the real-time shielding rate of the dirt suction pipeline.
And when the shielding rate of the dirt absorbing pipeline is larger than a preset first shielding rate threshold, sending out an instruction for reminding a user to clean the dirt absorbing pipeline, wherein the first shielding rate threshold is smaller than or equal to the shielding rate threshold.
In this step, the shielding rate of the dirt absorbing pipeline is greater than the preset first shielding rate threshold value, which indicates that dirt exists in the dirt absorbing pipeline, and the dirt absorbing pipeline is possibly blocked, so that the dirt absorbing pipeline needs to be cleaned by a user.
In this embodiment, the existing dirt sensor of the cleaning device is used to detect the dirt blocking condition of the dirt suction pipeline and the flowing condition of the water when the cleaning device stops working and continues to suck. When the water does not substantially flow through the dirt pickup tube for the first predetermined period of time, it is considered that there is substantially no residual water in both the cleaning member and the dirt pickup tube. And when the cleaning equipment is electrified, the dirt residue condition in the dirt suction pipeline is detected, and a user is prompted to clean in time so as not to influence the water liquid detection effect of the dirt sensor after the cleaning equipment stops working, and false detection is caused. Thus, the situation that water stains remain on the cleaning surface after the cleaning equipment stops working is avoided.
Based on the above embodiments, in an alternative embodiment, the execution assembly includes a sewage tank, the relevant information of the content of the execution assembly is a relevant value of the sewage tank water storage amount reflecting the change of the sewage tank water storage amount, and the following details are provided only for easy understanding, and are not necessary for implementing the present embodiment.
Referring to fig. 6, the step S20 includes:
step S202, obtaining a difference value between a sewage tank water storage value at a current time and a sewage tank water storage value at a previous time as a related value of the sewage tank water storage amount, wherein the previous time is a time point before the current time and a time interval with the current time is a preset time interval.
In this step, the stored water amount of the sewage tank means the total amount of water stored in the sewage tank, excluding the water liquid portion in the sewage suction pipe. In particular, the water storage amount of the sewage tank can be detected through a pressure sensor arranged at the bottom of the sewage tank or a liquid level meter arranged at the sewage tank. It will be appreciated that the volume of the tank will not increase during a period of time if there is substantially no breathable sewage in the target area, cleaning elements and dirt pickup tube during the continued supply of negative pressure by the suction assembly. By detecting the difference between the value of the stored water in the sewage tank at the present time and the value of the stored water in the sewage tank at the previous time, it can be judged whether the stored water amount in the sewage tank increases in a period of time.
And step 203, when the related water storage quantity value of the sewage tank is smaller than a preset water storage quantity difference value threshold, controlling the suction assembly to stop working.
In this step, the preset water storage amount difference threshold value may be preset in the program by the manufacturer before leaving the factory according to the design, or may be set by the dealer or the user in the program by himself. When the related value of the water storage capacity of the sewage tank is smaller than the preset water storage capacity difference threshold, the water storage capacity of the sewage tank can be judged not to be increased within a period of time, and the suction assembly is controlled to stop working at the moment, so that the situation that water stains exist on the cleaning surface after the cleaning equipment is stopped working due to residual sewage in parts such as cleaning pieces, sewage suction pipelines and the like can be effectively avoided.
Based on any of the above embodiments, further, the following description provides implementation details only for ease of understanding, and is not a necessity to implement the present embodiment.
Referring to fig. 7, the step S20 includes:
and step S30, acquiring the related information of the execution assembly, and controlling the suction assembly to stop working according to the related information after receiving a stop operation instruction of the cleaning equipment for a preset first time period.
In this step, the acquiring and judging of the information about the liquid phase relationship may be performed after the first period of time, or may be performed within the first period of time, and the suction assembly may be stopped after the preset first period of time. Therefore, the situation that the content-related information reaches the preset judging condition and the residual water still exists in the target area can be avoided. For example, there is little residual water on the floor, at which time the cleaning member is brought into a state of low liquid content.
In this embodiment, through setting up the suction subassembly and forcing the time delay work after receiving the operation instruction that stops, ensure that ground does not have the residual water, further improve the clean face after cleaning device stops the operation and have the circumstances of water stain, promote user's use experience.
Optionally, the step of S30 includes:
and step S40, after a preset second time period after the operation stopping instruction is received, controlling the suction assembly to stop working, wherein the second time period is larger than the first time period.
In this embodiment, the suction assembly is controlled to stop working after receiving the preset second time period after the operation stopping instruction, so that even if the execution assembly is detected to not meet the preset liquid-containing state all the time, the suction assembly is controlled to stop working after the second time period, thereby avoiding the situation that false detection occurs in the detection process, the suction assembly is caused to have long duration working time, energy waste is caused, and the service life of the cleaning equipment is influenced.
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.
Claims (14)
1. A control method of a cleaning apparatus including a suction assembly that provides suction force for causing a liquid of a target area to flow toward an execution assembly, the control method comprising:
receiving a stop operation instruction of the cleaning equipment, and controlling the suction assembly to continue to work;
and acquiring the related information of the inclusion of the executing assembly, and controlling the suction assembly to stop working according to the related information of the inclusion.
2. The control method of the cleaning apparatus according to claim 1, wherein the executing unit includes a cleaning member for adsorbing the liquid of the target area, and the liquid-containing related information of the executing unit is cleaning member operation information reflecting the liquid-containing amount of the cleaning member;
the step of obtaining the information of the liquid containing phase of the executing assembly and controlling the suction assembly to stop working according to the information of the liquid containing phase comprises the following steps:
and acquiring the working information of the cleaning piece, and controlling the suction assembly to stop working according to the working information of the cleaning piece.
3. The method of controlling a cleaning apparatus according to claim 2, wherein the step of acquiring the cleaning member operation information and controlling the suction assembly to stop operation according to the cleaning member operation information comprises:
detecting a weight value of the cleaning member as the cleaning member operation information;
and when the weight value of the cleaning piece is smaller than a preset weight threshold value, controlling the suction assembly to stop working.
4. A control method of a cleaning apparatus according to claim 3, wherein the step of detecting a weight value of the cleaning member as the cleaning member operation information includes:
controlling to lift the base of the cleaning piece so that the cleaning piece is suspended;
and detecting the weight value of the cleaning member as the cleaning member operation information.
5. The method of controlling a cleaning apparatus according to claim 2, wherein the cleaning member is provided with a detection electrode, and the step of acquiring the cleaning member operation information and controlling the suction assembly to stop operation based on the cleaning member operation information comprises:
acquiring the electrical parameters measured by the detection electrode as the working information of the cleaning piece;
and when the electrical parameter of the detection electrode is within a preset electrical parameter threshold range, controlling the suction assembly to stop working.
6. The method of controlling a cleaning apparatus as claimed in claim 2, wherein the cleaning member is rotated by a driving motor, and the step of acquiring the cleaning member operation information and controlling the suction assembly to stop operation according to the cleaning member operation information comprises:
acquiring a relative value of the output power of the driving motor as the working information of the cleaning piece;
and when the output power related value is within the output power related threshold range, controlling the suction assembly to stop working.
7. The method of controlling a cleaning apparatus as recited in claim 6, wherein said step of controlling said suction assembly to cease operation when said output power related value is within an output power related threshold range comprises:
acquiring the current running gear of the driving cleaning equipment;
acquiring the output power related threshold range corresponding to the current running gear according to the current running gear;
and when the output power related value is within the output power related threshold range corresponding to the current running gear, controlling the suction assembly to stop working.
8. The control method of a cleaning apparatus according to claim 1, wherein the executing unit includes a suction pipe for communicating a sewage tank with a suction port provided toward the cleaning member, and the liquid-containing phase information of the executing unit is a liquid-remaining-related value reflecting a liquid remaining condition in the suction pipe:
the step of obtaining the information of the liquid containing phase of the executing assembly and controlling the suction assembly to stop working according to the information of the liquid containing phase comprises the following steps:
and acquiring a liquid residue related value of the dirt suction pipeline, and controlling the suction assembly to stop working when the liquid residue related value of the dirt suction pipeline is within a preset liquid residue related threshold range.
9. The method of controlling a cleaning apparatus according to claim 8, wherein a dirt sensor is provided in the dirt suction pipe, the obtaining a liquid residue related value of the dirt suction pipe, and when the liquid residue related value of the dirt suction pipe is within a preset liquid residue related threshold value, the controlling the suction assembly to stop the operation step includes:
acquiring the shielding rate in the dirt suction pipeline detected by the dirt sensor in a first preset duration range before the current time as the relevant liquid residue value;
and when the maximum value of the shielding rate is smaller than a preset shielding rate threshold value, controlling the suction assembly to stop working.
10. The control method of a cleaning apparatus according to claim 1, wherein the execution unit includes a sewage tank, and the relevant information of the content of the execution unit is a sewage tank water storage amount-related value reflecting a change in the water storage amount of the sewage tank:
the step of obtaining the information of the liquid containing phase of the executing assembly and controlling the suction assembly to stop working according to the information of the liquid containing phase comprises the following steps:
acquiring a difference value between a sewage tank water storage value at a current time and a sewage tank water storage value at a previous time as a related value of the sewage tank water storage amount, wherein the previous time is a time point before the current time and a time interval with the current time is a preset time interval;
and when the related water storage quantity value of the sewage tank is smaller than a preset water storage quantity difference value threshold, controlling the suction assembly to stop working.
11. The method of controlling a cleaning apparatus according to claim 1, wherein the step of acquiring the information on the phase of the liquid contained in the executing assembly and controlling the suction assembly to stop operating according to the information on the phase of the liquid contained comprises:
and acquiring the liquid-containing related information of the execution assembly, and controlling the suction assembly to stop working according to the liquid-containing related information after a preset first time period passes by receiving a working stopping instruction of the cleaning equipment.
12. A control method of a cleaning apparatus as claimed in any one of claims 1 to 11, wherein the step of receiving a stop operation instruction of the cleaning apparatus and controlling the suction assembly to continue operation further comprises, after:
and after receiving the operation stopping instruction, controlling the suction assembly to stop working.
13. A control apparatus comprising a memory, a processor and a control program for a cleaning device stored on the memory and operable on the processor, the control program for a cleaning device being configured to implement the steps of the control method for a cleaning device according to any one of claims 1 to 12.
14. A cleaning apparatus, comprising:
a main body;
the execution assembly comprises a sewage tank, a sewage suction pipeline and a cleaning piece, wherein the sewage tank, the sewage suction pipeline and the cleaning piece are arranged on the main body, and the sewage suction pipeline is communicated with the sewage tank and a sewage suction port arranged towards the cleaning piece;
a suction assembly including a blower provided to the main body for providing suction to cause the liquid of the target area to flow toward the executing assembly; the method comprises the steps of,
the control device of claim 13, wherein the control device is electrically connected to the suction assembly and the actuator assembly, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302645.6A CN117398029A (en) | 2023-10-09 | 2023-10-09 | Cleaning equipment, control method and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311302645.6A CN117398029A (en) | 2023-10-09 | 2023-10-09 | Cleaning equipment, control method and device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117398029A true CN117398029A (en) | 2024-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311302645.6A Pending CN117398029A (en) | 2023-10-09 | 2023-10-09 | Cleaning equipment, control method and device thereof |
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| Country | Link |
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| CN (1) | CN117398029A (en) |
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2023
- 2023-10-09 CN CN202311302645.6A patent/CN117398029A/en active Pending
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