TWI400054B - Cleaning apparatus and detecting method thereof - Google Patents

Description

Cleaning device and detection method thereof

The invention relates to a cleaning device and a detecting method thereof, in particular to a dust collecting detecting method applicable to a self-propelled vacuum cleaner.

Particle (dust) detection technology is currently used in traditional vacuum cleaners, air cleaners, self-propelled vacuum cleaners, and particle volume detection and environmental control in clean rooms to make cleaning more efficient; if it can be detected simply and effectively Measuring the amount of dust absorption will make the use of traditional vacuum cleaners, air cleaners, and self-propelled vacuum cleaners more efficient, achieving the goal of environmental protection, energy saving and carbon reduction.

According to the conventional particle detection technology, it can be roughly divided into the following three categories:

(1) Optical detection: The main principle is to use a pair of optical transmitting and receiving devices to measure the luminous flux emitted by the light source. In principle, the luminous flux decreases as the density of dust particles in the air increases, and the current amount of dust is discerned. The US4601082 patent filed in 1984 uses an optical sensor for garbage detection, and the US5608944 and US6571422 patents proposed in 1997 and 2000 respectively perform signal processing, such as amplification and filtering, in circuit design. To improve the sensitivity of the sensor.

(2) Differential pressure detection method: The principle is to use the pressure difference between the suction port and the dust box to determine whether the filter needs to be replaced or whether the dust collection box is full.

(3) Piezoelectric pressure sensing method: PZT (lead zirconate titanate) pressure sensing element is placed in the wall of the vacuum cleaner suction port, and the pressure on the PZT pressure sensing element when the particles are sucked in, The amount of garbage that distinguishes the inhalation port.

The cleaning device of the present invention comprises: a dust suction fan, a driving motor, a current detecting device, and a control unit, wherein the driving motor drives the dust collecting fan to perform a dust collecting action, and the current detecting device is electrically connected to the driving motor, and is used for The current of the driving motor is detected; the control unit is electrically connected to the driving motor and the current detecting device respectively. When the current value detected by the current detecting device is lower than a set value, the control unit stops driving the driving motor for the driving of the dust collecting fan.

Moreover, the object of the present invention is to provide another method for detecting a cleaning device, which mainly uses the motor impedance of the dust collecting fan to detect the dust collection amount of the cleaning device, and determines whether the dust box is full or the suction port. The filter blockage needs to be replaced.

Further, another object of the present invention is to provide a cleaning device that can guide the exhaust gas exhausted by the dust suction fan to the optical sensor to prevent dust (garbage) from affecting the sensitivity of the optical sensor.

Still another object of the present invention is to provide a method for detecting a cleaning device, which can be based on the average value of the output values of a plurality of sensors in the suction port. In the preferred embodiment, the cleaning device determines that the left side is dirty. Or the dirty side of the right.

In one embodiment, the cleaning device is a vacuum cleaner, wherein the vacuum cleaner can be a self-propelled vacuum cleaner that can include a drive system to provide the walking power of the self-propelled vacuum cleaner.

In an embodiment, the cleaning device may further include a dust collecting unit that communicates with the dust suction fan. When the control unit stops driving the motor to drive the dust suction fan, the cleaning device stops or is electrically connected to the control unit. After being activated, the dust collecting unit is cleaned; wherein the dust collecting unit may include a filter screen and a dust box, the filter screen is replaced or the dust box is cleaned; and the cleaning device includes a warning device, and the warning device can be It is a light-emitting diode.

In an embodiment, the cleaning device may further include a housing and a plurality of optical sensors, wherein the housing can accommodate the dust suction fan and has a suction port, and the optical sensor is disposed in the suction port of the housing. For detecting the amount of garbage passing through the suction port, when the surface area of one of the optical sensors is covered by the garbage by a predetermined ratio or more, the control unit stops driving the driving motor for the driving of the dust collecting fan; further, the present invention has a predetermined ratio of 90%. The preferred embodiments are not intended to limit the invention, and any one of ordinary skill in the art can be modified and modified without departing from the spirit and scope of the invention.

In an embodiment, the cleaning device may further include an air blowing device, the air outlet is located on the outer side of the optical sensor for blowing to the surface of the optical sensor; and the air blowing device is connected to the dust suction fan, and The utility model comprises a valve device electrically connected to the control unit for controlling the operation of the air blowing device.

In an embodiment, the suction port is elongated and is divided into a left block and a right block, and a plurality of optical sensors are respectively disposed in the left block and the right block; and, in addition, the optical sensor A transmitter and a receiver are included, and the transmitter and the receiver are disposed in the suction port in a manner opposite to each other or in the same direction.

In one embodiment, the drive motor is a brushless motor and the current sensing device is integrated into the control circuit of the brushless motor.

In one embodiment, the control unit includes a band pass filter, an analog-to-digital converter, a pulse extender, and a microcontroller, wherein the band pass filter filters out electrical noise from the drive motor, and A multi-stage circuit design has the benefit of 2, a center frequency of 110 kHz, a 3 dB bandwidth of 90 kHz, and a bandwidth of 20 kHz to 200 kHz; the pulse extender adjusts the sampling frequency of the signal from the current detecting device.

Moreover, the present invention provides a method for detecting a cleaning device, comprising the steps of: measuring a resistance value of a fan motor of the cleaning device; determining a state of a dust box of the cleaning device by an impedance value of the fan motor, wherein when the impedance value exceeds When a set value is determined, it is judged that the amount of garbage is equal to or greater than the predetermined capacity, and the fan motor is stopped; and the dust collecting unit of the cleaning device is cleaned; further, the present invention is disclosed in a preferred embodiment of 80%, which is not disclosed. Any modifications and refinements may be made without departing from the spirit and scope of the invention.

Moreover, a preferred embodiment of the present invention provides a method for detecting a cleaning device, comprising the steps of: measuring an amount of waste passing through a suction port of the cleaning device by using an optical sensor; and when the surface area of the optical sensor is covered by the garbage, the predetermined time is When the ratio is above, the operation of the cleaning device is stopped; and the dust collecting unit of the cleaning device is cleaned; further, the present invention is disclosed in a predetermined proportion of 90% as a preferred embodiment, and is not intended to limit the present invention, and any of the technical fields thereof Those skilled in the art will be able to make any changes and refinements without departing from the spirit and scope of the invention.

Moreover, a preferred embodiment of the present invention provides a method for detecting a cleaning device, comprising the steps of: detecting a quantity of garbage in a suction port of a cleaning device by using a plurality of optical sensors; and comparing optical sensing of a left block located at the suction port The detection signal value of the device and the detection signal value of the optical sensor located in the right block of the suction port; and the detection signal value of the optical sensor located in the left block of the suction port is greater than the right of the suction port The detection signal value of the optical sensor of the block, the cleaning device walks to the left; when the optical sensor of the right block located in the right block of the suction port has a detection signal value greater than the optical sensor located at the left block of the suction port The detection signal value, the cleaning device walks to the right, and uses the length of the suction port as the radius of rotation of the cleaning device when walking left or right.

Moreover, the present invention provides a cleaning apparatus that can be used as an air cleaner.

Referring to FIG. 1a, FIG. 1b and FIG. 2 simultaneously, the cleaning device 1 according to an embodiment of the present invention includes a casing 10, a dust suction fan 20, a driving motor 30, a current detecting device 40, and a control. Unit 50, two sets of optical sensors 60, a dust collecting unit 70, three warning devices 80, four air blowing devices 90, and a driving system 110; it should be noted that in the following description and drawings, the cleaning device 1 is represented by a self-propelled vacuum cleaner, but the invention is not limited thereto, and the cleaning device 1 may also be a conventional vacuum cleaner or an air cleaner.

The casing 10 houses components such as the dust suction fan 20, the drive motor 30, the current detecting device 40, and the control unit 50 therein, and has a suction port 11; wherein the suction port 11 is elongated and roughly divided into left Block 11a and right block 11b.

As shown in FIG. 1a, the dust suction fan 20 is disposed in the casing 10 for performing the dust suction operation of the cleaning device 1; the drive motor 30 is disposed in the casing 10 so as to be located below the dust suction fan 20, and As shown in FIG. 2, the dust suction fan 20 is electrically connected to drive the dust suction fan 20 to perform a dust suction operation.

The current detecting device 40 is disposed in the housing 10 in a manner adjacent to the control unit 50 and the driving motor 30, and is electrically connected to the driving motor 30 and the control unit 50 respectively for detecting the current of the driving motor 30; It should be noted that when the drive motor 30 is a brushless motor, the current detecting device 40 can be integrated into the control circuit of the brushless motor.

The control unit 50 is disposed in the housing 10 in a manner of being located under the driving motor 30, and is electrically connected to the driving motor 30 and the current detecting device 40, respectively, to control the suction force of the dust suction fan 20 and the walking speed of the cleaning device 1; When the current value detected by the current detecting device 40 is lower than a set value, the control unit 50 stops driving of the driving motor 30 for the dust collecting fan 20, which will be described in detail below.

Moreover, as shown in FIG. 3a, the control unit 50 includes a band pass filter 51, an amplifier 52, a pulse extension 53, an analog-to-digital converter 54, and a microcontroller 55; wherein the band pass filter 51 is used to filter electrical noise from other components (for example, the driving motor 30), and is a multi-stage circuit design. Referring to FIG. 3b, in the embodiment, the bandpass filter 51 is a fourth-order. The circuit design includes a high-pass circuit 51a, a low-pass circuit 51b, a band-pass circuit 51c, and a shaping circuit 51d. The benefit of the band-pass filter 51 is 2±3%, the center frequency is 110 kHz±3%, and the 3 dB bandwidth is 90 kHz ± 3%, the bandwidth is 20 kHz to 200 kHz; it should be understood that although the band pass filter 51 is a fourth-order circuit design in this embodiment, it is not limited thereto, as long as the benefit, the center frequency, the 3 dB bandwidth, And the bandwidth can meet the above standard circuit design.

Referring again to FIG. 3a, the amplifier 52 is used to amplify the signal from the path-passing device 51, and the pulse extension 53 adjusts the sampling frequency of the signal from other components (for example, the optical sensor 60), and the digital analog conversion circuit. 54 digitally analog converting the signals from other components, and the microcontroller 55 controls the suction speed of the dust suction fan 20 and the walking speed of the cleaning device 1 by the signal converted by the analog analogy; and, when changing the suction force and the walking speed It can be PWM (pulse width modulation) control, and when the cleaning device 1 detects that the environment is dirty, the suction force can be increased and the walking speed can be slowed to improve the cleaning efficiency.

It should be noted that the internal configuration of the control unit 50 is not limited to the configuration as shown in FIG. 3a, as long as the same effect as the above-described control unit can be achieved. For example, FIG. 3c shows a modification of the control unit, the control unit. 50' includes two bandpass filters 51, two amplifiers 52, a pulse extender 53, an analog-to-digital converter 54, a microcontroller 55, and a comparator 56; the control unit 50' of Figure 3c The difference from the control unit 50 of Fig. 3a is that a comparator 56 is added to the control unit 50', wherein the comparator 56 can be used to compare the signal of the inhaled garbage with the reference signal when the garbage is not inhaled.

Referring again to FIG. 1a, two sets of optical sensors 60 are disposed in the suction port 11 of the housing 10 for detecting the amount of waste passing through the suction port 11, when the surface area of one of the optical sensors 60 is covered by garbage. When a predetermined ratio (for example, 90%) or more is reached, the control unit 50 stops the driving of the driving motor 30 for the cleaning fan 20; in addition, the two sets of optical sensors 60 are respectively disposed at the left block 11a and the right area of the suction port. Block 11b, it should be understood that although two sets of optical sensors 60 are provided in the suction port 11 in this embodiment, the number of optical sensors 60 is not limited thereto, and may be adjusted as needed.

Referring to FIG. 4, each set of optical sensors 60 includes a transmitter 61 and a receiver 62, respectively, and the transmitter 61 and the receiver 62 are disposed in the suction port 11 in such a manner as to face each other, it being understood that The transmitter 61 and the receiver 62 are not limited to the illustrated ones; reference to the 1c and 1d diagrams may be disposed on the same side (same direction), and the receiver 62 receives from the transmitter 61 by reflection. Luminous flux.

Referring again to FIG. 1a, the dust collecting unit 70 is in communication with the dust collecting fan 20, and includes a dust collecting box 71 and a screen 72. When the control unit 50 stops driving the driving motor 30 for the driving of the dust collecting fan 20, the dust collecting unit 70 is The cleaning, that is, the dust box 71 is cleaned or the screen 72 is replaced.

The three warning devices 80 are disposed on the casing 10, and are electrically connected to the control unit 50 as shown in FIG. 2. When the control unit 50 stops driving the driving motor 30 for the dust suction fan 20, the control unit 50 starts. The warning device 80; in addition, the warning device 80 can be a light-emitting diode respectively. When the control unit 50 activates the warning device 80, the light-emitting diode can emit light; in addition, it should be understood that although it is in the shell in this embodiment Three warning devices 80 are disposed on the body 10, but the number of the warning devices 80 is not limited thereto, and may be adjusted as needed. Further, although the warning device 80 is a light-emitting diode in the embodiment, the warning device 80 is It is not limited to this, and it may be a device that emits a sound such as a buzzer.

Referring to FIG. 4, the two air blowing devices 90 respectively include an air outlet 90a which is located below the transmitter 61 and the receiver 62 of the optical sensor 60, and the air blowing device 90 and the air outlet of the dust suction fan 20 (not Connected to connect the exhaust gas of the dust suction fan 20 to the surface of the emitter 61 and the receiver 62 of the optical sensor 60 via the air outlet 90a, thereby reducing dust (garbage) coverage and dissipating heat. In addition, each of the air blowing devices 90 includes a valve device 91 disposed therein. As shown in FIG. 1a, the valve device 91 is electrically connected to the control unit 50 for controlling the operation of the air blowing device 90; In addition, it should be understood that although in FIG. 4, the air outlet 90a is located below the transmitter 61 and the receiver 62 of the optical sensor 60, the position of the air outlet 90a is not limited thereto, and for example, The side edges (outer sides) of the emitter 61 and the receiver 62 are provided as long as the exhaust gas from the air outlet 90a can be blown to the surfaces of the emitter 61 and the receiver 62 of the optical sensor 60.

Referring again to FIG. 1a, the drive system 110 is disposed in the housing 10 in a manner adjacent to the dust suction fan 20 and the drive motor 30, and is electrically connected to the control unit 50 as shown in FIG. Walking power of the walking vacuum cleaner 1.

It should be noted that although the positions of the respective elements in the casing have been shown in the drawings, the arrangement relationship of the respective elements is not limited thereto, and may be appropriately adjusted as needed.

As described above, the cleaning device of the present invention can detect the current value of the driving motor 30 by using the current detecting device 40, and then determine the impedance value of the driving motor 30, and perform the garbage amount detection of the cleaning device 1 to determine the dust collection. Whether the cartridge 71 is full or the filter screen 72 of the suction port is blocked needs to be replaced, because the impedance of the drive motor 30 is increased due to the degree of blockage of the suction port or the air outlet or the amount of garbage of the dust box, when the voltage of the drive motor 30 is increased. For a fixed value, after the current detecting device 40 detects the current value of the driving motor 30, the impedance value of the driving motor 30 can be obtained; and when the current decreases, the impedance is increased (R = V / I).

Further, in the cleaning device of the present invention, the exhaust gas exhausted by the dust suction fan 20 can be guided to the optical sensor 60 by the air suction device 90, thereby preventing dust (garbage) from affecting the sensitivity of the optical sensor 60.

The basic configuration of the cleaning device 1 of the present invention is as described above, and the method of detecting the cleaning device of the present invention will be described below.

Referring to FIG. 5, an embodiment of the detecting method of the cleaning device of the present invention comprises the following steps: First, in step S11, the power of the cleaning device 1 is activated; then, in step S12, the current detecting device 40 is utilized. The current value of the drive motor 30 is detected, and the impedance value of the drive motor 30 is obtained. Then, in step S13, the state of the dust box 71 of the cleaning device 1 is judged by the impedance value of the fan motor 30, and is obtained. When the impedance value exceeds a set value, it is determined that the garbage capacity of the dust collecting box 71 of the cleaning device 1 has reached a predetermined ratio or more, then the process proceeds to step S14, the fan motor 30 is stopped, and the warning device 80 is activated; finally, in step S15, The power of the cleaning device 1 is turned off, and the dust collecting unit 70 of the cleaning device 1 is cleaned.

Further, in the present embodiment, the predetermined ratio is disclosed as a preferred embodiment in which the capacity of the dust collecting box 71 is 80%. However, this is not intended to limit the present invention, and may be appropriately adjusted as needed.

The above detection method can determine whether the dust collecting unit 70 of the cleaning device 1 needs to be cleaned by the impedance value of the fan motor 30, thereby improving the operating efficiency of the cleaning device 1.

Figure 6 is a flow chart of another embodiment of the method for detecting a cleaning device of the present invention. The detecting method of the present embodiment includes the following steps: First, in step S21, the power of the cleaning device 1 is activated; In step S22, the amount of waste passing through the suction port 11 of the cleaning device 1 is measured by the optical sensor 60; thereafter, in step S23, the optical sensor 60 is judged by the measured value of the optical sensor 60. In a state where the surface area of the optical sensor 60 is covered by the garbage by more than 90%, the process proceeds to step S24, the fan motor 30 is stopped, and the warning device 80 is activated; finally, in step S25, the power of the cleaning device 1 is turned off. And the dust collecting unit 70 of the cleaning device 1 is cleaned.

It should be understood that before step S22, the air blowing device 90 may be activated to blow the exhaust gas of the dust collecting fan 20 toward the surface of the optical sensor 60 to reduce the dust (garbage) covering the optical sensor and thereby affecting the sensitivity thereof; It should be understood that although in the present embodiment, the surface area of the optical sensor 60 is covered by the garbage by more than 90%, the process proceeds to step S24, but the ratio is not intended to limit the present invention, and may be appropriately adjusted as needed.

According to the above detection method, whether the dust collecting unit 70 of the cleaning device 1 needs to be cleaned can be determined through the surface state of the optical sensor 60, and the operating efficiency of the cleaning device 1 can be improved.

Figure 7 is a flow chart of still another embodiment of the method for detecting the cleaning device of the present invention. The detecting method of the present embodiment is applicable to a self-propelled vacuum cleaner, and includes the following steps: First, in step S31, The power of the cleaning device 1 is activated, and when the dust box 71 of the cleaning device 1 is not full, the walking mode is entered; then, in step S32, the pair of optical sensors 60 are used to detect the suction port 11 of the cleaning device 1 The amount of garbage; after that, in step S33, the detection signal value of the optical sensor 60 located at the left block 11a of the suction port 11 and the detection of the optical sensor 60 located at the right block 11b of the suction port 11 are compared. For the signal value, when the detection signal value of the optical sensor 60 located at the left block 11a of the suction port 11 is greater than the detection signal value of the optical sensor 60 located at the right block 11b of the suction port 11, the cleaning device 1 Walking left, and when the detection signal value of the optical sensor 60 located at the right block 11b of the suction port 11 is greater than the detection signal value of the optical sensor 60 located at the left block 11a of the suction port 11, the cleaning device 1 Walk to the right.

It should be understood that before step S32, the air blowing device 90 can be activated to blow the exhaust gas of the dust collecting fan 20 toward the surface of the optical sensor 60 to reduce the dust (garbage) covering the optical sensor and thereby affecting the sensitivity thereof; In step S33, the detection signal value of the optical sensor 60 can be obtained by the ratio of the surface area of the optical sensor 60 being covered by the garbage.

In addition, it should be understood that when the cleaning device 1 is moved to the left or right, the length of the suction port 11 is taken as the radius of gyration.

According to the above detection method, it can be judged that the left side is dirty or the right side is dirty according to the magnitude of the measured values of the left and right sensors in the suction port, thereby improving the cleaning efficiency.

Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and any one of ordinary skill in the art can make any changes without departing from the spirit and scope of the invention. The scope of protection of the present invention is therefore defined by the scope of the appended claims.

1. . . Cleaning device

10. . . case

11. . . suction point

11a. . . Left block

11b. . . Right block

20. . . Vacuum fan

30. . . Drive motor

40. . . Current detecting device

50, 50’. . . control unit

51. . . Bandpass filter

51a. . . Qualcomm circuit

51b. . . Low pass circuit

51c. . . Band pass circuit

51d. . . Shaping circuit

52. . . Amplifier

53. . . Pulse extension

54. . . Analog digital converter

55. . . Microcontroller

56. . . Comparators

60, 60’. . . Optical sensor

61, 61’. . . launcher

62, 62’. . . receiver

70. . . Dust collecting unit

71. . . Dust box

72. . . Filter

80. . . Warning device

90. . . Blowing device

90a. . . Air outlet

91. . . Valve device

110. . . Drive System

1a, 1b are schematic views of an embodiment of the cleaning device of the present invention;

1c and 1d are schematic views of a modification of the cleaning device of the present invention;

Figure 2 is a circuit block diagram of an embodiment of the cleaning device of the present invention;

Figure 3a is a block diagram of an embodiment of an embodiment of the control unit of the present invention;

Figure 3b is a block diagram of an embodiment of an embodiment of the band pass filter of the present invention;

Figure 3c is a circuit block diagram of another embodiment of the control unit of the present invention;

Figure 4 is a schematic view showing an embodiment of the optical sensor of the present invention;

Figure 5 is a flow chart of an embodiment of a method for detecting a cleaning device of the present invention;

Figure 6 is a flow chart showing another embodiment of the detecting method of the cleaning device of the present invention;

Figure 7 is a flow chart of still another embodiment of the method for detecting a cleaning device of the present invention.

1. . . Cleaning device

10. . . case

11. . . suction point

11a. . . Left block

11b. . . Right block

20. . . Vacuum fan

30. . . Drive motor

40. . . Current detecting device

50. . . control unit

60. . . Optical sensor

61. . . launcher

62. . . receiver

70. . . Dust collecting unit

71. . . Dust box

72. . . Filter

80. . . Warning device

90. . . Blowing device

91. . . Valve device

110. . . Drive System

Claims (24)

A cleaning device comprising: a dust suction fan; a casing accommodating the dust suction fan, having a suction port; a driving motor driving the dust suction fan to perform a dust suction operation; and a plurality of optical sensors disposed in the casing for inhaling a port for detecting the amount of garbage passing through the suction port; a current detecting device electrically connected to the driving motor for detecting a current of the driving motor; and a control unit, the driving motor and the current The detecting device is electrically connected, wherein when the current detecting device detects that the current value is lower than a set value, the control unit stops driving of the driving motor for the dust collecting fan, wherein the optical sensors are When the surface area of one is covered by the garbage by a predetermined ratio or more, the control unit stops the driving of the driving motor for the dust collecting fan. The cleaning device of claim 1, wherein the cleaning device is a vacuum cleaner or an air cleaner. The cleaning device of claim 2, wherein the vacuum cleaner is a self-propelled vacuum cleaner. The cleaning device of claim 3, further comprising: a driving system for providing the driving power of the self-propelled vacuum cleaner. The cleaning device of claim 1, further comprising: a dust collecting unit in communication with the dust collecting fan, wherein the dust collecting unit is cleaned when the control unit stops driving of the driving motor for the dust collecting fan . The cleaning device of claim 5, wherein the dust collecting unit comprises a screen, and the screen is replaced when the control unit stops driving the driving motor for the dust collecting fan. The cleaning device of claim 5, wherein the dust collecting unit comprises a dust collecting box, and the dust box is cleaned when the control unit stops driving the driving motor for the dust collecting fan. The cleaning device of claim 7, further comprising: a warning device electrically connected to the control unit, wherein the control unit is when the garbage of the cleaning device accounts for more than 80% of the dust box volume Start the alert device. The cleaning device of claim 1, wherein the predetermined ratio is 90%. The cleaning device of claim 1, further comprising: an air blowing device for blowing air to the surface of the optical sensors. The cleaning device of claim 10, wherein the air blowing device is in communication with the dust suction fan. The cleaning device of claim 10, wherein the air blowing device comprises an air outlet, and the air outlet is located below the optical sensors. The cleaning device of claim 10, wherein the air blowing device comprises a valve device electrically connected to the control unit for controlling the operation of the air blowing device. The cleaning device of claim 1, wherein the suction port is elongated and is divided into a left block and a right block, and the optical sensors are respectively disposed in the left block and The right block. The cleaning device of claim 1, wherein the optical sensors respectively comprise a transmitter and a receiver, and the transmitter and the receiver are disposed opposite to each other or in the same direction. In the suction port. The cleaning device of claim 1, wherein the driving motor is a brushless motor, and the current detecting device is integrated in a control circuit of the brushless motor. The cleaning device of claim 1, wherein the control unit includes a band pass filter to filter electrical noise from the drive motor. The cleaning device of claim 17, wherein the band pass filter is a multi-stage circuit design having a benefit of 2, a center frequency of 110 kHz, a 3 dB bandwidth of 90 kHz, and a bandwidth of 20 kHz to 200 kHz. The cleaning device of claim 1, wherein the control unit comprises a pulse wave extender for adjusting a sampling frequency of the signal from the current detecting device. The cleaning device of claim 1, wherein the control unit comprises a microcontroller and an analog-to-digital converter. The cleaning device of claim 1, further comprising: a warning device electrically connected to the control unit, wherein when the current detection device detects a current value lower than a set value, the control The unit activates the alerting device. The cleaning device of claim 21, wherein the warning device is a light emitting diode. A method for detecting a cleaning device, comprising: Measure the impedance value of the fan motor of the cleaning device, and measure the amount of garbage passing through the suction port of the cleaning device by using an optical sensor; determine the state of the dust box of the cleaning device by the impedance value of the fan motor, Wherein, when the impedance value exceeds a set value, it is determined that the amount of garbage accounts for more than a predetermined ratio of the dust box, and the fan motor is stopped; when the surface area of the optical sensor is covered by garbage to another predetermined ratio or more Stopping the operation of the cleaning device; and cleaning the dust collecting unit of the cleaning device. The method for detecting a cleaning device according to claim 23, wherein the predetermined ratio is 80%, and the other predetermined ratio is 90%.