WO2022198910A1 - 一种清洁设备及其控制方法、计算机可读存储介质 - Google Patents

一种清洁设备及其控制方法、计算机可读存储介质 Download PDF

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Publication number
WO2022198910A1
WO2022198910A1 PCT/CN2021/113642 CN2021113642W WO2022198910A1 WO 2022198910 A1 WO2022198910 A1 WO 2022198910A1 CN 2021113642 W CN2021113642 W CN 2021113642W WO 2022198910 A1 WO2022198910 A1 WO 2022198910A1
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WIPO (PCT)
Prior art keywords
fluid
cleaning
detection
detection result
output pipeline
Prior art date
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PCT/CN2021/113642
Other languages
English (en)
French (fr)
Inventor
颜承志
赵海强
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to US18/552,429 priority Critical patent/US20240172910A1/en
Priority to EP21932522.2A priority patent/EP4316330A1/en
Publication of WO2022198910A1 publication Critical patent/WO2022198910A1/zh

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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
    • A47L11/4002—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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • 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
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • A47L11/40—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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/18—Status alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources

Definitions

  • a cleaning device including:
  • a fluid storage device for storing fluid
  • the fluid detection device is disposed at least partially outside the fluid output pipeline, and is used to detect whether there is fluid in the fluid output pipeline;
  • a control device which is electrically connected to the fluid detection device, and used for outputting a corresponding control command according to a detection result of the fluid detection device, where the detection result includes a fluid state and a fluid-free state.
  • the cleaning device is further provided with a fixing part for fixing the fluid detection device on the fluid output pipeline.
  • the fluid detection device is a contactless sensor or a contact sensor.
  • the contactless sensor is a capacitive sensor.
  • the capacitive sensor includes a sensing portion surrounding the fluid output line and a first processing circuit electrically connected to both ends of the sensing portion.
  • the sensing portion is a spring.
  • the touch sensor includes an electrode extending into the fluid output line and a second processing circuit electrically connected to the electrode.
  • the electrodes include a positive electrode and a negative electrode; the second processing circuit is electrically connected to the positive electrode and the negative electrode, respectively, and the positive electrode and the negative electrode protrude into the fluid in the output line.
  • the cleaning device further includes an alarm device electrically connected to the control device, and when the control device determines that the detection result is a no-fluid state, the control device controls the alarm device to issue an alarm Signal.
  • an embodiment of the present disclosure provides a method for controlling a cleaning device.
  • the cleaning device includes a fluid storage device, a fluid output pipeline communicated with the fluid storage device, and a fluid output pipeline disposed outside the fluid output pipeline.
  • the fluid detection device detects whether there is fluid in the fluid output pipeline
  • the control device outputs a corresponding control instruction according to the detection result of the fluid detection device, so as to control the cleaning device accordingly, and the detection result includes a fluid state and a fluid-free state.
  • the fluid detection device is a non-contact sensor, and when the non-contact detection sensor is a capacitive sensor, the fluid detection device detects whether there is fluid in the fluid output pipeline, include:
  • the capacitive sensor obtains a real-time sensing capacitance value
  • the capacitive sensor determines, based on the real-time sensing capacitance value, the difference between the real-time sensing capacitance value and the environment sensing capacitance value, and the environment sensing capacitance value indicates that when there is no fluid in the fluid detection pipeline, the The inductive capacitance value generated by the capacitive sensor;
  • the fluid detection device is a contact sensor, and the fluid detection device detects whether there is fluid in the fluid output pipeline, including:
  • the contact sensor obtains a real-time sensing signal
  • the touch sensor determines whether the real-time sensing signal is the same as the environment sensing signal, and if the real-time sensing signal is the same as the environment sensing signal, it is determined that the detection result is a fluid state, and if the real-time sensing signal is the same as the preset sensing signal If it is different, it is determined that the detection result is a fluid-free state, wherein the environmental sensing signal is a sensing signal generated when the touch sensor is in contact with the fluid.
  • control device When the detection result is a fluid state, the control device outputs a first control instruction for controlling the cleaning device to work normally based on the fluid state, so that the cleaning device continues to work;
  • the control device When the detection result is a no-fluid state, the control device outputs a second control instruction for controlling the cleaning device to stop working based on the no-fluid state, so as to stop the cleaning device from working, or output a second control instruction for controlling the cleaning device to stop working.
  • a third control instruction activated by the alarm device to make the alarm device alarm.
  • an embodiment of the present disclosure is a computer-readable storage medium, where computer program instructions are stored thereon; when the computer program instructions are executed by a processor, the above-mentioned control method for a cleaning device is implemented.
  • FIG. 1 is a schematic structural diagram of a fluid detection device according to an optional embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a fluid detection device according to another optional embodiment of the present disclosure.
  • FIG. 3 is an overall view of a cleaning apparatus according to another alternative embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram of a use state of a fluid detection device according to another optional embodiment of the present disclosure.
  • FIG. 5 is a flowchart of a control method of a cleaning device according to another optional embodiment of the present disclosure.
  • FIG. 6 is a flowchart of step S501 according to an optional embodiment of the present disclosure.
  • FIG. 7 is a flowchart of step S501 according to another optional embodiment of the present disclosure.
  • 1-fluid storage device 2-fluid output pipeline, 3-fluid distribution device, 4-contact sensor, 401-second processing circuit, 402-conductor, 403-electrode, 4031-positive electrode, 4032-negative electrode , 5-non-contact sensor, 501-sensing part, 502-first processing circuit, 6-body, 7-cleaning head, 8-handle.
  • the embodiments of the present disclosure provide a cleaning device, a control method thereof, and a computer-readable storage medium.
  • a fluid detection device disposed at least partially outside the fluid output pipeline is used to detect whether there is fluid in the fluid output pipeline, thereby judging the storage of the fluid. Whether there is fluid in the device that can meet the cleaning operation, the cross-sectional area of the fluid output pipeline is small, and the fluid detection device cannot detect the fluid due to the inclination of the cleaning equipment, so it can accurately reflect the fluid storage device. Whether there is a fluid that can meet the cleaning operation, the accuracy of the detection result is improved, and the structure is simple and easy to assemble.
  • an embodiment of the present disclosure provides a cleaning device, including: a fluid storage device 1 , the fluid storage device 1 is used to store fluid; and a fluid output line 2 , a fluid output line 2 is communicated with the fluid storage device 1; the fluid detection device, the fluid detection device is at least partially arranged on the outside of the fluid output pipeline 2 for detecting whether there is fluid in the fluid output pipeline 2; the control device, the control device and the fluid detection device The electrical connection is used for outputting corresponding control instructions according to the detection result of the fluid detection device, and the detection result includes a fluid state and a non-fluid state.
  • the fluid may be any one of clean water, cleaning agent, and a mixed solution of clean water and cleaning agent.
  • the fluid storage device 1 may be a container capable of accommodating liquid, and the specific shape is not strictly limited.
  • the fluid output pipeline 2 can be a hard pipe extending according to a path, or a flexible pipe that can change the path, which can be specifically selected according to the type of cleaning equipment and the structural design of the cleaning equipment.
  • the cleaning device is a sweeping robot, a mopping robot, a ground polishing robot, a weeding robot or a hand-held cleaning device, but not limited thereto.
  • the hand-held floor scrubbing device further includes a main body 6 , a cleaning head 7 , a fluid classification device 3 , and the like.
  • the main body 6 is an elongated cylinder with a cavity, and the control device and the fluid storage device 1 and the fluid output pipeline 2 in the embodiments of the present disclosure are arranged in the cavity of the main body 6 to reduce the occupation of cleaning equipment space.
  • One end of the main body 6 is rotatably connected with the cleaning head 7, and the other end of the main body 6 is provided with a handle 8.
  • the whole formed by the handle 8 and the main body 6 is inclined relative to the cleaning piece, so that the gravity of the main body 6 is used.
  • the generated downward pressure makes the cleaning piece fit more closely with the surface to be cleaned, and it is convenient for the user to use the handle 8 to push the cleaning piece, which is more labor-saving; when the cleaning device is placed on the charging pile, the handle 8 and the main body 6 constitute the whole opposite. It is vertical to the cleaning element, thereby reducing the occupied space of the hand-held scrubbing equipment.
  • the cleaning head 7 includes a cleaning head housing and a cleaning piece disposed in the housing.
  • the specific composition of the cleaning piece is not limited, for example, it can be a mopping cloth, a mopping sponge, or a mopping roller brush, etc., as long as the cleaning of the surface to be cleaned can be achieved. It can be cleaned.
  • the material of the wiping cloth is not limited, and it can be cotton thread cloth, fiber cloth and so on.
  • the ground-wiping roller brush includes a roller brush and a driving part connected with the roller brush, where the roller brush can be in contact with the surface to be cleaned, and the driving part drives the roller brush to roll.
  • the fluid sorting device 3 may include a plurality of nozzles for cleaning liquid to the cleaning element, and the fluid storage device 1 communicates with the nozzles through the fluid output line 2 to deliver the fluid in the fluid storage device 1 to the nozzles through the fluid output line 2 so that the cleaning head 7 is soaked through the nozzle.
  • the control device can use various application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), micro-controllers components, microprocessors or other electronic components.
  • ASICs application-specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • micro-controllers components microprocessors or other electronic components.
  • the control device is electrically connected to the fluid detection device, and the control device is used to output corresponding control instructions according to the detection result of the fluid detection device, that is, if the detection fluid device detects that there is fluid in the fluid output pipeline 2, that is, the fluid storage device 1 If there is still fluid flowing into the fluid output pipeline 2, the control device will output a control command of normal operation to other devices of the cleaning equipment based on the detection result, so as to control the cleaning equipment to perform the cleaning operation normally. If the fluid detection device detects the fluid output There is no fluid in the pipeline 2, that is to say, no fluid in the fluid storage device 1 enters the fluid output pipeline 2, which means that the fluid storage device 1 is completely free of clean liquid, or the flow rate of the fluid storage device 1 is not enough to enter the fluid output.
  • the control device Based on the detection result, the control device outputs a control instruction to stop working to other devices of the cleaning device, so as to control the cleaning device to stop working, and can only resume work after the user adds fluid to the fluid storage device 1. Therefore, the fluid detection device disposed outside the fluid output pipeline 2 is used to detect whether there is fluid in the fluid output pipeline 2, so as to determine whether there is fluid in the fluid storage device 1 that can meet the cleaning operation, and the fluid output pipeline 2
  • the cross-sectional area is small, and the fluid detection device cannot detect the fluid due to the inclination of the cleaning equipment, so that it can accurately reflect whether there is fluid in the fluid storage device 1 that can meet the cleaning operation, and improve the accuracy of the detection results. , and the structure is simple and easy to assemble.
  • the fluid detection device includes a contact sensor 4 and a non-contact sensor 5.
  • the non-contact sensors 5 can all be located outside the fluid output pipeline 2, while the electrodes 403 of the contact sensor 4 need to extend into the fluid output pipeline 2. The above two sensors will be described in detail later.
  • the cleaning device further includes an alarm device electrically connected to the control device.
  • the control device determines that the detection result is a no-fluid state
  • the control device controls the alarm device to issue an alarm signal to remind the user to add fluid to the fluid storage device 1 .
  • the alarm device includes a multimedia output device electrically connected with the control device, and the multimedia output device is used to give an alarm by means of voice broadcast or display.
  • the multimedia output device includes at least one of a display screen, a digital display tube, and an audio device.
  • the cleaning device is further provided with a fixing part for fixing the fluid detection device on the fluid output pipeline 2 .
  • the fixing part can be a detachable connector, such as a buckle, etc., so that the detachable connection between the fluid detection device and the outer wall of the fluid output pipeline 2 can be realized, which is convenient for the user to install and remove.
  • the fluid detection device is a non-contact sensor 5 or a contact sensor 4 .
  • the non-contact sensor 5 changes as the fluid moves away or approaches to detect whether there is fluid in the fluid output channel.
  • the non-contact sensor 5 can realize liquid level detection without being in contact with the fluid, which effectively reduces the influence of the instability of the liquid level on the detection result, and is beneficial to improve the reliability of the detection result.
  • the non-contact sensor 5 is a capacitive sensor.
  • the capacitive sensor includes a sensing portion 501 surrounding the fluid output pipeline 2 and a first processing circuit 502 electrically connected to both ends of the sensing portion 501 .
  • the sensing portion 501 is a spring.
  • the capacitance of the capacitive sensor changes as the fluid moves away or approaches, that is to say, when no fluid approaches, the capacitive sensor has a small parasitic capacitance, and when the fluid approaches, the parasitic capacitance changes, according to The change of the parasitic capacitance can realize the detection of whether there is fluid in the fluid output pipeline 2 .
  • the first processing circuit 502 makes a difference between the generated real-time sensing capacitance value and the environment sensing capacitance value, wherein the environment sensing signal is the sensing capacitance value generated when there is no fluid in the fluid output pipeline, and then controls The device compares the difference with the preset threshold, and if the difference is greater than or equal to the preset threshold, it is determined that there is fluid in the fluid output pipeline 2, thereby determining that the fluid storage device 1 contains fluid that can meet the cleaning operation, and then the control device According to the detection result, the cleaning device is controlled to continue to work; if the difference is less than the preset threshold, it is determined that there is no fluid in the fluid output pipeline 2, so that it is determined that there is no fluid that can meet the cleaning operation in the fluid storage device 1, and then control The device controls the cleaning equipment to stop working according to the detection result.
  • the sensing part of the contact sensor 4 extends into the fluid output pipeline 2, and determines whether there is fluid in the output pipeline 2 by detecting whether the fluid contacts the sensing part.
  • the touch sensor 4 includes an electrode 403 and a second processing circuit 401 electrically connected to the electrode 403 , and the electrode 403 extends into the fluid output pipeline 2 .
  • the detection is performed by contacting the electrode 403 with the fluid.
  • the electrode 403 includes a positive electrode 4031 and a negative electrode 4032; the second processing circuit 401 is electrically connected to the positive electrode 4031 and the negative electrode 4032, respectively, and the positive electrode 4031 and the negative electrode 4032 extend into the fluid output pipeline 2 .
  • the second processing circuit 401 determines that the fluid storage device 1 has fluid that can satisfy the cleaning operation, so that the control device controls the cleaning device to continue to work;
  • the second processing circuit 401 determines that there is no fluid in the fluid storage device 1 that can meet the cleaning operation, and the control device controls the cleaning device to stop working.
  • both the positive electrode 4031 and the negative electrode 4032 include a conductor 402 and a metal sheet; the metal sheet is located in the fluid output pipeline 2, and one end of the conductor 402 is electrically connected to the second processing circuit 401 to conduct electricity. The other end of the body 402 extends into the fluid and metal sheet connection.
  • the metal sheet can increase the contact area with the fluid, thereby improving the detection range of the fluid detection device and making the detection result more accurate.
  • the metal sheet is elliptical, and the long axis of the ellipse is arranged in the same direction as the extending direction of the side wall of the fluid output pipe 2 .
  • the metal sheet is a copper sheet, thereby reducing the corrosion of the fluid to the metal sheet and improving the service life of the touch sensor 4 .
  • an embodiment of the present disclosure provides a method for controlling a cleaning device.
  • the cleaning device includes a fluid storage device, a fluid output pipeline communicated with the fluid storage device, a fluid detection device disposed outside the fluid output pipeline, and
  • the control device electrically connected to the fluid detection device includes:
  • Step S501 The fluid detection device detects whether there is fluid in the fluid output pipeline.
  • the fluid may be any one of clean water, cleaning agent, and a mixture of clean water and cleaning agent.
  • the fluid detection device is a non-contact sensor or a contact sensor.
  • the non-contact sensor 5 changes as the fluid moves away or approaches to detect whether there is fluid in the fluid output channel.
  • the non-contact sensor 5 can realize liquid level detection without being in contact with the fluid, which effectively reduces the influence of the instability of the liquid level on the detection result, and is beneficial to improve the reliability of the detection result.
  • this step specifically includes:
  • Step S5011a the capacitive sensor acquires a real-time sensing capacitance value.
  • Step S5012a Based on the real-time sensing capacitance value, the control device determines the difference between the real-time sensing capacitance value and the environmental sensing capacitance value.
  • the environmental sensing capacitance value is the sensing capacitance value generated by the capacitive sensor when there is no fluid in the fluid detection pipeline.
  • Step S5013a Determine whether the difference is greater than or equal to the preset threshold, if the difference is greater than or equal to the preset threshold, execute step S5014a, and if the difference is smaller than the preset threshold, execute step S5015a.
  • Step S5014a It is determined that the detection result is a fluid state.
  • Step S5015a determine that the detection result is a fluid-free state.
  • step S5013a-step S5015a can be used to detect whether there is fluid in the fluid output pipeline 2 .
  • the sensing part of the contact sensor 4 extends into the fluid output pipeline 2, and determines whether there is fluid in the output pipeline 2 by detecting whether the fluid is in contact with the sensing part.
  • This step includes:
  • Step S5011b the touch sensor acquires a real-time sensing signal.
  • the electrode 403 includes a positive electrode 4031 and a negative electrode 4032; the second processing circuit 401 is electrically connected to the positive electrode 4031 and the negative electrode 4032, respectively, and the positive electrode 4031 and the negative electrode 4032 extend into the fluid output tube In road 2, it is used to generate real-time induction signal.
  • Step S5013b It is determined that the detection result is a fluid state.
  • Step S5014b It is determined that the detection result is a fluid-free state.
  • the second processing circuit 401 determines that the fluid storage device 1 has The fluid that can meet the cleaning operation; when the electrode 403 is not in contact with the fluid, the positive electrode 4031 and the negative electrode 4032 are isolated, and an induction signal different from the environmental induction signal will be generated, and the second processing circuit 401 determines that there is no storage in the fluid storage device 1. If there is a fluid that can satisfy the cleaning operation, the solution of step S5012b to step S5014b can be used to detect whether there is fluid in the fluid output pipeline 2 .
  • the cleaning device also includes an alarm device electrically connected to the control device, wherein the alarm device includes a multimedia output device electrically connected to the control device, and the multimedia output device is used to give an alarm by voice broadcast or display.
  • the multimedia output device includes at least one of a display screen, a digital display tube, and an audio device. This step specifically includes:
  • Step S5021 when the detection result is a fluid state, the control device outputs a first control instruction for controlling the cleaning device to work normally based on the detection result, so that the cleaning device continues to work.
  • the detection result is a fluid state
  • the fluid storage device 1 contains fluid that can satisfy the cleaning operation, and thus the control device controls the cleaning device to continue to work.
  • Step S5022 when the detection result is a no-fluid state, the control device outputs a second control instruction for controlling the cleaning device to stop working based on the no-fluid state, so as to stop the cleaning device from working, or outputs a first control instruction for controlling the activation of the alarm device.
  • a second control instruction for controlling the cleaning device to stop working based on the no-fluid state, so as to stop the cleaning device from working, or outputs a first control instruction for controlling the activation of the alarm device.
  • the control device controls the cleaning equipment to stop working, or controls the alarm device to give an alarm to alarm. Remind the user to refill.
  • a fluid detection device disposed on the outside of a fluid output pipeline is used to detect whether there is fluid in the fluid output pipeline, so as to determine whether there is any fluid in the fluid storage device that can satisfy the cleaning requirements
  • the cross-sectional area of the fluid output pipeline is small, and the fluid detection device cannot detect the fluid due to the inclination of the cleaning equipment, so it can accurately reflect whether there is a fluid storage device that can meet the cleaning operation.
  • the fluid is used to improve the accuracy of the detection result, and the fluid detection device is arranged outside the fluid output pipeline, which has a simple structure and is easy to assemble.
  • an embodiment of the present disclosure is a computer-readable storage medium on which computer program instructions are stored; when the computer program instructions are executed by a processor, the above-mentioned control method for a cleaning device is implemented.
  • the computer instructions include computer program code, which may be in source code form, object code form, an executable file, some intermediate form, or the like.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

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  • General Physics & Mathematics (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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Abstract

一种清洁设备及其控制方法、计算机可读存储介质。清洁设备包括流体储存装置(1)，流体储存装置(1)用于存储流体；流体输出管路(2)，流体输出管路(2)与流体储存装置(1)相连通；流体检测装置，流体检测装置至少部分设在流体输出管路(2)的外侧，用于检测流体输出管路(2)内是否有流体；以及控制装置，与流体检测装置电连接，用于根据流体检测装置的检测结果，输出对应的控制指令，检测结果包括有流体状态和无流体状态。

Description

一种清洁设备及其控制方法、计算机可读存储介质
相关申请的交叉引用
本申请要求于2021年3月26日递交的中国专利申请第202110323643.X号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能检测领域，具体而言涉及一种清洁设备及其控制方法、计算机可读存储介质。
背景技术
目前市面上的清洁设备中有些具有湿拖、洗地的功能，这就不可避免地需要在清洁设备上设置水箱，水箱在使用过程中可能会出现缺水、无水的情况，这种情况下，继续进行清洁的话，拖地和洗地的功能就无法很好地进行。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
第一方面，本公开实施例提供了一种清洁设备，包括：
流体储存装置，所述流体储存装置用于存储流体；
流体输出管路，所述流体输出管路与所述流体储存装置相连通；
流体检测装置，所述流体检测装置至少部分设在所述流体输出管路的外侧，用于检测所述流体输出管路内是否有流体；
控制装置，所述控制装置与所述流体检测装置电连接，用于根据所述流体检测装置的检测结果，输出对应的控制指令，所述检测结果包括有流体状态和无流体状态。
在一些实施例中，所述清洁设备还设有固定部，用于将所述流体检测装置固定在所述流体输出管路上。
在一些实施例中，所述流体检测装置为非接触式传感器或接触式传感器。
在一些实施例中，所述非接触式传感器为电容式传感器。
在一些实施例中，所述电容式传感器包括环绕所述流体输出管路的传感部及与所述传感部两端电连接的第一处理电路。
在一些实施例中，所述传感部为弹簧。在一些实施例中，所述接触式传感器包括电极及与所述电极电连接的第二处理电路，所述电极伸入至所述流体输出管路内。
在一些实施例中，所述电极包括正电极及负电极；所述第二处理电路分别与所述正电 极及所述负电极电连接，且所述正电极与所述负电极伸入至流体输出管路内。
在一些实施例中，所述清洁设备还包括与所述控制装置电连接的警报装置，当所述控制装置确定所述检测结果为无流体状态时，所述控制装置控制所述警报装置发出报警信号。
第二方面，本公开实施例提供了一种清洁设备的控制方法，所述清洁设备包括流体储存装置、所述流体储存装置相连通的流体输出管路、设在所述流体输出管路外侧的流体检测装置以及与所述流体检测装置电连接的控制装置，包括：
所述流体检测装置检测所述流体输出管路内是否有流体；
所述控制装置根据所述流体检测装置的检测结果，输出对应的控制指令，以对所述清洁设备进行相应的控制，所述检测结果包括有流体状态和无流体状态。
在一些实施例中，所述流体检测装置为非接触式传感器，在所述非接触式检测传感器为电容式传感器的情况下，所述流体检测装置检测所述流体输出管路内是否有流体，包括：
所述电容式传感器获取实时感应电容值；
所述电容式传感器基于所述实时感应电容值，确定所述实时感应电容值与环境感应电容值的差值，所述环境感应电容值为在所述流体检测管路内没有流体时，所述电容式传感器产生的感应电容值；
判断所述差值是否大于或等于预设阈值，若所述差值大于或等于预设阈值，则确定检测结果为有流体状态；若所述差值小于预设阈值，则确定检测结果为为无流体状态。
在一些实施例中，所述流体检测装置为接触式传感器，所述流体检测装置检测所述流体输出管路内是否有流体，包括：
所述接触式传感器获取实时感应信号；
所述接触式传感器判定所述实时感应信号是否与环境感应信号相同，若所述实时感应信号与环境感应信号相同，则确定检测结果为有流体状态，若所述实时感应信号与预设感性信号不同，则确定检测结果为无流体状态，其中，所述环境感应信号为接触式传感器与流体接触时所产生的感应信号。
在一些实施例中，所述清洁设备还包括与所述控制装置电连接的警报装置，所述控制装置根据所述流体检测装置的检测结果，输出对应的控制指令，以对所述清洁设备进行相应的控制，包括：
当所述检测结果为有流体状态时，所述控制装置基于所述有流体状态，输出用于控制清洁设备正常工作的第一控制指令，以使所述清洁设备继续工作；
当所述检测结果为无流体状态时，所述控制装置基于所述无流体状态，输出用于控制清洁设备停止工作的第二控制指令，以使所述清洁设备停止工作，或者输出用于控制警报装置启动的第三控制指令，以使所述警报装置报警。
第三方面，本公开实施例一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序指令；所述计算机程序指令被处理器执行时实现上述的清洁设备的控制方 法。
本公开
附图说明
本公开的下列附图在此作为本公开实施例的一部分用于理解本公开。附图中示出了本公开的实施例及其描述，用来解释本公开的原理。
附图中：
图1为根据本公开的一个可选实施例的流体检测装置的结构示意图；
图2为根据本公开的另一个可选实施例的流体检测装置的结构示意图；
图3为根据本公开的另一个可选实施例的清洁设备的整体图；
图4为根据本公开的另一个可选实施例的流体检测装置的使用状态示意图；
图5为根据本公开的另一个可选实施例的清洁设备的控制方法的流程图；
图6为根据本公开的一个可选实施例的步骤S501的流程图；
图7为根据本公开的另一个可选实施例的步骤S501的流程图。
附图标记说明
1-流体储存装置，2-流体输出管路，3-流体分配装置，4-接触式传感器，401-第二处理电路，402-导电体，403-电极，4031-正电极，4032-负电极，5-非接触式传感器，501-传感部，502-第一处理电路，6-主体，7-清洁头部，8-手柄。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本公开发生混淆，对于本领域公知的一些技术特征未进行描述。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
本公开实施例提供了一种清洁设备及其控制方法、计算机可读存储介质，利用至少部分设置在流体输出管路外侧的流体检测装置来检测流体输出管路内是否有流体，从而判断 流体储存装置内是否存有能够满足清洁作业的流体，流体输出管路的横截面积较小，不会由于清洁设备的倾斜而出现流体检测装置无法检测到流体的情况，从而能够准确地反映流体储存装置内是否有能够满足清洁作业的流体，提高检测结果的准确性，并且结构简单，方便组装。
第一方面，如图1和图2所示，本公开实施例提供了一种清洁设备，包括：流体储存装置1，流体储存装置1用于存储流体；流体输出管路2，流体输出管路2与流体储存装置1相连通；流体检测装置，流体检测装置至少部分设在流体输出管路2的外侧，用于检测流体输出管路2内是否有流体；控制装置，控制装置与流体检测装置电连接，用于根据流体检测装置的检测结果，输出对应的控制指令，检测结果包括有流体状态和无流体状态。
其中，流体可以为清水、清洗剂、清水与清洗剂的混合液的任一种。流体储存装置1可为能够容置液体的容器，具体形状不做严格限定。流体输出管路2可以为按照路径延伸的硬管，或者可以改变路径的软管，具体可根据清洁设备的类型以及清洁设备的结构设计而选择。
在具体应用中，清洁设备为扫地机器人、拖地机器人、地面抛光机器人、除草机器人或手持清洁设备，但不限于此。在一些实施例中，如图3所示，以手持洗地设备为例，手持洗地设备还包括主体6、清洁头部7及流体分类装置3等。
其中，主体6为具有空腔的细长柱体，控制装置及本公开的实施例中的流体储存装置1和流体输出管路2配置在主体6的空腔内，以减小清洁设备的占用空间。主体6的一端与清洁头部7转动连接，主体6的另一端设有手柄8，在使用洗地机器人时，手柄8与主体6所构成的整体相对于清洁件倾斜，这样利用主体6的重力所产生的下压力，使清洁件与待清洁表面更加贴合，并且方便用户利用手柄8推动清洁件，更加省力；在清洁设备放置在充电桩上时，手柄8与主体6所构成的整体相对于清洁件垂直，从而使减小手持洗地设备的占用空间。
清洁头部7包括清洁头壳体及设置在壳体内的清洁件，清洁件的具体构成不限，例如可以为擦地抹布、擦地海绵或擦地滚刷等，只要能够实现对待清洁表面的清洁即可，另外，擦地抹布的材质不限，可以为棉线布料、纤维布料等等。其中，以擦地滚刷为例，擦地滚刷包括滚刷及与滚刷连接的驱动部，在滚刷可与待清洁表面相接触，驱动部驱动滚刷滚动。
流体分类装置3可包括多个用于向清洁件清洁液的喷嘴，流体储存装置1通过流体输出管路2与喷嘴连通，以将流体储存装置1内的流体通过流体输出管路2输送给喷嘴处，从而通过喷嘴将清洁头部7浸润。
控制装置可以使用各种应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、微中控元件、微处理器或其他电子元件实现。
控制装置与流体检测装置电连接，控制装置用于根据流体检测装置的检测结果，输出对应的控制指令，即如果检测流体装置检测到流体输出管路2内有流体，也就是说流体储 存装置1内还有流体流入至流体输出管路2，则控制装置基于该检测结果，输出正常工作的控制指令给清洁设备的其他装置，以控制清洁设备正常进行清洁作业，如果流体检测装置检测到流体输出管路2内没有流体，也就是说流体储存装置1内没有流体进入到流体输出管路2，表示流体储存装置1内已经完全无清洁液体，或者流体储存装置1的流量不够而无法进入流体输出管路2，则控制装置基于该检测结果，输出停止工作的控制指令给清洁设备的其他装置，以控制清洁设备停止工作，只有在用户向流体储存装置1内添加流体之后才能恢复工作。由此利用设置在流体输出管路2外的流体检测装置来检测流体输出管路2内是否有流体，从而判断流体储存装置1内是否存有能够满足清洁作业的流体，流体输出管路2的横截面积较小，不会由于清洁设备的倾斜而出现流体检测装置无法检测到流体的情况，从而能够准确地反映流体储存装置1内是否有能够满足清洁作业的流体，提高检测结果的准确性，并且结构简单，方便组装。
其中，流体检测装置包括接触式传感器4和非接触式传感器5，非接触式传感器5可以全部位于流体输出管路2的外侧，而接触式传感器4的电极403需要伸入至流体输出管路2内，后面会对上述两种传感器进行详细阐述。
进一步地，清洁设备还包括与控制装置电连接的警报装置，当控制装置确定检测结果为无流体状态时，控制装置控制警报装置发出报警信号，以提醒用户向流体储存装置1内添加流体。其中，警报装置包括与控制装置电连接的多媒体输出装置，所述多媒体输出装置用于通过语音播报或显示的方式进行告警。在一些实施例中，所述多媒体输出装置包括显示屏、数码显示管及音频设备中的至少一个。
在一些实施例中，清洁设备还设有固定部，用于将流体检测装置固定在流体输出管路2上。
其中，固定部可为可拆卸连接件，例如卡扣等，从而可实现流体检测装置与流体输出管路2外壁的可拆卸连接，方便用户的装卸。
在具体应用中，流体检测装置为非接触式传感器5或接触式传感器4。
非接触式传感器5随着流体远离或靠近，该部件会产生变化来检测流体输出通道内是否有流体。非接触式传感器5无需与流体进行接触即可实现液位检测，有效降低了液面的不稳定性对检测结果的影响，有利于提高检测结果的可靠性。
具体而言，如图2和图4所示，非接触式传感器5为电容式传感器。电容式传感器包括环绕流体输出管路2的传感部501及与传感部501两端电连接的第一处理电路502。在一些实施例中，传感部501为弹簧。
电容式传感器在随着流体远离或靠近，电容式检测传感器的电容发生变化，也就是说无流体靠近时，电容式传感器存在较小的寄生电容，而当流体靠近时，寄生电容发生改变，根据寄生电容的变化可实现对流体输出管路2内是否有流体的检测。
在一些实施例中，第一处理电路502将产生的实时感应电容值与环境感应电容值做差值，其中，环境感应信号为流体输出管路内没有流体时所产生的感应电容值，然后控制装 置该差值与预设阈值比较，若该差值大于或等于预设阈值，则判定流体输出管路2内有流体，从而确定流体储存装置1内存有能够满足清洁作业的流体，然后控制装置根据该检测结果，控制清洁设备继续工作；若该差值小于预设阈值，则判定流体输出管路2内没有流体，从而确定流体储存装置1内没有存有能够满足清洁作业的流体，然后控制装置根据该检测结果，控制清洁设备停止工作。
接触式传感器4的感测部件伸入至流体输出管路2内，通过检测流体是否与感测部件接触来确定输出管路2内是否有流体。
如图1所示，接触式传感器4包括电极403及与电极403电连接的第二处理电路401，电极403伸入至流体输出管路2内。利用电极403与流体进行接触来进行检测，在一些实施例中，电极403包括正电极4031及负电极4032；第二处理电路401分别与正电极4031及所述负电极4032电连接，且正电极4031与负电极4032伸入至流体输出管路2内。在电极403与流体接触时，正电极4031和负电极4032通过流体导通，第二处理电路401确定流体储存装置1内存有能够满足清洁作业的流体，从而控制装置控制清洁设备继续工作；在电极403没有与流体接触时，正电极4031和负电极4032隔离，第二处理电路401确定流体储存装置1内没有存有能够满足清洁作业的流体，从而控制装置控制清洁设备停止工作。
进一步地，如图1所示，正电极4031和负电极4032均包括导电体402及金属片；金属片位于流体输出管路2内，导电体402的一端与第二处理电路401电连接，导电体402的另一端伸入至流体与金属片连接。
金属片可增加与流体的接触面积，从而提高流体检测装置的检测范围，使检测结果更加准确。
在一些实施例中，如图1所示，金属片为椭圆形，且椭圆形的长轴设置方向与流体输出管路2的侧壁的延伸方向相同。
将金属片设为椭圆形不仅与流体输出管路2的形状相适配，也大大提高了金属片与流体的接触面积。进一步地，金属片为铜片，从而降低流体对金属片的腐蚀，提高接触式传感器4的使用寿命。
第二方面，本公开实施例提供了一种清洁设备的控制方法，清洁设备包括流体储存装置、与流体储存装置相连通的流体输出管路、设在流体输出管路的外侧的流体检测装置以及与流体检测装置电连接的控制装置，如图5所示，包括：
步骤S501：流体检测装置检测流体输出管路内是否有流体。
在一些实施例中，流体可以为清水、清洗剂、清水与清洗剂的混合液的任一种。流体检测装置为非接触式传感器或接触式传感器。
非接触式传感器5随着流体远离或靠近，该部件会产生变化来检测流体输出通道内是否有流体。非接触式传感器5无需与流体进行接触即可实现液位检测，有效降低了液面的不稳定性对检测结果的影响，有利于提高检测结果的可靠性。
在非接触式检测传感器为电容式传感器的情况下，如图6所示，该步骤具体包括：
步骤S5011a：电容式传感器获取实时感应电容值。
步骤S5012a：控制装置基于实时感应电容值，确定实时感应电容值与环境感应电容值的差值，环境感应电容值为在流体检测管路内没有流体时，电容式传感器产生的感应电容值。
步骤S5013a：判断差值是否大于或等于预设阈值，若差值大于或等于预设阈值，则执行步骤S5014a，若差值小于预设阈值，则执行步骤S5015a。
步骤S5014a：确定检测结果为有流体状态。
步骤S5015a：确定检测结果为无流体状态。
电容式传感器在随着流体远离或靠近，电容式检测传感器的电路发生变化，也就是说无流体靠近时，电容式检测传感器存在较小的寄生电容，而当流体靠近时，寄生电容发生改变，根据寄生电容的变化，利用步骤S5013a-步骤S5015a的方案即可实现对流体输出管路2内是否有流体的检测。
接触式传感器4的感测部件伸入至流体输出管路2内，通过检测流体是否与感测部件接触来确定输出管路2内是否有流体，在一些实施例中，如图7所示，该步骤包括：
步骤S5011b：接触式传感器获取实时感应信号。
在一些实施例中，电极403包括正电极4031及负电极4032；第二处理电路401分别与正电极4031及所述负电极4032电连接，且正电极4031与负电极4032伸入至流体输出管路2内，以用来产生实时的感应信号。
步骤S5012b：接触式传感器判定实时感应信号是否与环境感应信号相同，若实时感应信号与环境感应信号相同，则执行步骤S5013b；若实时感应信号与环境感应信号不同，则执行步骤S5014b，其中，环境感应信号为接触式传感器与流体接触时所产生的感应信号。
步骤S5013b：确定检测结果为有流体状态。
步骤S5014b：确定检测结果为无流体状态。
在一些实施例中，在电极403与流体接触时，正电极4031和负电极4032通过流体导通，则会产生与环境感应信号相同的感应信号，第二处理电路401确定流体储存装置1内存有能够满足清洁作业的流体；在电极403没有与流体接触时，正电极4031和负电极4032隔离，则会产生与环境感应信号不同的感应信号，第二处理电路401确定流体储存装置1内没有存有能够满足清洁作业的流体，由此利用步骤S5012b-步骤S5014b的方案即可实现对流体输出管路2内是否有流体的检测。
步骤S502：控制装置根据流体检测装置的检测结果，输出对应的控制指令，以对清洁设备进行相应的控制，检测结果包括有流体状态和无流体状态。
进一步地，清洁设备还包括与控制装置电连接的警报装置，其中，警报装置包括与控制装置电连接的多媒体输出装置，多媒体输出装置用于通过语音播报或显示的方式进行告 警。在一些实施例中，多媒体输出装置包括显示屏、数码显示管及音频设备中的至少一个。该步骤具体包括：
步骤S5021：当检测结果为有流体状态时，控制装置基于检测结果，输出用于控制清洁设备正常工作的第一控制指令，以使清洁设备继续工作。
可以理解的是，在检测结果为有流体状态的情况下，就可表示流体储存装置1内存有能够满足清洁作业的流体，因而控制装置控制清洁设备继续工作。
步骤S5022：当检测结果为无流体状态时，控制装置基于无流体状态，输出用于控制清洁设备停止工作的第二控制指令，以使清洁设备停止工作，或者输出用于控制警报装置启动的第三控制指令，以使警报装置报警。
可以理解的是，在检测结果为无流体状态的情况下，就可表示流体储存装置1内没有存有能够满足清洁作业的流体，因而控制装置控制清洁设备停止工作，或者控制警报装置报警，以提醒用户进行注水。
本公开实施例所提供的一种清洁设备的控制方法，利用设置在流体输出管路外侧的流体检测装置来检测流体输出管路内是否有流体，从而判断流体储存装置内是否存有能够满足清洁作业的流体，流体输出管路的横截面积较小，不会由于清洁设备的倾斜而出现流体检测装置无法检测到流体的情况，从而能够准确地反映流体储存装置内是否有能够满足清洁作业的流体，提高检测结果的准确性，并且将流体检测装置设置流体输出管路的外侧，结构简单，方便组装。
第三方面，本公开实施例一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序指令；计算机程序指令被处理器执行时实现上述的清洁设备的控制方法。
需要说明的是，该存储介质的技术方案与上述的控制方法的技术方案属于同一构思，存储介质的技术方案未详细描述的细节内容，均可以参见上述数据存储方法的技术方案的描述。所述计算机指令包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、电载波信号、电信信号以及软件分发介质等。
本公开已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本公开并不局限于上述实施例，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (18)

  1. 一种清洁设备，包括：
    流体储存装置，所述流体储存装置用于存储流体；
    流体输出管路，所述流体输出管路与所述流体储存装置相连通；
    流体检测装置，所述流体检测装置至少部分设在所述流体输出管路的外侧，用于检测所述流体输出管路内是否有流体；
    控制装置，所述控制装置与所述流体检测装置电连接，用于根据所述流体检测装置的检测结果，输出对应的控制指令，所述检测结果包括有流体状态和无流体状态。
  2. 根据权利要求1所述的清洁设备，其中，所述清洁设备还设有固定部，用于将所述流体检测装置固定在所述流体输出管路。
  3. 根据权利要求1所述的清洁设备，其中，所述流体检测装置为非接触式传感器或接触式传感器。
  4. 根据权利要求3所述的清洁设备，其中，所述非接触式传感器为电容式传感器。
  5. 根据权利要求4所述的清洁设备，其中，所述电容式传感器包括环绕所述流体输出管路的传感部及与所述传感部的两端电连接的第一处理电路。
  6. 根据权利要求5所述的清洁设备，其中，所述传感部为弹簧。
  7. 根据权利要求3所述的清洁设备，其中，所述接触式传感器包括电极及与所述电极电连接的第二处理电路，所述电极伸入至所述流体输出管路内。
  8. 根据权利要求7所述的清洁设备，其中，所述电极包括正电极及负电极；所述第二处理电路分别与所述正电极及所述负电极电连接，且所述正电极与所述负电极伸入至流体输出管路内。
  9. 根据权利要求1所述的清洁设备，其中，所述清洁设备还包括与所述控制装置电连接的警报装置，当所述控制装置确定所述检测结果为无流体状态时，所述控制装置控制所述警报装置发出报警信号。
  10. 根据权利要求2所述的清洁设备，其中，所述固定部为可拆卸连接件。
  11. 根据权利要求9所述的清洁设备，其中，所述警报装置包括与所述控制装置电连接的多媒体输出装置。
  12. 根据权利要求8所述的清洁设备，其中，所述正电极和所述负电极均包括导电体及金属片；
    所述金属片位于流体输出管路内，所述导电体的一端与第二处理电路电连接，所述导电体的另一端伸入至流体与金属片连接。
  13. 根据权利要求12所述的清洁设备，其中，所述金属片为椭圆形，且所述椭圆形的长轴设置方向与流体输出管路的侧壁的延伸方向相同。
  14. 一种清洁设备的控制方法，所述清洁设备包括流体储存装置、所述流体储存装置相连通的流体输出管路、设在所述流体输出管路外侧的流体检测装置以及与所述流体检测 装置电连接的控制装置，包括：
    所述流体检测装置检测所述流体输出管路内是否有流体；
    所述控制装置根据所述流体检测装置的检测结果，输出对应的控制指令，以对所述清洁设备进行相应的控制，所述检测结果包括有流体状态和无流体状态。
  15. 根据权利要求14所述的方法，其中，所述流体检测装置为非接触式传感器，在所述非接触式检测传感器为电容式传感器的情况下，所述流体检测装置检测所述流体输出管路内是否有流体，包括：
    所述电容式传感器获取实时感应电容值；
    所述电容式传感器基于所述实时感应电容值，确定所述实时感应电容值与环境感应电容值的差值，所述环境感应电容值为在所述流体检测管路内没有流体时，所述电容式传感器产生的感应电容值；
    判断所述差值是否大于或等于预设阈值，若所述差值大于或等于预设阈值，则确定检测结果为有流体状态；若所述差值小于预设阈值，则确定检测结果为无流体状态。
  16. 根据权利要求14所述的方法，其中，所述流体检测装置为接触式传感器，所述流体检测装置检测所述流体输出管路内是否有流体，包括：
    所述接触式传感器获取实时感应信号；
    所述接触式传感器判定所述实时感应信号是否与环境感应信号相同，若所述实时感应信号与环境感应信号相同，则确定检测结果为有流体状态，若所述实时感应信号与环境感应信号不同，则确定检测结果为无流体状态，其中，所述环境感应信号为接触式传感器与流体接触时所产生的感应信号。
  17. 根据权利要求14所述的方法，其中，所述清洁设备还包括与所述控制装置电连接的警报装置，所述控制装置根据所述流体检测装置的检测结果，输出对应的控制指令，以对所述清洁设备进行相应的控制，包括：
    当所述检测结果为有流体状态时，所述控制装置输出用于控制清洁设备正常工作的第一控制指令，以使所述清洁设备继续工作；
    当所述检测结果为无流体状态时，所述控制装置输出用于控制清洁设备停止工作的第二控制指令，以使所述清洁设备停止工作，或者输出用于控制警报装置启动的第三控制指令，以使所述警报装置报警。
  18. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序指令；所述计算机程序指令被处理器执行时实现如权利要求14-17任一项所述的清洁设备的控制方法。
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