WO2024060637A1 - 一种洗地机控制系统、洗地机及控制方法 - Google Patents
一种洗地机控制系统、洗地机及控制方法 Download PDFInfo
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- WO2024060637A1 WO2024060637A1 PCT/CN2023/092876 CN2023092876W WO2024060637A1 WO 2024060637 A1 WO2024060637 A1 WO 2024060637A1 CN 2023092876 W CN2023092876 W CN 2023092876W WO 2024060637 A1 WO2024060637 A1 WO 2024060637A1
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- Prior art keywords
- suction
- suction motor
- motor
- washing machine
- electromagnetic pump
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- 238000004140 cleaning Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 62
- 238000005406 washing Methods 0.000 claims description 53
- 239000010865 sewage Substances 0.000 claims description 9
- 238000011109 contamination Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000003749 cleanliness Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Definitions
- Embodiments of the present invention relate to the technical field of automatic equipment cleaning, and in particular to a floor washing machine control system, a floor washing machine and a control method.
- the existing floor scrubbers on the market usually only use turbidity sensors to determine the degree of dirtiness of the inlet pipe, and then start the cleaning mode with corresponding cleaning intensity according to the different degrees of dirtiness, so as to achieve an automatic cleaning effect.
- the real problem is that for floor washing machines, they do not involve using the connection between the turbidity sensor and the working current of the suction motor to control the blockage of the entire pipeline (including the suction pipeline and the inlet pipeline), resulting in long-term use of the machine.
- the suction pipe After using the floor scrubber for a long time, the suction pipe has been seriously blocked.
- the speed of the suction motor, the speed of the roller brush motor, the flow rate of the electromagnetic pump, etc. are still running at a low speed and will not be cleaned in time.
- Suction pipe This not only causes the problem of poor cleaning effect, but also reduces the service life of the suction motor, and the overall performance of the floor washing machine cannot be guaranteed.
- Embodiments of the present invention provide a floor washing machine control that can automatically determine whether cleaning is required based on the actual operating conditions of the pipes and suction motors of the floor washing machine, and can directly perform corresponding cleaning, improve the cleaning effect, and reduce energy consumption at the same time.
- System, floor scrubber and control method can automatically determine whether cleaning is required based on the actual operating conditions of the pipes and suction motors of the floor washing machine, and can directly perform corresponding cleaning, improve the cleaning effect, and reduce energy consumption at the same time.
- a floor washing machine control system including:
- the first detection module is arranged at any position between the inlet of the floor washing machine and the suction pipe, and is used to detect the turbidity of the inlet pipe and the sewage it absorbs;
- a suction motor is provided in the suction pipe connected with the inlet pipe and is used to generate suction for absorbing sewage;
- a control component is connected to at least the first detection module, the suction motor, and the electromagnetic pump in the floor scrubber to determine the degree of dirtiness and blockage of the inlet pipe and the suction pipe based on the parameters detected by the first detection module and/or the operating parameters of the suction motor, and to control the operation of at least the suction motor and the electromagnetic pump based on the degree of dirtiness and blockage to achieve matched cleaning of the inlet pipe and/or the suction pipe, and the floor.
- control component includes a current detection module connected to the suction motor for detecting the current working current value of the suction motor.
- the control component also includes a controller. The controller It is connected to the current detection module to determine the degree of dirt and blockage of the inlet pipe and the suction pipe based on the detected working current value.
- the first detection module is a turbidity sensor.
- control component is simultaneously connected to the roller brush motor in the floor washing machine to simultaneously control the operation of the suction motor, electromagnetic pump, and roller brush motor based on the degree of dirt and blockage. .
- Another embodiment of the present invention also provides a floor washing machine, including the floor washing machine control system as described above.
- Another embodiment of the present invention also provides a control method, which is applied to the floor washing machine as described above.
- the method includes:
- At least the operation of the suction motor and the electromagnetic pump in the floor scrubber is controlled to achieve matched cleaning of the floor and the inlet pipe and/or the suction pipe.
- controlling at least the operation of the suction motor and the electromagnetic pump in the floor washing machine based on the turbidity detection parameters and/or operating parameters includes:
- controlling at least the operation of the suction motor and the electromagnetic pump in the floor washing machine based on the turbidity detection parameters and/or operating parameters includes:
- the timing starts when it is determined based on the turbidity detection parameters that the degree of contamination of the inlet pipe changes from a high level to a low level, or when it is determined based on the operating parameters that the suction motor current meets a preset threshold;
- the flow rate of the electromagnetic pump is controlled to be reduced, and the rotational speeds of the suction motor and the roller brush motor are controlled to return to their original rotational speeds.
- controlling at least the operation of the suction motor and the electromagnetic pump in the floor washing machine based on the turbidity detection parameters and/or operating parameters includes:
- the suction motor, the electromagnetic pump and the roller brush motor are all controlled to run at high speed, it is determined based on the turbidity detection parameter that when the dirt level of the inlet pipe continues to be at a high level within the third target time period, it is determined that the The inlet pipe is seriously blocked, the floor washing machine is controlled to stop running, and a user self-cleaning prompt is output; or
- it also includes:
- the suction motor, electromagnetic pump and roller brush motor are automatically controlled to stop running and cleaning is completed.
- the beneficial effects of the embodiments of the present invention include that the control component determines the degree of dirt of the inlet pipe and the suction pipe respectively according to the degree of dirt of the inlet pipe in the floor washing machine and the working current of the suction motor. Whether clogging occurs, and based on the determined degree of dirt, the suction motor speed, roller brush motor speed, and electromagnetic pump flow parameters are matched and adjusted to achieve adaptive cleaning of the inlet pipe and suction pipe, which is in line with the actual conditions of the pipeline and has better cleaning effects.
- the control component will also determine whether the current cleaning is effective based on the changes in the turbidity detection parameters of the inlet pipe and the current value of the suction motor under its control.
- the suction motor, roller brush motor, and electromagnetic pump can be controlled to reduce the operating speed according to the actual degree of cleaning, and stop their operation in time when the cleaning is determined to be completed, thereby ensuring excellent performance of the entire machine and achieving the effect of intelligent cleaning .
- Figure 1 is a structural relationship diagram of a floor washing machine control system in an embodiment of the present invention.
- Figure 2 is a schematic structural diagram of a floor washing machine in an embodiment of the present invention.
- Figure 3 is a method flow chart of the control method in the embodiment of the present invention.
- Figure 4 is an application flow chart of the control method in the embodiment of the present invention.
- FIG. 5 is an application flow chart of the control method in the embodiment of the present invention.
- FIG. 6 is an application flow chart of the control method in the embodiment of the present invention.
- 1-Inlet pipe 2-Suction pipe; 3-Turbidity sensor; 4-Electromagnetic pump; 5-Suction motor; 6-Rolling brush motor
- an embodiment of the present invention provides a floor washing machine control system, including:
- the first detection module is installed at any position between the inlet of the floor washing machine and the suction pipe, and is used to detect the turbidity of the inlet pipe 1 and the sewage it absorbs;
- the suction motor 5 is installed in the suction pipe 2 connected to the inlet pipe 1 of the floor washing machine, and is used to generate suction for absorbing sewage;
- the control component is connected to at least the first detection module, the suction motor 5 and the electromagnetic pump 4 in the floor washing machine to determine the inlet pipe 1 and the suction pipe based on the parameters detected by the first detection module and/or the operating parameters of the suction motor 5 2, and based on the degree of dirt and blockage, at least control the operation of the suction motor 5 and the electromagnetic pump 4 to achieve matching cleaning of the inlet pipe 1 and/or the suction pipe 2 and the ground.
- the first detection module is arranged at any position between the inlet of the floor scrubber and the suction pipe 2, and can be arranged at any position in the inlet pipe 1.
- the inlet pipe 1 can be formed by an independent pipe, or can be a channel surrounded by spaces of other components.
- the suction pipe 2 is connected to the inlet pipe 1.
- the beneficial effects of this embodiment include that the control component determines the dirtiness of the inlet pipe 1 and the suction pipe 2 according to the degree of dirtiness of the inlet pipe 1 in the floor washing machine and the working current of the suction motor 5 respectively.
- the degree of pollution and whether blockage occurs, and based on the determined degree of pollution, the suction motor 5 speed, roller brush motor 6 speed, and electromagnetic pump 4 flow parameters are matched and adjusted to achieve adaptive cleaning of the inlet pipe 1 and suction pipe 2, in line with the pipeline In reality, the cleaning effect is better.
- control component will also determine whether the current cleaning is effective based on changes in the turbidity detection parameters of the inlet pipe 1 and the current value of the suction motor 5 under its control. If it is invalid, the control component will control the floor washing machine to stop running and notify The user realizes pipeline cleaning. If it is effective, the suction motor 5, roller brush motor 6, and electromagnetic pump 4 can be controlled to reduce the operating speed according to the actual cleaning degree, and stop their operation in time when the cleaning is determined to be completed, thereby ensuring excellent performance of the entire machine, and Achieve intelligent cleaning effect.
- the control component in this embodiment includes a current detection module, which is connected to the suction motor 5 for detecting the current operating current value of the suction motor 5 .
- the control component also includes a controller, which is connected to the current detection module to determine the degree of dirtiness and blockage of the inlet pipe 1 and the suction pipe 2 based on the turbidity detection parameters and the detected working current value.
- the first detection module in this embodiment is the turbidity sensor 3 .
- the turbidity sensor 3 is the turbidity sensor 3 .
- other types of devices for detecting turbidity can also be used, and the specific details are not exclusive.
- control component is simultaneously connected to the roller brush motor 6 in the floor washing machine to simultaneously control the operations of the suction motor 5, the electromagnetic pump 4, and the roller brush motor 6 based on the degree of dirt and blockage, so as to achieve When the pipeline cleaning is completed, the cleaning of the roller brush motor 6 is completed.
- the controller is respectively connected to the suction motor 5, the roller brush motor 6, the electromagnetic pump 4, and the turbidity sensor 3.
- the turbidity sensor 3 is placed in the inlet pipe 1, and the suction motor 5 is located in the suction pipe 2 and connected thereto.
- the controller is also provided with a current detection module of the suction motor 5, which is connected to the suction motor 5 for detecting the working current value.
- the information detected by the turbidity sensor 3 is used as the input signal of the controller.
- This input signal is the pollution value of the inlet pipe 1.
- the information detected by the current detection module of the suction motor 5 is also used as the input signal of the controller. This input signal is the operation of the suction motor 5.
- the current value and the working current value of the suction motor 5 can directly reflect the degree of blockage of the suction pipe 2.
- the controller can learn the degree of dirt and blockage of the inlet pipe 1 and the suction pipe 2 based on the input signals of the turbidity sensor 3 and the current detection module. , and then adaptively control the rotation speeds of the suction motor 5 and the roller brush motor 6 to adjust, and at the same time adjust the flow rate of the electromagnetic pump 4.
- the turbidity sensor 3 in this embodiment detects the turbidity values of the water flow with different turbidities in the inlet pipe 1, and the controller divides the degree of contamination of the pipe water flow into different levels.
- the turbidity sensor 3 can based on this phenomenon and actually test the inlet pipe The result of the value detected by the turbidity sensor 3 when 1 is clogged is to obtain the turbidity value when the inlet pipe 1 is clogged.
- the current detection module of the suction motor 5 performs current detection when the suction motor 5 is working to obtain the real-time current value when the suction motor 5 is working.
- the working principle of the suction motor 5 is to quickly extract the air in the suction pipe 2 to generate a certain degree of vacuum in the pipe, thereby generating suction at the suction port.
- the suction aperture of the suction motor 5 decreases, the power of the suction motor 5 will decrease. , the working current of the suction motor 5 will be reduced.
- this embodiment determines whether the suction pipe 2 is blocked by detecting the current changes of the suction motor 5 during normal operation and blockage operation, and performs corresponding logic processing to enable the floor washing machine to perform self-cleaning mode and realize the entrance Cleaning of pipe 1 and suction pipe 2.
- the controller in this embodiment since the controller in this embodiment is connected to the roller brush motor 6 at the same time, it can also determine whether the roller brush motor 6 is seriously dirty based on the degree of contamination of the water flow in the inlet pipe 1, so the roller brush motor 6 can be controlled to rotate at high speed at the same time. , the cleaning of the roller brush motor 6 has been achieved.
- FIG. 2 another embodiment of the present application also provides a floor washing machine, including the floor washing machine control system as described in any one of the above embodiments.
- FIG. 3 another embodiment of the present application also provides a control method, which is applied to the floor washing machine as described above.
- the method includes:
- At least the operation of the suction motor and the electromagnetic pump in the floor scrubber is controlled to achieve matching cleaning of the ground and inlet pipes and/or suction pipes.
- FIG. 4 there are many different situations for controlling at least the operation of the suction motor and the electromagnetic pump in the floor scrubber based on the turbidity detection parameters and/or operating parameters. The following will be explained in conjunction with the different situations:
- Implementation 1 Control at least the operation of the suction motor and the electromagnetic pump in the floor scrubber based on the turbidity detection parameters and/or operating parameters, including:
- the suction motor, electromagnetic pump and floor scrubber are controlled.
- the roller brush motors in all run at high speed; or
- the suction motor speed, the roller brush motor speed, and the electromagnetic pump flow rate are controlled to increase to the corresponding Gear speed.
- the gear P at which the degree of contamination of the pipe is detected remains the highest continuously during the first target period (T1), and the gear speed S (S: gear speed (the larger S is, the faster the speed)) of each motor is the second.
- S gear speed (the larger S is, the faster the speed)) of each motor is the second.
- the controller increases the suction motor speed, roller brush motor speed, and electromagnetic pump flow speed to the highest gear speed.
- the controller controls to increase the gears of the suction motor, roller brush motor, and electromagnetic pump. speed.
- Implementation 2 Control at least the operation of the suction motor and the electromagnetic pump in the floor scrubber based on the turbidity detection parameters and/or operating parameters, including:
- the timing starts;
- the flow rate of the electromagnetic pump is controlled to be reduced, and the rotational speeds of the suction motor and the roller brush motor are controlled to return to the original rotational speeds.
- the speed of the suction motor and the roller brush can be restored to the original speed first, and the timing starts.
- the controller will control the speed to decrease.
- the flow rate of the electromagnetic pump ensures the cleaning effect. Or you can first control the suction motor speed, roller brush motor speed, and electromagnetic pump flow rate to maintain the original gear speed. After the second target period, reduce the suction motor speed, roller brush motor speed, and electromagnetic pump flow rate to the corresponding gear. speed.
- the controller can determine that the pipeline is seriously blocked, prompt the user to perform self-cleaning, and control the floor scrubber to stop working.
- the controller can control to prompt the user to perform self-cleaning and stop washing. Ground machine work.
- the controller will also control the floor washing machine to stop working, prompting the user to perform self-cleaning before shutting down.
- the method in this embodiment also includes:
- the controller controls the floor washing machine to perform self-cleaning, it controls each motor and electromagnetic pump to run at high speed to clean the pipelines and roller brushes. If the cleaning time reaches the fourth target time period (T4), the pipelines and suction motors can be detected. , if the detected dirt value is less than C and the suction motor current is within the normal operating current range, the suction motor, roller brush motor, and electromagnetic pump can be controlled to stop working and self-cleaning ends.
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Abstract
一种洗地机控制系统、洗地机及控制方法。洗地机控制系统包括：第一检测模块，设置在洗地机的入口与吸力管道（2）之间的任意位置处，用于检测入口管道（1）及其吸收的污水的污浊度；吸力马达（5），设置在洗地机中与入口管道（1）连通的吸力管道（2）中，用于产生吸收污水的吸力；控制组件，至少与第一检测模块、吸力马达（5）、洗地机中的电磁泵相连，以基于第一检测模块检测的参数和/或吸力马达（5）的运行参数而确定入口管道（1）、吸力管道（2）的脏污程度、堵塞程度，并基于脏污程度、堵塞程度至少控制吸力马达（5）、电磁泵的运行，实现入口管道（1）和/或吸力管道（2）、地面的匹配清洁。洗地机控制系统能够基于洗地机的管道及吸力马达（5）的实际运行情况而自动执行对应的清洁。
Description
本发明实施例涉及设备自动清洁技术领域，特别涉及一种洗地机控制系统、洗地机及控制方法。
现有市场的洗地机通常只会使用污浊度传感器来实现对入口管道的脏污程度的判断，再根据不同的脏污程度开启相应清洁强度的清洁模式，从而达到自动清洁效果。
而现实问题是针对洗地机而言，均不涉及利用污浊度传感器和吸力马达工作电流之间的联系来对整条管道(包括吸力管道、入口管道)堵塞的问题进行控制，导致当用户长时间使用洗地机后，吸力管道已经严重堵塞，但入口管道的脏污程度为低污程度时，吸力马达的转速、滚刷马达的转速、电磁泵流量等仍在低速运行，不会及时清洁吸力管道。如此不仅产生清洁效果差的问题，也降低了吸力马达的使用寿命，洗地机整机性能得不到保障。
发明内容
本发明实施例提供了一种能够基于洗地机的管道及吸力马达的实际运行情况而自动确定是否需要清洁，并可直接执行对应的清洁，提升清洁效果，同时降低能耗的洗地机控制系统、洗地机及控制方法。
为了解决上述技术问题，本发明实施例提供了一种洗地机控制系统，包括：
第一检测模块，设置在洗地机的入口与吸力管道之间的任意位置处，用于检测所述入口管道及其吸收的污水的污浊度；
吸力马达，设置在与所述入口管道连通的吸力管道中，用于产生吸收污水的吸力；
控制组件，至少与所述第一检测模块、吸力马达、所述洗地机中的电磁泵相连，以基于所述第一检测模块检测的参数和/或所述吸力马达的运行参数而确定所述入口管道、吸力管道的脏污程度、堵塞程度，并基于所述脏污程度、堵塞程度至少控制所述吸力马达、电磁泵的运行，实现所述入口管道和/或吸力管道、以及地面的匹配清洁。
作为一可选实施例，所述控制组件包括电流检测模块，其与所述吸力马达相连以用于检测所述吸力马达当前的工作电流值，所述控制组件还包括控制器，所述控制器与所述电流检测模块相连，以结合检测得到的所述工作电流值确定所述入口管道、吸力管道的脏污程度、堵塞程度。
作为一可选实施例，所述第一检测模块为污浊度传感器。
作为一可选实施例，所述控制组件同时与所述洗地机中的滚刷马达相连，以基于所述脏污程度、堵塞程度同时控制所述吸力马达、电磁泵、滚刷马达的运行。
本发明另一实施例同时提供一种洗地机，包括如上所述的洗地机控制系统。
本发明另一实施例还提供一种控制方法，应用于如上所述的洗地机中，所述方法包括：
获得关于入口管道中污水的污浊度检测参数；
获得吸力管道中吸力马达的运行参数；
基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，实现地面以及所述入口管道和/或吸力管道的匹配清洁。
作为一可选实施例，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：
基于所述污浊度检测参数确定所述入口管道的脏污程度处于高位时，或基于在第一目标时间段内对所述入口管道的监测确定所述污浊度检测参数持续处于高位时，控制所述吸力马达、电磁泵及所述洗地机中的滚刷马达均高速运行；或
基于所述运行参数确定所述吸力马达电流小于预设阈值时，确定所述吸力管道发生堵塞，控制所述吸力马达、电磁泵及所述洗地机中的滚刷马达均高速运行。
作为一可选实施例，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：
基于所述污浊度检测参数确定所述入口管道的脏污程度由高位变为低位时，或基于所述运行参数确定所述吸力马达电流满足预设阈值时开始计时；
当基于计时结果确定经过第二目标时间段后，控制降低所述电磁泵的流速，同时控制所述吸力马达、滚刷马达的转速恢复至原转速。
作为一可选实施例，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：
在控制所述吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于所述污浊度检测参数确定在第三目标时间段内所述入口管道的脏污程度持续处于高位时，确定所述入口管道严重堵塞，控制所述洗地机停止运行，并输出用户自清洁提示；或
在控制所述吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于所述运行参数确定所述吸力马达的电流仍小于预测阈值时，则确定所述吸力管道严重堵塞，控制所述洗地机停止运行，并输出用户自清洁提示。
作为一可选实施例，还包括：
在基于所述污浊度检测参数及运行参数确定所述入口管道的脏污程度持续处于低位，且所述吸力马达的电流值持续满足所述预设阈值时，若未收到用于指示继续清洁的用户指令，则自动控制所述吸力马达、电磁泵及滚刷马达停止运行，结束清洁。
基于上述实施例的公开可以获知，本发明实施例具备的有益效果包括控制组件根据洗地机中入口管道的脏污程度和吸力马达的工作电流来分别确定入口管道、吸力管道的脏污程度，是否发生堵塞，并基于确定的脏污程度来匹配调节吸力马达转速、滚刷马达转速、电磁泵流量参数，实现对入口管道、吸力管道的适应性清洁，符合管道实际情况，清洁效果更佳。另外，控制组件还会根据在其控制下，入口管道的污浊度检测参数、吸力马达的电流值的变化情况而确定当前的清洁是否有效，若无效，则控制洗地机停止运行，通知用户实现管道清洁，若有效，则可根据实际清洁程度控制吸力马达、滚刷马达、电磁泵降低运行速度，并在确定清洁结束时及时停止其运行，从而保障整机性能优异，以及达到智能清洁的效果。
图1为本发明实施例中的洗地机控制系统的结构关系图。
图2为本发明实施例中的洗地机的结构示意图。
图3为本发明实施例中的控制方法的方法流程图。
图4为本发明实施例中的控制方法的应用流程图。
图5为本发明实施例中的控制方法的应用流程图。
图6为本发明实施例中的控制方法的应用流程图。
1-入口管道；2-吸力管道；3-污浊度传感器；4-电磁泵；5-吸力马达；
6-滚刷马达
1-入口管道；2-吸力管道；3-污浊度传感器；4-电磁泵；5-吸力马达；
6-滚刷马达
下面，结合附图对本发明的具体实施例进行详细的描述，但不作为本发明的限定。
应理解的是，可以对此处公开的实施例做出各种修改。因此，下述说明书不应该视为限制，而仅是作为实施例的范例。本领域的技术人员将想到在本公开的范围和精神内的其他修改。
包含在说明书中并构成说明书的一部分的附图示出了本公开的实施例，并且与上面给出的对本公开的大致描述以及下面给出的对实施例的详细描述一起用于解释本公开的原理。
通过下面参照附图对给定为非限制性实例的实施例的优选形式的描述，本发明的这些和其它特性将会变得显而易见。
还应当理解，尽管已经参照一些具体实例对本发明进行了描述，但本领域技术人员能够确定地实现本发明的很多其它等效形式，它们具有如权利要求所述的特征并因此都位于借此所限定的保护范围内。
当结合附图时，鉴于以下详细说明，本公开的上述和其他方面、特征和优势将变得更为显而易见。
此后参照附图描述本公开的具体实施例；然而，应当理解，所公开的实施例仅仅是本公开的实例，其可采用多种方式实施。熟知和/或重复的功能和结构并未详细描述以避免不必要或多余的细节使得本公开模糊不清。因此，本文所公开的具体的结构性和功能性细节并非意在限定，而是仅仅
作为权利要求的基础和代表性基础用于教导本领域技术人员以实质上任意合适的详细结构多样地使用本公开。
本说明书可使用词组“在一种实施例中”、“在另一个实施例中”、“在又一实施例中”或“在其他实施例中”，其均可指代根据本公开的相同或不同实施例中的一个或多个。
下面，结合附图详细的说明本发明实施例。
如图1和图2所示，本发明实施例提供一种洗地机控制系统，包括：
第一检测模块，设置在洗地机的入口与吸力管道之间的任意位置处中，用于检测入口管道1及其吸收的污水的污浊度；
吸力马达5，设置在洗地机的中与入口管道1连通的吸力管道2中，用于产生吸收污水的吸力；
控制组件，至少与第一检测模块、吸力马达5、洗地机中的电磁泵4相连，以基于第一检测模块检测的参数和/或吸力马达5的运行参数而确定入口管道1、吸力管道2的脏污程度、堵塞程度，并基于脏污程度、堵塞程度至少控制吸力马达5、电磁泵4的运行，实现入口管道1和/或吸力管道2、以及地面的匹配清洁。
本实施例中第一检测模块设置在洗地机的入口与吸力管道2之间的任意位置处可以为设置在入口管道1中的任意位置，入口管道1可以由独立管道制备形成，也可以是由其他部件的空间围成的一通道，具体不限。吸力管道2与入口管道1连通。
基于上述实施例的公开可以获知，本实施例具备的有益效果包括控制组件根据洗地机中入口管道1的脏污程度和吸力马达5的工作电流来分别确定入口管道1、吸力管道2的脏污程度，是否发生堵塞，并基于确定的脏污程度来匹配调节吸力马达5转速、滚刷马达6转速、电磁泵4流量参数，实现对入口管道1、吸力管道2的适应性清洁，符合管道实际情况，清洁效果更佳。另外，控制组件还会根据在其控制下，入口管道1的污浊度检测参数、吸力马达5的电流值的变化情况而确定当前的清洁是否有效，若无效，则控制洗地机停止运行，通知用户实现管道清洁，若有效，则可根据实际清洁程度控制吸力马达5、滚刷马达6、电磁泵4降低运行速度，并在确定清洁结束时及时停止其运行，从而保障整机性能优异，以及达到智能清洁的效果。
具体地，继续结合图1所示，本实施例中的控制组件包括电流检测模块，其与吸力马达5相连以用于检测吸力马达5当前的工作电流值。控制组件还包括控制器，控制器与电流检测模块相连，以基于污浊度检测参数以及检测得到的工作电流值分别确定入口管道1、吸力管道2的脏污程度、堵塞程度。
可选地，本实施例中的第一检测模块为污浊度传感器3。当然，也可以为其他类型的用于检测污浊度的器件，具体不唯一。
可选地，本实施例中控制组件同时与洗地机中的滚刷马达6相连，以基于脏污程度、堵塞程度同时控制吸力马达5、电磁泵4、滚刷马达6的运行，以在完成管道清污的同时，完成对滚刷马达6的清洗。
具体地，以下结合具体实施例进行详细说明，控制器分别和吸力马达5、滚刷马达6、电磁泵4、污浊度传感器3部件相连，其中污浊度传感器3放置在入口管道1中，吸力马达5位于吸力管道2内并与其相连，控制器还设有吸力马达5的电流检测模块，其与吸力马达5相连，以用于检测工作电流值。其中污浊度传感器3检测的信息作为控制器的输入信号，该输入信号为入口管道1污浊值，吸力马达5电流检测模块检测的信息同样作为控制器的输入信号，该输入信号为吸力马达5工作电流值，吸力马达5工作电流值可以直接反映吸力管道2的堵塞程度，控制器可以根据污浊度传感器3以及电流检测模块的输入信号而获知入口管道1、吸力管道2的脏污程度、堵塞程度，继而适配性地控制吸力马达5和滚刷马达6的转速进行调整，同时调整电磁泵4的流量。
进一步地，本实施例中的污浊度传感器3通过对入口管道1中不同污浊度水流的污浊值进行检测，控制器将管道水流的脏污程度分成不同档位。当入口管道1堵塞时，会遮挡入口管道1壁上的部分光源，这会产生污浊度传感器3检测数值持续为高的现象，因此，污浊度传感器3可以根据这一现象并通过实际测试入口管道1堵塞时污浊度传感器3检测数值的结果，得出入口管道1堵塞时的污浊度数值。
吸力马达5的电流检测模块在吸力马达5工作时进行电流检测，以获得吸力马达5工作时的实时电流值。实际上吸力马达5的工作原理是对吸力管道2里的空气快速抽离使管道产生一定的真空度，从而在吸口位置产生吸力。当吸力马达5的吸气孔径减小，吸力马达5做功功率会降低，此
时，吸力马达5的工作电流就会降低。基于吸力马达5的这种工作特性，当吸力管道2有堵塞时，等效于吸气孔的孔径减小，阻碍吸力马达5做功，导致吸力马达5在管道堵塞时会比正常工作时的做功功率低，此时吸力马达5工作电流就会降低。所以本实施例通过检测吸力马达5在正常工作和有堵塞工作时的电流变化情况来判断出吸力管道2是否堵塞，并以此执行相应的逻辑处理，使洗地机执行自清洁模式，实现入口管道1、吸力管道2的清洁。又由于本实施例中的控制器同时与滚刷马达6相连，故基于入口管道1中水流的脏污程度也可确定滚刷马达6是否脏污严重，所以可以同时控制滚刷马达6高速旋转，已实现对滚刷马达6的清洗。
进一步地，如图2所示，本申请另一实施例同时提供一种洗地机，包括如上述实施例中任一项所述的洗地机控制系统。
进一步地，如图3所示，本申请另一实施例还提供一种控制方法，应用于如上所述的洗地机中，所述方法包括：
获得关于入口管道中污水的污浊度检测参数；
获得吸力管道中吸力马达的运行参数；
基于污浊度检测参数和/或运行参数至少控制吸力马达及洗地机中的电磁泵的运行，实现地面以及入口管道和/或吸力管道的匹配清洁。
具体地，结合图4所示，基于污浊度检测参数和/或运行参数至少控制吸力马达及洗地机中的电磁泵的运行具有多种不同情况，以下结合不同情况分别进行说明：
实施利一：基于污浊度检测参数和/或运行参数至少控制吸力马达及洗地机中的电磁泵的运行，包括：
基于污浊度检测参数确定入口管道的脏污程度处于高位时，或基于在第一目标时间段内对入口管道的监测确定污浊度检测参数持续处于高位时，控制吸力马达、电磁泵及洗地机中的滚刷马达均高速运行；或
基于运行参数确定吸力马达电流小于预设阈值时，确定吸力管道发生堵塞，控制吸力马达、电磁泵及洗地机中的滚刷马达均高速运行。
例如，检测到管道的脏污程度档位P(P：脏污程度档位(P越大污浊度越脏))提高时，控制提高吸力马达转速，滚刷马达转速，电磁泵流速到相应的档位速度。或
检测到管道的脏污程度的档位P连续在第一目标时间段(T1)内均保持最高，各马达的档位速度S(S：档位速度(S越大速度越快))为次高时，判断入口管道堵塞,此时控制器提高吸力马达转速，滚刷马达转速，电磁泵流速到最高的档位速度。或
检测到吸力马达电流小于相应档位转速的正常工作电流A时，且档位速度S并非为最高时，判断吸力管道堵塞,此时控制器控制提高吸力马达，滚刷马达，电磁泵的档位速度。
实施利二：基于污浊度检测参数和/或运行参数至少控制吸力马达及洗地机中的电磁泵的运行，包括：
基于污浊度检测参数确定入口管道的脏污程度由高位变为低位时，或基于运行参数确定吸力马达电流满足预设阈值时，开始计时；
当基于计时结果确定经过第二目标时间段(T2)后，控制降低电磁泵的流速，同时控制吸力马达、滚刷马达的转速恢复至原转速。
例如，检测到管道的脏污程度的档位P降低时，可先控制吸力马达、滚刷大妈的转速恢复至原转速，并开始计时，当经过第二目标时间段后，控制器会控制降低电磁泵的流速，以确保清洁效果。或者也可以先控制吸力马达转速，滚刷马达转速，电磁泵流速保持原有档位速度，经过第二目标时间段后，降低吸力马达转速，滚刷马达转速，电磁泵流速到相应的档位速度。
实施利三：基于污浊度检测参数和/或运行参数至少控制吸力马达及洗地机中的电磁泵的运行，包括：
在控制吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于污浊度检测参数确定在第三目标时间段(T3)内入口管道的脏污程度持续处于高位时，确定入口管道严重堵塞，控制洗地机停止运行，并输出用户自清洁提示；或
在控制吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于运行参数确定吸力马达的电流仍小于预测阈值时，则确定吸力管道严重堵塞，控制洗地机停止运行，并输出用户自清洁提示。
例如，检测到管道的脏污程度处于P档位，且连续在第三目标时间段内均保持最高，对应的档位速度S同样为最高时，控制器便可判断管道严重堵塞，提示用户进行自清洁，并控制洗地机停止工作。或
检测到吸力马达电流小于相应档位速度S下的正常工作电流A，且档位速度S控制为最高时，可判断吸力管道严重堵塞，此时控制器便可控制提示用户进行自清洁，停止洗地机的工作。
而且，在用户按下洗地机的关机按键时，管道若为堵塞状态，控制器同样控制洗地机停止工作，提示用户进行自清洁后再实施关机。
另外，如图5和图6所示，本实施例中的方法还包括：
在基于污浊度检测参数及运行参数确定入口管道的脏污程度持续处于低位，且吸力马达的电流值持续满足预设阈值时，若未收到用于指示继续清洁的用户指令，则自动控制吸力马达、电磁泵及滚刷马达停止运行，结束清洁。
例如控制器控制洗地机执行自清洁时，即控制各个马达、电磁泵高速运行实现管道、滚刷清洁，若清洁时长达到第四目标时间段(T4)后，可对管道及吸力马达进行检测，若检测到污浊值小于C并且吸力马达电流在正常工作电流范围内时，可控制吸力马达，滚刷马达，电磁泵停止工作，结束自清洁。也就是，在自清洁过程中，当检测到管道脏污程度保持低和吸力马达工作电流在正常范围内时，可判断管道、滚刷均已清洁干净，故可提前结束自清洁，有效降低能耗。
以上实施例仅为本发明的示例性实施例，不用于限制本发明，本发明的保护范围由权利要求书限定。本领域技术人员可以在本发明的实质和保护范围内，对本发明做出各种修改或等同替换，这种修改或等同替换也应视为落在本发明的保护范围内。
Claims (10)
- 一种洗地机控制系统，其特征在于，包括：第一检测模块，设置在洗地机的入口与吸力管道之间的任意位置处，用于检测入口管道及其吸收的污水的污浊度；吸力马达，设置在与所述入口管道连通的吸力管道中，用于产生吸收污水的吸力；控制组件，至少与所述第一检测模块、吸力马达、所述洗地机中的电磁泵相连，以基于所述第一检测模块检测的参数和/或所述吸力马达的运行参数而确定所述入口管道、吸力管道的脏污程度、堵塞程度，并基于所述脏污程度、堵塞程度至少控制所述吸力马达、电磁泵的运行，实现所述入口管道和/或吸力管道、以及地面的匹配清洁。
- 根据权利要求1所述的洗地机控制系统，其特征在于，所述控制组件包括电流检测模块，其与所述吸力马达相连以用于检测所述吸力马达当前的工作电流值，所述控制组件还包括控制器，所述控制器与所述电流检测模块相连，以结合检测得到的所述工作电流值确定所述入口管道、吸力管道的脏污程度、堵塞程度。
- 根据权利要求1所述的洗地机控制系统，其特征在于，所述第一检测模块为污浊度传感器。
- 根据权利要求1所述的洗地机控制系统，其特征在于，所述控制组件同时与所述洗地机中的滚刷马达相连，以基于所述脏污程度、堵塞程度同时控制所述吸力马达、电磁泵、滚刷马达的运行。
- 一种洗地机，其特征在于，包括如权利要求1-4中任一项所述的洗地机控制系统。
- 一种控制方法，应用于如权利要求5所述的洗地机中，其特征在于，所述方法包括：获得关于入口管道中污水的污浊度检测参数；获得吸力管道中吸力马达的运行参数；基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，实现地面以及所述入口管道和/或吸力管道的匹配清洁。
- 根据权利要求6所述的方法，其特征在于，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：基于所述污浊度检测参数确定所述入口管道的脏污程度处于高位时，或基于在第一目标时间段内对所述入口管道的监测确定所述污浊度检测参数持续处于高位时，控制所述吸力马达、电磁泵及所述洗地机中的滚刷马达均高速运行；或基于所述运行参数确定所述吸力马达电流小于预设阈值时，确定所述吸力管道发生堵塞，控制所述吸力马达、电磁泵及所述洗地机中的滚刷马达均高速运行。
- 根据权利要求7所述的方法，其特征在于，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：基于所述污浊度检测参数确定所述入口管道的脏污程度由高位变为低位时，或基于所述运行参数确定所述吸力马达电流满足预设阈值时，开始计时；当基于计时结果确定经过第二目标时间段后，控制降低所述电磁泵的流速，同时控制所述吸力马达、滚刷马达的转速恢复至原转速，。
- 根据权利要求7所述的方法，其特征在于，所述基于所述污浊度检测参数和/或运行参数至少控制所述吸力马达及所述洗地机中的电磁泵的运行，包括：在控制所述吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于所述污浊度检测参数确定在第三目标时间段内所述入口管道的脏污程度持续处于高位时，确定所述入口管道严重堵塞，控制所述洗地机停止运行，并输出用户自清洁提示；或在控制所述吸力马达、电磁泵及滚刷马达均高速运行的情况下，基于所述运行参数确定所述吸力马达的电流仍小于预测阈值时，则确定所述吸力管道严重堵塞，控制所述洗地机停止运行，并输出用户自清洁提示。
- 根据权利要求8所述的方法，其特征在于，还包括：在基于所述污浊度检测参数及运行参数确定所述入口管道的脏污程度持续处于低位，且所述吸力马达的电流值持续满足所述预设阈值时，若未收到 用于指示继续清洁的用户指令，则自动控制所述吸力马达、电磁泵及滚刷马达停止运行，结束清洁。
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