CN211723006U - Cleaning device - Google Patents

Abstract

The embodiment of the application provides a cleaning device. The cleaning device comprises an air duct; a fan assembly for generating a suction airflow circulating within the air duct; and the air pressure sensor is used for detecting the air pressure value in the air duct so as to determine the dust collection efficiency of the cleaning device according to the air pressure value detected by the air pressure sensor. Can in time detect out that the dirt box fills up or the wind channel blocks up etc. and lead to the air inlet unsmooth, dust collection efficiency is low, reminds the user to handle as early as possible, avoids influencing and cleans the effect to and avoid dust collecting equipment to damage the appearance of problem.

Description

Cleaning device

Technical Field

The application robotics field especially relates to cleaning device.

Background

With the continuous development of artificial intelligence technology, various intelligent robots increasingly enter the lives of people, such as logistics robots, floor sweeping robots, welcoming robots and the like.

During the cleaning process of the sweeping robot, various forms of foreign matters such as dust, debris and the like on the ground are sucked into the dust box through the fan. When large foreign matters such as packaging bags and the like are sucked by the sweeping robot, the dust suction port is blocked, so that normal cleaning operation cannot be performed; in addition, if the dust box is full due to excessive dust collection, normal cleaning operation cannot be performed.

SUMMERY OF THE UTILITY MODEL

Aspects of the present application provide a cleaning device for enabling detection of dust collection efficiency of the cleaning device.

An embodiment of the present application provides a cleaning device, the device includes:

an air duct;

a fan assembly for generating a suction airflow circulating within the air duct;

and the air pressure sensor is used for detecting the air pressure value in the air duct so as to determine the dust collection efficiency of the cleaning device according to the air pressure value detected by the air pressure sensor.

In some embodiments of the present application, monitoring of the cleaning efficiency of the cleaning device is achieved by adding an air pressure sensor to the duct and/or dirt box location. Specifically, a suction airflow circulating in the dust suction passage is generated by the fan assembly to allow foreign substances such as dust to enter the dust box. In the working process of the fan assembly, the air pressure value in the air duct can be detected through the air pressure sensor. And determining the dust collection efficiency of the cleaning device according to the collected air pressure value. Based on this, can in time detect out that the dirt box fills up or the wind channel blocks up etc. and lead to the air inlet unsmooth, dust collection efficiency is low, reminds the user to handle as early as possible, avoids influencing and cleans the effect to and avoid the appearance of dust collecting equipment damage problem.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a connection of an air pressure sensor according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a two-air pressure sensor according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a cleaning detection method according to an embodiment of the present application;

FIG. 5 is a schematic flow chart illustrating a method for determining dust collection efficiency according to an embodiment of the present disclosure;

fig. 6 is a schematic flow chart of an example of dust collection efficiency detection provided in the embodiment of the present application;

fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. 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 application.

The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a" and "an" typically include at least two, but do not exclude the presence of at least one.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

In the application, the robot can independently walk and execute corresponding service functions, and also can have the functions of calculation, communication, internet surfing and the like. The robot of the embodiment of the application can be an unmanned aerial vehicle, an unmanned vehicle and the like. The basic service functions of the robot are different according to different application scenes. The robot can be a sweeping robot, a following robot, a welcoming robot and the like. For example, for a sweeping robot applied to scenes such as homes, office buildings, shopping malls and the like, the basic service function of the sweeping robot is to sweep the ground in the scene; for glass cleaning robots applied to scenes such as families, office buildings, markets and the like, the basic service function is to clean glass in the scenes; for a following robot, the basic service function is to follow a target object; the basic service function of a guest-greeting robot is to welcome the customer and guide the customer to the destination.

For ease of understanding, the following description will be given by taking a sweeping robot as an example. Fig. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present application. The device includes:

an air duct 11;

a fan assembly 12 for generating a suction airflow circulating within the air duct;

and the air pressure sensor 13 is used for detecting the air pressure value in the air duct so as to determine the dust collection efficiency of the cleaning device according to the air pressure value detected by the air pressure sensor.

As shown in fig. 1, a schematic structural diagram of a cleaning device in a sweeping robot can be seen, which mainly includes an air duct 11, a fan assembly 12, an air pressure sensor 13, a dust box 14 and a machine body 15. The fan assembly 12 is disposed at a rear end of the body 15, and the dust box 14 is disposed at an intermediate position of the body 15.

As can also be seen in the figure, at the bottom of the cleaning device, there is a suction opening 18, and a roll brush 17 is arranged inside the suction opening 18. The air duct 11 includes an air inlet duct 11a and an air outlet duct 11 b. One end of the air inlet duct 11a is connected with the dust suction port 18, and the other end of the air inlet duct 11a is communicated with the dust box 14. One end of the air outlet duct 11b is communicated with the air outlet of the dust box 14, and the other end of the air outlet duct 11b is communicated with the external environment, so that air flow filtered by the dust box filter screen is discharged.

The roller brush 17 in front of the dust box 14 is in a continuous rolling state during the cleaning operation, and the dust on the floor can be swept to the position of the air intake duct 11a of the air duct 11 by the roller brush 17. Under the action of the suction airflow generated by the fan assembly 12, dust at the position of the air inlet duct 11a can be sucked into the dust box 14. It is easy to understand that if the fan assembly 12 does not work, the air pressure in the air duct 11 is the current atmospheric pressure, and if the fan assembly 12 works to generate the suction airflow, the corresponding collected air pressure value in the air outlet duct 11b is the working state air pressure value. In order to ensure that the fan assembly 12 can work normally, a filter screen is arranged at the position of the air outlet duct 11b to filter the circulating air flow, so that dust and impurities can be effectively prevented from entering the fan assembly 12 or the air pressure sensor 13.

After the air pressure value in the air duct 11 is collected by the air pressure sensor 13, the dust collection efficiency of the current sweeping robot can be judged according to the air pressure value by a user or the air pressure sensor. For example, the air pressure value acquired in real time is displayed on the cleaning device, and the user judges the dust collection efficiency according to the air pressure value; or the air pressure sensor can compare the collected air pressure values and judge the dust collection efficiency according to the comparison result. Specifically, after the sweeping robot is powered on and before the fan assembly 12 works, the air pressure sensor 13 acquires the current air pressure value in the air duct 11, where the air pressure value is the current atmospheric pressure value. Then, during the normal operation of the fan assembly 12, the air pressure sensor 13 collects the air pressure value in the current air duct 11. And determining the dust collection efficiency of the cleaning device according to the comparison result of the air pressure value at the same position by the same air pressure sensor twice. And if the dust collection efficiency is too low, informing a user to stop the machine for dust collection. It should be noted that, although the air pressure sensor 13 is the collected air pressure value in the air duct 11, the judgment result according to the air pressure value may be that the dust collection efficiency is low, and it does not necessarily indicate that the air duct 11 is blocked, and it may also be that the dust box is filled with dust, or the fan is blocked, etc.

If a certain node is blocked in the cleaning device, the problem of low dust collection efficiency occurs, for example, when the rolling brush 17 is used for cleaning the ground, hairs, plastic bags and the like are easy to be wound on the rolling brush 17, so that the dust collection port 18 is blocked, and the dust collection efficiency is reduced. Alternatively, a filter screen or a filter is usually provided in the dust box 14 to filter the air flow to be discharged through the air outlet duct 11 b. However, after a certain period of time, the filter net or filter in the dust box 14 may be filled with dust, resulting in poor exhaust and reduced dust collection efficiency. In addition, the dust collection efficiency may be reduced due to blockage at other positions in the cleaning device, for example, blockage of a dust box, blockage of a fan, blockage of an air duct, and the like, which all result in low dust collection efficiency or abnormal dust collection of the cleaning device. In any case, the problem of low dust collection efficiency needs to be solved by the user, for example, the user can empty the dust box, clean the filter screen or filter in the dust box, check the fan assembly, check whether the dust collection opening is blocked by foreign matters, and the like.

In practical application, in order to enable a user to accurately and efficiently solve the problem of low dust collection efficiency, after the judgment efficiency of the sweeping robot is low, a guidance step for solving the problem of low dust collection efficiency can be sent to a client of the user (for example, a client capable of receiving messages of the sweeping robot on a mobile phone). Guiding the user how to detach the dust box, how to inspect the fan assembly, the air duct. Therefore, the user can be reminded of low dust collection efficiency in time, and the user can be helped to solve the problem of low dust collection efficiency well.

In order to collect the air pressure value of the air outlet duct 11b through the air pressure sensor 13, it is to be ensured that the air pressure puncture device is in airflow communication with the air outlet duct, in other words, free airflow circulation can be realized between the air pressure sensor 13 and the air outlet duct 11b, so that the air pressure sensor 13 can accurately collect the air pressure value in the air duct 11. Specifically, the air pressure sensor 13 may be disposed in the air outlet duct 11b, but it is ensured that the air pressure sensor 13 does not obstruct the normal flow of the air in the air outlet duct 11 b. The air pressure sensor 13 can be communicated with the air outlet duct 11b through an air pipe, so that air flow communication between the air pressure sensor 13 and the air outlet duct 11b is realized.

Fig. 2 is a schematic structural diagram of an air pressure sensor connection according to an embodiment of the present disclosure. As can be seen in fig. 2, the air pressure sensor 13 is in air flow communication with the air outlet duct 11b through a hollow air duct 16. It is easy to understand that during the normal dust collection operation of the sweeping robot, a lot of dust and moisture are sucked into the air duct 11 by the fan assembly 12. In order to prevent impurities such as moisture and dust from entering the air pressure sensor 13 and affecting the detection effect of the air pressure sensor 13, the air pipe 16 may be designed to be non-linear, such as a ring surrounding at least one turn. During the passage of the circulating air flow through the air pipe 16 into the air pressure sensor 13, dust, moisture and the like are trapped in the air pipe 16 due to the annular obstruction and the gravity.

Further, as shown in fig. 2, the connection end of the air pressure sensor 13 and the air tube 16 may be disposed downward. If steam or dust is sucked into the connecting end of the air pressure sensor 13, the connecting end faces downwards, so that impurities such as dust or steam can fall into the air pipe 16 under the action of gravity, and the connecting end of the air pressure sensor 13 is prevented from being blocked. It should be noted that, the connection end is disposed downward, which means that the connection end of the air pressure sensor 13 is oriented in the same direction as the gravity direction when the sweeping robot is horizontally placed.

As an alternative embodiment, a plurality of air pressure sensors can be used for collecting air pressure values at a plurality of different positions, and the current dust collection efficiency can be determined according to the difference value of the air pressure values. It is easy to understand that, the circulation process of the air flow is that the air flow firstly enters the dust box 14 through the air inlet duct 11a, then enters the air outlet duct 11b through the dust box 14, and the air flow filtered by the dust box 14 is discharged to the environment through the air outlet duct 11 b. In the whole circulation process, if the airflow is smooth, the air pressure value of each position where the airflow flows through is the same (or the existing pressure difference does not influence the dust collection efficiency and can be ignored); if the airflow is not smooth, the air pressure at different positions in the airflow flowing process is different, and the dust collection efficiency is reduced. Generally, the air duct or the dust box (the dust box is full or the filter screen of the dust box is blocked), or the rolling brush 17 in the dust collection opening 18 is wound with hair or plastic bags, etc., and the more serious the obstruction occurs at the above positions, the larger the detected air pressure difference is.

For example, the air pressure sensor may be disposed at two different positions to collect air pressure values at the different positions. One of the air pressure sensors is used for collecting the air pressure value of the air duct, and the other air pressure sensor is used for collecting the air pressure value in the dust box. Fig. 3 is a schematic structural diagram of a two air pressure sensor according to an embodiment of the present disclosure. In fig. 3, one air pressure sensor 31 is in air flow communication with the air duct and the other air pressure sensor 32 is in air flow communication with the dust box. It is easy to understand that there are many ways for the air pressure sensor to communicate with the air duct and the dust box, for example, the air pressure sensor can be communicated with the air duct through a hollow air pipe, and can be placed inside the corresponding detected position. After the sweeping robot is powered on and the fan assembly works normally, current air pressure values are acquired through one air pressure sensor 31 and the other air pressure sensor 32 respectively, then the difference value of the air pressure values at the two positions is determined, and the dust collection efficiency of the current cleaning device is determined according to the difference value. When the difference value exceeds the threshold value, the dust collection efficiency is low, the work needs to be stopped, and the user cleans dust in the cleaning device.

In practical application, the air pressure value in the fan assembly can be detected. Specifically, can set up pressure sensor inside fan subassembly, also can communicate pressure sensor and fan subassembly through the trachea to the realization is to the collection of the inside atmospheric pressure value of fan subassembly.

In practical application, after the cleaning device detects that the dust collection efficiency is low, an alarm prompt needs to be sent to a user. There are various ways for the cleaning device to send an alarm prompt to the user, one of which is to install a prompt component in the cleaning device, and when the detected dust collection efficiency is lower than a threshold value, the cleaning device controls the prompt component to send a prompt message. The prompting component can be a buzzer, a lamp or the like, and can give out sound and light prompts. For example, when it is detected that the cleaning efficiency is lower than the threshold value, a lamp on the cleaning device is turned on or blinked, and a buzzer sounds a beep or a speaker sounds a warning to please clean the device.

Another way of warning is to have a communication module installed in the cleaning device. And when the dust collection efficiency is detected to be lower than the threshold value, the communication assembly is controlled to send prompt information to the client. The communication component may be, for example, a bluetooth component, a WiFi module, or the like, and may implement a component for wirelessly transmitting the alert information. The client may be application software (APP) or the like installed at a user mobile phone end, a computer end, and an intelligent watch end and capable of receiving the prompt information.

In practical application, the two prompting modes can be combined, that is, the prompting component sends out the acousto-optic prompting information and the communication component sends the prompting information to the client.

The embodiment of the application also provides a cleaning detection method, which can be applied to the cleaning device shown in fig. 1-3. Fig. 4 is a schematic flowchart of a cleaning detection method according to an embodiment of the present application.

The method comprises the following steps:

401: under fan subassembly operating condition, gather the first atmospheric pressure value in the wind channel between fan subassembly and the dirt box through first baroceptor.

402: and determining the dust collection efficiency of the cleaning device according to the first air pressure value.

In order to facilitate understanding of the cleaning detection method in the embodiment, a sweeping robot is taken as an example for specific illustration. After the sweeping robot is started, a fan assembly of the sweeping robot is started, a first air pressure value in an air duct is collected through a first air pressure sensor, and the obtained first air pressure value is an air pressure value of the fan assembly in a working state. Then, comparing the first air pressure value with a preset air pressure threshold, and if the first air pressure value is smaller than the preset air pressure threshold, determining that the dust collection efficiency of the cleaning device is low at the moment; if the first air pressure value is not smaller than the preset air pressure threshold value, the dust collection efficiency of the cleaning device is considered to be normal at the moment. When the low dust collection efficiency of the cleaning device is detected, the user is informed to clean the cleaning device, for example, a prompt message of the low dust collection efficiency can be sent to a client of a mobile phone of the user, and the user is reminded to solve the abnormal problem.

In order to reduce the difficulty of solving the problem of low dust collection efficiency by a user and improve the problem solving efficiency of the user, guidance for solving the problem can be provided at the client of the user. For example, when the dust suction efficiency of the cleaning apparatus is low, the user is notified to clean the cleaning apparatus. The main components of the cleaning device such as the air duct, the dust box, the fan assembly and the like are displayed on a client of a user, and are provided with graphic instructions to tell the user how to disassemble and clean the cleaning device and how to assemble the disassembled dust box, the fan assembly and the like back after cleaning.

As an alternative embodiment, when the dust collection efficiency is judged, a second air pressure value can be collected, and the dust collection efficiency of the cleaning device can be judged according to the difference value between the first air pressure value and the second air pressure value. The collection mode according to the second air pressure value can be divided into at least two schemes.

The first scheme is that a first air pressure sensor is used for collecting an air pressure value before the fan assembly works as a second air pressure value, and the air pressure value collected by the first sensor when the fan assembly works normally is used as a first air pressure value. For example, after the sweeping robot receives a sweeping instruction or meets the preset sweeping time, the sweeping robot starts power supply, but the sweeping robot does not start cleaning at this time, and a second air pressure value of the current air duct is acquired through the first air pressure sensor, and the second air pressure value is an atmospheric pressure value in general cases. Then the sweeping robot starts normal sweeping work, and then the air pressure value in the working process of the fan component is collected to be the first air pressure value. And then, the first air pressure value and the second air pressure value are differed to obtain an air pressure difference value, and when the air pressure difference value is greater than a difference threshold value (such as 500Pa), the current dust collection efficiency is considered to be low, the cleaning work is required to be stopped, and a user is informed to solve the abnormal problem.

If the service time is longer or the connection end of the air pressure sensor is blocked, the second air pressure value acquired at the moment is different from the current atmospheric pressure value; or because the working environment is different, such as the current temperature is higher, the air pressure is increased. The first air pressure value and the second air pressure value collected are both specific to the same position, and the first air pressure value and the second air pressure value are collected again when cleaning work is started every time, so that the influence of external factors on an air pressure difference value detection result can be effectively eliminated.

The second scheme is that a first air pressure sensor is used for collecting an air pressure value in the working state of the fan component to serve as a second air pressure value, and then the second sensor is used for collecting air pressure values of other positions in the cleaning device in the working state of the fan component. It is easy to understand that, in the cleaning device, according to the sequence of the air flow direction, the air inlet duct, the dust box, the air outlet duct and the fan are sequentially arranged at the position close to the roller brush 17, if any position in the cleaning device is blocked, the air pressure difference between different positions is larger due to the blocked air flow. Generally, the more clogged the cleaning device, the greater the corresponding air pressure differential.

It should be noted that, when the air pressure sensor is used to collect the air pressure value, the influence of dust and moisture on the detection result should be avoided as much as possible, and for this reason, it is preferable to place the air pressure sensor outside the air duct and the dust box, and then achieve the air flow communication through the hollow air pipe. This trachea can select soft materials such as silica gel, then encircles at least round back with the trachea, makes the one end in tracheal both ends be connected to dirt box or wind channel, and the other end is connected to baroceptor.

As an optional embodiment, the connecting end of the air pressure sensor can be arranged downwards, and even if dust or water vapor is close to the connecting end of the air pressure sensor after being surrounded by a plurality of circles in the air pipe, the dust and the water vapor can fall into the air pipe under the action of gravity due to the fact that the connecting end is arranged downwards.

In practical applications, the air pressure changes due to the influence of external environmental factors (e.g., changes in environmental temperature), the air pressure difference may deviate, and an erroneous detection result may occur. Therefore, in order to improve the accuracy of the detection result, the problem of low dust collection efficiency can be judged after multiple rounds of continuous detection. Specifically, a method as shown in fig. 5 may be employed. Fig. 5 is a schematic flowchart of a method for determining dust collection efficiency according to an embodiment of the present disclosure. The method comprises the following steps: 501: and recording the numerical value of the representation times under the condition that the dust collection efficiency of the cleaning device is determined to be low efficiency based on the first air pressure value. 502: and acquiring a third air pressure value of the air duct under the working state of the fan component again through the first air pressure sensor. 503: and in the case that the dust collection efficiency of the cleaning device is determined to be low efficiency based on the third air pressure value, increasing the numerical value. 504: and if the numerical value is larger than the time threshold value, outputting a prompt message that the dust collection efficiency of the cleaning device is low.

The current dust collection efficiency of the cleaning device is determined to be low through the first air pressure value, namely, the difference value between the first air pressure value and the second air pressure value is larger than the difference threshold value, the current dust collection efficiency of the cleaning device is considered to be low, and the number n of times of judging that the dust collection efficiency is low is recorded as 1. And acquiring a third air pressure value under the working state of the fan component again through the first air pressure sensor, if the air pressure difference value between the third air pressure value and the second air pressure value is still larger than the difference threshold value, adding 1 to the number n of times of low dust collection efficiency, if the number n of times of continuous multiple detection is 5, and if the number threshold value is also 5, outputting prompt information of low dust collection efficiency of the cleaning device. The output mode can be that the sweeping robot sends out voice alarm prompt information or sends prompt information with low dust collection efficiency to a client of a mobile phone of a user.

In order to facilitate understanding of the dust collection efficiency detection method, the following description will be given by way of example with reference to fig. 6. Fig. 6 is a schematic flow chart of an example of dust collection efficiency detection provided in the embodiment of the present application. The sweeping robot is started firstly, but the current fan does not work, and the air pressure value in the air duct, namely the current atmospheric pressure P0, is collected through the first air pressure sensor. Then, receiving an automatic cleaning instruction triggered by a user through a client, starting a fan assembly by the sweeping robot, and executing a sweeping action. When cleaning, the fan assembly and the like are in working states, and circulating air flow is generated in the air duct. The current air pressure value Pn is collected by the first air pressure sensor. Further, the air pressure difference Δ P between the current air pressure value Pn and the atmospheric pressure value P0 is calculated as Pn-P0. The air pressure difference Δ P is compared to a difference threshold. In order to obtain a more accurate dust collection efficiency detection result, continuous multi-round judgment can be performed, and if the air pressure difference value delta P is judged to be larger than the difference threshold value for N times, a user can be informed that the dust collection efficiency is low and the dust box or the air duct needs to be cleaned. And if the air pressure difference value delta P of a certain time is smaller than the difference threshold before the judgment frequency reaches N, the user is not reminded, and the frequency is cleared and counted again.

Fig. 7 is a schematic structural diagram of a robot according to an exemplary embodiment of the present disclosure. The robot includes a machine body, one or more processors 702, one or more memories 703 storing computer programs, and sensors 705, where the sensors 705 include at least one external sensor 705 deployed on the robot and other sensors 705 installed on the machine body for maintaining basic functions of the self-moving device. In addition, the self-moving device may include necessary components such as an audio component 701, a power component 704, and the like.

The external sensor is used for acquiring preset signals within respective signal sensing ranges;

one or more processors 702 to execute computer programs to:

under the working state of the fan assembly, a first air pressure value in an air channel between the fan assembly and the dust box is collected through a first air pressure sensor;

and determining the dust collection efficiency of the cleaning device according to the first air pressure value.

Optionally, one or more processors 702 for obtaining a second air pressure value as a reference;

and determining the dust collection efficiency of the cleaning device by comparing the first air pressure value with the second air pressure value.

Optionally, one or more processors 702 configured to obtain an atmospheric pressure value of an environment in which the cleaning apparatus is currently located; or

And under the working state of the fan assembly, collecting the second air pressure value through a second air pressure sensor, wherein the second air pressure sensor is communicated with the dust box.

Optionally, one or more processors 702 for recording a value indicative of a number of times when the cleaning apparatus is determined to be inefficient in terms of cleaning efficiency based on the first air pressure value;

acquiring a third air pressure value of the air duct under the working state of the fan component again through the first air pressure sensor;

if the dust collection efficiency of the cleaning device is determined to be low based on the third air pressure value, incrementing the value;

and if the numerical value is greater than the frequency threshold value, outputting a prompt message that the dust collection efficiency of the cleaning device is low.

In the embodiment of the present robot, a cleaning robot may also be provided, and a corresponding computer readable storage medium is provided, which is not described herein again.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (9)

1. A cleaning device, comprising:

an air duct;

a fan assembly for generating a suction airflow circulating within the air duct;

and the air pressure sensor is used for detecting the air pressure value in the air duct so as to determine the dust collection efficiency of the cleaning device according to the air pressure value detected by the air pressure sensor.

2. The apparatus of claim 1, further comprising: a dust box for storing dust entering through the air duct;

the wind channel includes:

the air inlet duct is communicated with the dust inlet of the dust box and is used for sucking dust into the dust box;

the air outlet duct is communicated with the air outlet of the dust box to discharge filtered air flow;

the air pressure sensor is in airflow communication with the air outlet duct and is used for collecting an air pressure value in the air outlet duct.

3. The apparatus of claim 2,

the air pressure sensor is communicated with the air outlet duct through an air pipe, so that air flow communication is realized.

4. The apparatus of claim 3,

the connecting end of the air pressure sensor, which is used for connecting the air pipe, faces downwards.

5. The apparatus of claim 3,

the number of the air pressure sensors is at least two;

and the at least two air pressure sensors are used for respectively detecting air pressure values at different positions in the air duct and/or the dust box.

6. The apparatus of claim 5,

if the number of the air pressure sensors is two, one of the two air pressure sensors is communicated with the air outlet duct through an air pipe, and the other air pressure sensor is communicated with the dust box through an air pipe.

7. The apparatus of claim 1, wherein the air pressure sensor is in communication with the fan assembly via an air conduit for sensing an air pressure value within the fan assembly.

8. The apparatus of claim 1, further comprising: a communication component;

and if the dust collection efficiency is lower than the threshold value, sending prompt information of low dust collection efficiency to the client through the communication assembly.

9. The apparatus of claim 1, further comprising: a prompt component;

and if the dust collection efficiency is lower than the threshold value, sending out acousto-optic prompt information through the prompt component.

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