CN112294191B - Dirt blockage detection method for dust box filter screen of sweeper and sweeper - Google Patents
Dirt blockage detection method for dust box filter screen of sweeper and sweeper Download PDFInfo
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
- A47L11/4027—Filtering or separating contaminants or debris
- A47L11/403—Means for monitoring filtering operation
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- Electric Vacuum Cleaner (AREA)
Abstract
The application discloses dirty stifled detection method and machine of sweeping floor of machine dirt box filter screen relates to the robot field, can solve the technical problem who brings extra cost in order to detect whether dirty stifled the filter screen. The sweeper comprises a dust collection motor, a ground detection module and a dust collection motor sampling module. The method comprises the following steps: and determining the current ground type through a ground monitoring module, and performing filth blockage detection on the dust box filter screen when the ground type is a preset type. Wherein, dirty stifled detection of dirt box filter screen includes: sampling the working parameters of the dust collection motor through a dust collection motor sampling module to obtain the current motor parameter value; and determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value. This application is applicable to the clearance process of machine of sweeping floor dust box filter screen.
Description
Technical Field
The application relates to the field of robots, in particular to a filth blockage detection method for a dust box filter screen of a sweeper and the sweeper.
Background
With the development of the robot field, especially with the advent of sweeper, more and more users use the sweeper to replace manpower to complete sweeping of areas such as bedrooms, living rooms and the like. In the working process of the sweeper, the objects to be swept can be gathered together through the matching between the side brush and the rolling brush, and then the gathered objects to be swept are sucked into a dust box of the sweeper by means of suction force generated by the work of the dust collection motor. In the working process of the dust collection motor, dust and the like easily enter the dust collection motor under the action of suction force, the working efficiency of the dust collection motor is influenced, the abrasion inside the dust collection motor is caused to a certain extent, and the service life of the dust collection motor is shortened.
In order to avoid the above situation, the conventional sweeper further includes a filter screen disposed between the dust box and the dust collection motor, so that dust and the like can be effectively prevented from being brought into the dust collection motor by the airflow. In the working process of the sweeper, the filter screen is dirty and blocked, so that certain resistance is brought to the working of the dust collection motor, and the working efficiency of the dust collection motor is influenced. At present, the photoelectric transmitting and receiving device can be additionally arranged on the sweeper, whether the filter screen is dirty or not is identified by reflected different light rays, so that a user can timely clean the filter screen after the filter screen is dirty or blocked, and the working efficiency of the dust collection motor is ensured.
However, the implementation method often increases the production cost of the sweeper, and the photoelectric transmitting and receiving device is easily covered by dust and the like after being used for a period of time, so that the detection effect is affected, and therefore, extra manpower and material resources are required to be consumed for maintaining the photoelectric transmitting and receiving device.
Disclosure of Invention
The application provides a dirty and blocked detection method of a dust box filter screen of a sweeper and the sweeper, which aim to solve the technical problem of extra cost caused by detecting whether the filter screen is dirty and blocked.
In order to solve the above problems, the technical solution provided by the present application is as follows:
in a first aspect, an embodiment of the present application provides a method for detecting filth blockage of a dust box filter screen of a sweeper. The sweeper comprises a dust collection motor, a ground detection module and a dust collection motor sampling module. The method comprises the following steps: and determining the current ground type through a ground detection module, and performing filth blockage detection on the dust box filter screen when the ground type is a preset type. Wherein, dirty stifled detection of dirt box filter screen includes: sampling the working parameters of the dust collection motor through a dust collection motor sampling module to obtain the current motor parameter value; and determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value.
In one implementation, the current motor parameter value includes a current working current of the dust collection motor, the preset reference parameter value includes a current threshold, and the current threshold is smaller than a maximum working current of the dust collection motor and is in direct proportion to the maximum working current of the dust collection motor. According to the comparison result of current motor parameter value and preset reference parameter value, whether dirty stifled takes place for the dirt box filter screen is confirmed, include: and if the current working current of the dust collection motor is smaller than the current threshold value, determining that the filter screen of the dust box is dirty and blocked.
In one implementation mode, the dust box filter screen comprises a first filter screen and a second filter screen, and in the working process of the sweeper, the airflow is discharged after passing through the dust box, the first filter screen, the second filter screen and the dust collection motor in sequence. The first filter screen is matched with the second filter screen in size, and the filtering mesh number of the first filter screen is smaller than that of the second filter screen.
In one implementation, after determining whether the dirt box screen is dirty, the method further comprises: if the cleaning frequency of the first filter screen does not reach the cleaning frequency threshold value, or the cleaning frequency of the first filter screen reaches the cleaning frequency threshold value, the cleaning frequency of the first filter screen is not an integral multiple of the cleaning frequency threshold value, and the cleaning frequency of the first filter screen does not reach the cleaning frequency threshold value, prompting to clean the first filter screen, and updating the cleaning frequency of the first filter screen; or if the cleaning times of the first filter screen reach the cleaning time threshold and are integral multiples of the cleaning time threshold, prompting to clean the first filter screen and the second filter screen, and updating the cleaning times of the first filter screen and the second filter screen; or if the cleaning frequency of the first filter screen reaches the cleaning frequency threshold, prompting to clean the first filter screen and replace the second filter screen, and clearing the cleaning frequency of the first filter screen and the cleaning frequency of the second filter screen. And the cleaning frequency threshold is smaller than the cleaning frequency threshold.
In one implementation, the number of cleans threshold is 3 to 7 times the number of cleans threshold.
In one implementation, after cleaning the screen of the sweeper, the method further comprises: and adjusting the maximum working current of the dust collection motor so that the adjusted maximum working current of the dust collection motor is smaller than the maximum working current of the dust collection motor before adjustment. When the cleaning frequency of the first filter screen reaches the cleaning frequency threshold or the second filter screen is replaced, the maximum working current of the adjusted dust collection motor is 70% -90% of the maximum working current of the dust collection motor before the first adjustment.
In one implementation, the number of the first filter mesh is 150 to 250, the number of the second filter mesh is 800 to 1000, the areas of the first filter mesh and the second filter mesh are respectively 15 to 25 square centimeters, and the area of the first filter mesh is greater than or equal to the area of the second filter mesh.
In one implementation, the current threshold is 70% to 90% of the maximum operating current of the suction motor.
In one implementation, the ground detection module includes at least one of a look-down infrared sensor, a walking motor sampling module, and a rolling brush motor sampling module.
In a second aspect, an embodiment of the present application provides a sweeper. The sweeper comprises a dust collection motor, a ground detection module and a dust collection motor sampling module. In addition, the sweeper further comprises a processing module.
And the ground detection module is used for determining the current ground type and carrying out dirty blockage detection on the dust box filter screen when the ground type is a preset type. Wherein, dirty stifled detection of dirt box filter screen includes: and the dust collection motor sampling module is used for sampling the working parameters of the dust collection motor to obtain the current motor parameter value. And the processing module is used for determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value obtained by the dust collection motor sampling module and the preset reference parameter value.
In one implementation, the current motor parameter value includes a current working current of the dust collection motor, the preset reference parameter value includes a current threshold, and the current threshold is smaller than a maximum working current of the dust collection motor and is in direct proportion to the maximum working current of the dust collection motor.
And the processing module is also used for determining that the filter screen of the dust box is dirty and blocked if the current working current of the dust collection motor is smaller than the current threshold value.
In one implementation mode, the dust box filter screen comprises a first filter screen and a second filter screen, and in the working process of the sweeper, the airflow is discharged after passing through the dust box, the first filter screen, the second filter screen and the dust collection motor in sequence. The first filter screen is matched with the second filter screen in size, and the filtering mesh number of the first filter screen is smaller than that of the second filter screen.
In one implementation, the sweeper may further include a prompting module.
And the prompting module is used for prompting to clean the first filter screen if the cleaning frequency of the first filter screen does not reach the cleaning frequency threshold value, or the cleaning frequency of the first filter screen reaches the cleaning frequency threshold value, the cleaning frequency of the first filter screen is not an integral multiple of the cleaning frequency threshold value, and the cleaning frequency of the first filter screen does not reach the cleaning frequency threshold value. And the cleaning frequency threshold is smaller than the cleaning frequency threshold.
And the processing module is also used for updating the cleaning times of the first filter screen.
Or,
and the prompting module is also used for prompting to clean the first filter screen and the second filter screen if the cleaning frequency of the first filter screen reaches the cleaning frequency threshold value and is an integral multiple of the cleaning frequency threshold value.
And the processing module is also used for updating the cleaning times of the first filter screen and the second filter screen.
Or,
and the prompt module is also used for prompting to clean the first filter screen and replace the second filter screen if the cleaning frequency of the first filter screen reaches the cleaning frequency threshold.
And the processing module is also used for clearing the cleaning times of the first filter screen and the second filter screen.
In one implementation, the number of cleans threshold is 3 to 7 times the number of cleans threshold.
In one implementation, the processing module is further configured to adjust a maximum working current of the dust collection motor, so that the adjusted maximum working current of the dust collection motor is smaller than the maximum working current of the dust collection motor before adjustment. When the cleaning frequency of the first filter screen reaches the cleaning frequency threshold or the second filter screen is replaced, the maximum working current of the adjusted dust collection motor is 70% -90% of the maximum working current of the dust collection motor before the first adjustment.
In one implementation, the number of the first filter mesh is 150 to 250, the number of the second filter mesh is 800 to 1000, the areas of the first filter mesh and the second filter mesh are respectively 15 to 25 square centimeters, and the area of the first filter mesh is greater than or equal to the area of the second filter mesh.
In one implementation, the current threshold is 70% to 90% of the maximum operating current of the suction motor.
In one implementation, the ground detection module includes at least one of a down-view infrared sensor, a walking motor sampling module, and a rolling brush motor sampling module.
In a third aspect, the present application provides a sweeper, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of the first aspect and any one of its various possible implementations.
In a fourth aspect, the present application provides a computer-readable storage medium. The storage medium stores a computer program which, when executed by a processor, implements the method of the first aspect described above and any of its various possible implementations.
Compare in prior art for the dirty circumstances that brings extra cost that blocks up of detection filter screen, in this application embodiment, can realize the dirty stifled detection of dirt box filter screen under the circumstances that does not additionally increase quick-witted manufacturing cost of sweeping the floor. The method comprises the steps of determining the current floor type by using a floor detection module provided by the sweeper, and detecting the dirt blockage of a dust box filter screen when the floor type is a preset type such as cement floor, floor and the like. The detection process can be specifically realized as follows: sampling the working parameters of the dust collection motor through a dust collection motor sampling module to obtain the current motor parameter value; and determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value. In addition, the implementation mode provided by the embodiment of the application is adopted to detect the filth blockage condition of the filter screen, and the problem of poor detection effect caused by dust falling of devices such as a photoelectric emission receiving device can be effectively avoided. And additional manpower and material resources are not needed to be consumed for carrying out later maintenance on devices such as the photoelectric transmitting and receiving device.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a first schematic structural diagram of a sweeper provided in the embodiment of the present application;
fig. 2 is a first flowchart of a filth blockage detection method for a dust box filter screen of a sweeper provided by the embodiment of the application;
fig. 3 is a flow chart of a filth blockage detection method for a dust box filter screen of the sweeper provided by the embodiment of the application;
fig. 4 is a flow chart of a filth blockage detection method for a dust box filter screen of the sweeper provided by the embodiment of the application;
fig. 5 is a curve of a relationship between a working current of a dust collection motor of the sweeper and a filth blockage degree of a dust box filter screen, which is provided by the embodiment of the application;
fig. 6 is a fourth flowchart of a filth blockage detection method for a dust box filter screen of the sweeper provided by the embodiment of the application;
fig. 7 is a fifth flowchart of a filth blockage detection method for a dust box filter screen of the sweeper provided by the embodiment of the application;
fig. 8 is a second schematic structural view of the sweeper provided in the embodiment of the present application;
fig. 9 is a third schematic structural view of the sweeper provided in the embodiment of the present application.
Detailed Description
In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example in conjunction with the accompanying drawings.
The dirty blockage detection method for the dust box filter screen of the sweeper provided by the embodiment of the application can be applied to the sweeper. As shown in fig. 1, it is a schematic structural diagram of a sweeper. In fig. 1, only a partial structure of the sweeper is shown. Referring to fig. 1, the sweeper may include a dust box 20, a dust suction motor 21, and a filter net disposed between the dust box 20 and the dust suction motor 21. Wherein, the filter screens can be one group or a plurality of groups. In the embodiment of the present application, the filter screens include two groups, that is, the sweeper includes a first filter screen 22 and a second filter screen 23. In the working process of the sweeper, airflow is discharged after passing through the dust box, the first filter screen, the second filter screen and the dust collection motor in sequence. Therefore, dust and the like in the airflow can be blocked by the first filter screen and the second filter screen and cannot enter the dust collection motor.
In the embodiment of the present application, the first filter mesh is matched with the second filter mesh in size. For example, the size of the part with the filtering function in the first filter screen is matched with the size of the part with the filtering function in the second filter screen; or the size of the first filter screen is matched with that of the second filter screen.
Taking the example that the size of the first filter screen and the size of the second filter screen are matched with each other, the size matching may refer to that the size of the first filter screen is the same as the size of the second filter screen, or that the difference between the size of the first filter screen and the size of the second filter screen is within an allowable size difference range. In the embodiment of the present application, the setting manner, specific values, and the like of the size difference range are not limited, and may be determined according to one or more of the factors such as the internal structure of the sweeper, the suction force of the dust collection motor, and the material of the filter screen. Considering that the airflow firstly flows through the first filter screen and then flows through the second filter screen, in order to achieve a better layered filtering effect, the efficient filter screen can be selected as the second filter screen, and the inefficient filter screen relative to the second filter screen can be selected as the first filter screen. For example, the number of meshes of the first filter screen is smaller than that of the second filter screen. Such that larger particles of material may be filtered by the first screen and smaller particles of material that have not been filtered by the first screen may be filtered by the second screen.
In one implementation, the number of the first filter mesh may be 150 to 250, the number of the second filter mesh may be 800 to 1000, the areas of the first filter mesh and the second filter mesh may be 15 to 25 square centimeters, respectively, and the area of the first filter mesh may be greater than or equal to the area of the second filter mesh.
It should be noted that, for the case that the size of the portion with the filtering function in the first filter screen and the size of the portion with the filtering function in the second filter screen are matched with each other, similar to the above implementation manner, only the matching of the overall size needs to be adjusted to the matching of the size of the portion, and specifically, the case that the size of the first filter screen and the size of the second filter screen are matched with each other may be referred to, and details are not repeated herein.
In this application embodiment, the sweeper can further include a floor detection module and a dust collection motor sampling module. The ground detection module can be used for detecting the ground type, namely detecting the ground type of an area to be cleaned of the sweeper; the dust collection motor sampling module can be used for collecting working parameters, such as current, voltage and other parameters generated in the working process of the sweeper. In one implementation, the ground detection module may include at least one of a down-view infrared sensor, a walking motor sampling module, and a rolling brush motor sampling module.
The embodiment of the application provides a dirty blockage detection method for a dust box filter screen of a sweeper. As shown in fig. 2, the method may include S201 and S202.
S201, determining the current ground type through a ground detection module.
Wherein the ground type refers to, for example, floors, carpets, tiles, etc.
S202, when the ground type is a preset type, dirty blockage detection of the dust box filter screen is carried out.
Wherein the preset type refers to a floor type other than a carpet. In the embodiment of the application, when the floor type is a carpet, the carpet can bring a certain resistance to the suction force of the dust collection motor of the sweeper, and at the moment, even if the working process of the dust collection motor of the sweeper is affected, the filter screen is not necessarily dirty and blocked. Therefore, in order to ensure the accuracy of the filth blockage detection of the filter screen and reduce the probability of occurrence of misjudgment, in the embodiment of the application, the filth blockage detection can be performed when the ground type is the preset type.
As shown in fig. 3, in one implementation of the embodiment of the present application, the dirty detection of the dust box filter screen may include S301 and S302.
S301, sampling the working parameters of the dust collection motor through a dust collection motor sampling module to obtain the current motor parameter value.
In the embodiment of the application, the dust collection motor sampling module can periodically or aperiodically collect the working parameters after the dust collection motor starts to work, and then sample and process the collected working parameters to obtain the current motor parameter value. The motor parameter value may be a value of a parameter obtained through calculation and/or statistical analysis based on the collected working parameter. Specifically, the average value of the working parameters in one or more periods of time may be used, or the average value of one or more groups of working parameters extracted from the collected working parameters according to a certain rule. The motor parameter value refers to a value of a parameter, such as current, voltage, power, etc., of the dust collection motor, which is affected by the effectiveness of the filter screen, for example, one or more specific values, or one or more specific value ranges.
Considering that the sweeper is likely to cause sudden change of working parameters when crossing an obstacle, when the sweeper is wound, and the like, the collected working parameters often influence the judgment result whether the subsequent dust box filter screen is dirty or not, therefore, in an implementation mode of the embodiment of the application, the collection of the working parameters can be realized after the rotation speed of the dust collection motor is stable, or when the motor parameter value is obtained, the working parameters generated after the rotation speed of the dust collection motor is stable are only used as a basis. That means, if the dust absorption motor takes place the rotational speed sudden change in the course of the work, then do not satisfy the condition of gathering or the condition of obtaining the motor parameter value, just so can effectively avoid the emergence of above-mentioned technical problem.
The rotation speed of the dust collection motor is stable, that is, the rotation speed of the dust collection motor is in a state of approaching to a constant state within a period of time, and specifically, the rotation speed change value of the dust collection motor is within a preset rotation speed change range within a period of time, or the rotation speed of the dust collection motor is stable within a certain interval range within a period of time.
It should be noted that the above-mentioned parameters, such as a period of time, a preset rotation speed variation range, a certain interval range, etc., may be preset, and the specific setting mode may be determined by combining one or more of the factors, such as the historical experience value, the actual working condition of the sweeper, and the user requirement, etc., and is not limited herein.
S302, determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value.
In the embodiment of the present application, the type of the preset reference parameter may be changed along with the type of the motor parameter, that is, the type of the preset reference parameter may include multiple types, and may be specifically determined according to the type of the motor parameter to be acquired. And in the comparison process, taking the reference parameter value corresponding to the reference parameter type matched with the motor parameter type as a reference for comparison. For example, when the motor parameter is the working current of the dust collection motor, the preset reference parameter may be a current threshold; when the motor parameter is the working voltage of the dust collection motor, the preset reference parameter can be a voltage threshold value.
It should be noted that, the type of the motor parameter and the type of the corresponding reference parameter are not limited in the embodiment of the present application, and besides the above-mentioned working current and working voltage, the type of the motor parameter and the type of the corresponding reference parameter may also be an electrical parameter that can be used for reflecting the dirty condition of the filter screen of the dust box, such as the working power, the variation trend of the working current, and the like, and is not limited herein. In addition, in the actual comparison process, one motor parameter may be selected to be compared with the corresponding preset reference parameter, or multiple motor parameters may be selected to be compared with the corresponding preset reference parameter, and the comparison method and the means for determining whether the dust box filter screen is dirty or not by combining the comparison result are not limited.
For example, when one motor parameter is selected to be compared with a corresponding preset reference parameter, whether the dust box is dirty or not can be determined according to the magnitude relation between the motor parameter and the corresponding preset reference parameter. Under the condition that the dust box is dirty and blocked, the degree of the dust box being dirty and blocked can be further determined according to the value interval corresponding to the motor parameter value. The range size of the value range can be preset according to the discrimination precision of the requirement, and the like, and can be subsequently adjusted by combining an actual use scene, a user requirement and the like, and the specific setting mode, the adjustment mode, the upper and lower limit values of the value range and the like are not limited herein.
For another example, when a plurality of motor parameters are selected to be compared with corresponding preset reference parameters, it may be determined that the dust box is dirty and blocked when most of the comparison results satisfy corresponding conditions according to the plurality of comparison results. In one implementation, the degree of dirty blocking may also be determined according to the number of terms or the percentage of terms of the comparison result that satisfies the corresponding condition.
Compare in prior art for the dirty circumstances that brings extra cost that blocks up of detection filter screen, in this application embodiment, can realize the dirty stifled detection of dirt box filter screen under the circumstances that does not additionally increase quick-witted manufacturing cost of sweeping the floor. The method comprises the steps of determining the current ground type by using a ground detection module of the sweeper, and detecting the dirt blockage of a dust box filter screen when the ground type is a preset type such as cement ground, floor and the like which are not carpets. The detection process can be specifically realized as follows: sampling the working parameters of the dust collection motor through a dust collection motor sampling module to obtain the current motor parameter value; and determining whether the filter screen of the dust box is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value. In addition, the implementation mode provided by the embodiment of the application is adopted to detect the filth blockage condition of the filter screen, and the problem of poor detection effect caused by dust falling of devices such as a photoelectric emission receiving device can be effectively avoided. And additional manpower and material resources are not needed to be consumed for carrying out later maintenance on devices such as the photoelectric transmitting and receiving device.
In the above-mentioned exemplary implementation, the implementation shown in fig. 4 can be realized on the basis of the implementation shown in fig. 3. S302 determines whether a dust box filter screen is clogged according to a comparison result between a current motor parameter value and a preset reference parameter value, which may be implemented as S3021.
S3021, if the current working current of the dust collection motor is smaller than the current threshold value, determining that the filter screen of the dust box is dirty and blocked.
Taking the example that the current motor parameter value includes the current working current of the dust collection motor, and the preset reference parameter value includes a current threshold value, the current threshold value is usually smaller than the maximum working current of the dust collection motor, and is in direct proportion to the maximum working current of the dust collection motor. In the embodiment of the present application, the maximum working current of the dust collection motor may be the average value of the working current of the dust collection motor when the sweeper works on a smooth and hard ground, on the basis that the sweeper is provided with a clean filter screen and a clean dust box. Namely, the maximum working current of the dust collection motor refers to the working current of the dust collection motor under the condition that a filter screen, a dust box, a ground type and the like do not have additional influence on the working current.
In one implementation, the current threshold is 70% to 90% of the maximum operating current of the suction motor. When the current threshold is 70% of the maximum working current, the sweeper has low requirement on the cleanliness of the filter screen, namely the sweeper prompts to clean the filter screen after the working current of the dust collection motor is reduced to 70% of the maximum working current; when the current threshold is 90% of the maximum working current, the sweeper has high requirement on the cleanliness of the filter screen, namely the cleaning of the filter screen is prompted after the working current of the dust collection motor is reduced to 90% of the maximum working current. Therefore, the setting mode of the current threshold value can depend on the requirement of a user on the cleanliness of the filter screen of the sweeper, the higher the requirement on the cleanliness of the filter screen is, the larger the value of the corresponding current threshold value is, and on the contrary, the lower the requirement on the cleanliness of the filter screen is, the smaller the value of the corresponding current threshold value is.
In one implementation, the maximum operating current of the dust collection motor may be 0.9A to 1.2A, and the current threshold Ia may range from 70% to 90% Im. As shown in fig. 5, a curve of a relationship between an operating current of a dust collection motor and a degree of filth blockage of a dust box filter screen is provided in the embodiment of the present application. When the working current of the dust collection motor is reduced to 0.84A, the dirt blockage degree of the filter screen of the dust box is about 80 percent. Before the filth blockage degree of the dust box filter screen reaches 70%, the working current of the dust collection motor is not obviously changed; after the filth blockage degree of the filter screen of the dust box reaches 70%, the working current change of the dust collection motor becomes more and more obvious along with the increase of the filth blockage degree.
It should be noted that, the air flowing into the dust collection motor after the filter screen is dirty and blocked is reduced, so the load of the dust collection motor is reduced, the current is reduced, and the power of the fan is reduced. At this time, the suction force of the air inlet also decreases. When the dirt blockage degree of the filter screen of the dust box reaches more than 80 percent, the suction force of the air inlet is rapidly reduced along with the reduction of the current or the power. Therefore, to ensure the suction force of the air inlet, the current threshold Ia may be set to 0.84A. That is, the maximum operating current Im may be 1.05A, and the current threshold Ia may be 80% Im, that is, Ia may be 0.84A.
Therefore, the change of the electrical parameters such as the working current and the like can directly reflect the filth blockage degree of the dust box filter screen, and therefore, the filth blockage degree of the dust box filter screen can be determined according to the magnitude relation between the working current and the current threshold in the embodiment of the application. When the current working current of the dust collection motor is smaller than the current threshold value, determining that the filter screen of the dust box is dirty and blocked, and cleaning the dirty and blocked at present; and when the current working current of the dust collection motor is larger than or equal to the current threshold value, determining that the filter screen of the dust box is dirty and blocked and does not need to be cleaned, namely the filter screen is dirty and blocked lightly, and hardly influences the working process of the dust collection motor, or determining that the filter screen of the dust box is not dirty and blocked.
Consider in an implementation of this application embodiment, the dirt box filter screen can include first filter screen and second filter screen, and in the in-process of actual clearance filter screen, can clear up different or the same filter screen respectively in different opportunity. For example, the dust box filter screen may be cleaned in a layered cleaning manner, that is, based on the implementation manner shown in fig. 3 or fig. 4, the implementation manner shown in fig. 3 is taken as an example, and the implementation manner shown in fig. 6 may also be implemented. After S302 is executed to determine whether the filter screen of the dust box is dirty or not according to the comparison result between the current motor parameter value and the preset reference parameter value, one of S303 to S305 may be further executed.
S303, if the cleaning times of the first filter screen do not reach the cleaning times threshold value, or the cleaning times of the first filter screen reach the cleaning times threshold value, the cleaning times of the first filter screen are not integral multiples of the cleaning times threshold value, and the cleaning times of the first filter screen do not reach the cleaning times threshold value, prompting to clean the first filter screen, and updating the cleaning times of the first filter screen.
And the cleaning frequency threshold is smaller than the cleaning frequency threshold.
S304, if the cleaning times of the first filter screen reach the cleaning times threshold value and are integral multiples of the cleaning times threshold value, prompting to clean the first filter screen and the second filter screen, and updating the cleaning times of the first filter screen and the second filter screen.
S305, if the cleaning frequency of the first filter screen reaches a cleaning frequency threshold, prompting to clean the first filter screen and replace the second filter screen, and clearing the cleaning frequency of the first filter screen and the cleaning frequency of the second filter screen.
In this application embodiment, because the air current is earlier through first filter screen, back through the second filter screen, consequently, first filter screen is compared and is produced filthy stifled in the second filter screen more easily, consequently, in this application embodiment, takes place filthy stifled back at dirt box filter screen, and the suggestion user is preferred to be cleared up first filter screen, has been cleared up many times back at first filter screen, reminds the user to clear up the second filter screen again. Also, the first filter net is easier to detach and clean than the second filter net for a user from the viewpoint of the convenience of detachment. Therefore, the cleaning process of the filter screen by a user can be conveniently carried out under the condition of ensuring the dust collection efficiency of the sweeper.
It should be noted that the cleaning times and the cleaning threshold may be preset before the sweeper leaves the factory. In one implementation, the user can adjust the preset cleaning times and/or the cleaning threshold according to the actual working condition of the sweeper. The number of cleaning times, the setting mode of the cleaning threshold, and the corresponding value or value range are not limited in the embodiment of the present application. In one implementation, there may be an association between the number of cleanings and a cleaning threshold, for example, the cleaning threshold may be 3 to 7 times the cleaning threshold. That is, the frequency of cleaning the first filter may be set to 3 to 7 times, for example, 5 times, the frequency of cleaning the second filter. That means, first filter screen clearance 5 times after clearance once the second filter screen to after the clearance number of times of first filter screen reaches clearance number of times threshold, change the second filter screen when clearance first filter screen.
Therefore, in an implementation mode of the embodiment of the application, a user can be prompted to clean the first filter screen after determining that the filter screen of the dust box is dirty and blocked, and the second filter screen can be cleaned or replaced when determined by recording the cleaning times of the first filter screen. It should be noted that the number of cleaning times of the first filter screen is recorded and updated, and the main purpose is to determine whether to properly clean or replace the second filter screen.
Besides the above implementation manners, other implementation manners may be adopted to achieve the above effects, for example, two timers are arranged in the sweeper to respectively record the respective cleaning times of the first filter screen and the second filter screen, the timer for recording the cleaning times of the first filter screen is reset under the condition of cleaning the second filter screen, and the timer for recording the cleaning times of the first filter screen and the timer for recording the cleaning times of the second filter screen are reset respectively under the condition of replacing the second filter screen. Whether be used for judging the second filter screen needs the clearance then, can realize through the control timer that is used for taking notes first filter screen clearance number of times for judge whether the second filter screen needs to be changed, can realize through the control timer that is used for taking notes second filter screen clearance number of times.
In this embodiment of the application, the recorded data related to the cleaning times may be stored in a memory of the sweeper, or stored in a third-party device such as a mobile phone, a tablet computer, a server, etc. having data transmission between the sweepers, so as to be acquired from a storage area of the corresponding device when the sweeper needs the corresponding data.
Consider that the filter screen still can influence the ability that blocks the dust after the clearance number of times reaches certain number of times even if the clearance is passed, the quick-witted suggestion user of sweeping the floor like this clears up the frequency of filter screen and also can promote, and the clearance process is very difficult again thoroughly the clean up with the filter screen at every turn, just also can lead to the quick-witted frequent suggestion user of sweeping the floor to clear up, but obtains relatively poor clearance result to influence user experience. Therefore, in addition to the implementation shown in fig. 3, 4 or 6, taking the implementation shown in fig. 3 as an example, the implementation shown in fig. 7 can also be implemented. After step S302 is executed to determine whether the filter screen of the dust box is dirty or not according to the comparison result between the current motor parameter value and the preset reference parameter value, step S306 may be executed.
S306, after cleaning the filter screen of the sweeper, adjusting the maximum working current of the dust collection motor to enable the adjusted maximum working current of the dust collection motor to be smaller than the maximum working current of the dust collection motor before adjustment.
Because of the constantly increasing of the clearance number of times of dirt box filter screen, such as the high-efficient filter screen of second filter screen can be more and more difficult to thoroughly clear up, the permeability of filter screen attenuates gradually promptly, so in the implementation of this application embodiment, can revise or compensate the value of the maximum operating current of dust absorption motor. Considering that the number of the filtering meshes of the first filter screen is smaller, the first filter screen is easier to clean thoroughly, and therefore, in the embodiment of the present application, the corresponding electrical parameters are mainly adjusted according to the cleaning condition of the second filter screen. The premise for judging whether the second filter screen needs to be cleaned or replaced is to determine the comparison result of the motor parameter value and the preset reference parameter value, so that when the motor parameter value is the working current of the dust collection motor, the adjusted electrical parameter is the corresponding electrical parameter, namely the maximum working current of the dust collection motor. Therefore, the purpose of adjusting the current threshold value can be achieved, the opportunity of prompting to clean or replace the second filter screen is delayed, the unnecessary prompting process is reduced, and the user experience is improved.
According to the test, after all the filter screens of the dust boxes of the sweeper are cleaned, the sweeper is controlled to work on a smooth and hard ground, and under the condition that the sweeper is provided with a clean dust box, the maximum working current of the dust collection motor can be gradually reduced along with the increase of the cleaning times, namely k & ltIm & gt is the maximum working current of the dust collection motor, wherein the attenuation coefficient k of the filter screen is 1 in the initial state. It should be noted that k is 0 to 1, where the maximum value of k is 1. k decreases as the number of second screen cleanings increases, and the greater the number of second screen cleanings, the greater the magnitude of k decay. After the cleaning frequency of the first filter screen reaches the cleaning frequency threshold, namely under the condition that the second filter screen is cleaned for multiple times and needs to be replaced, k is reduced to a descending inflection point. After k is reduced to a descending inflection point, k can be greatly reduced once every time the second filter screen is cleaned, and the reduction range is larger and larger. In an implementation manner of the embodiment of the application, when the number of times of cleaning the first filter screen reaches the threshold of the number of times of cleaning, or the second filter screen is replaced, the maximum working current of the adjusted dust collection motor is 70% to 90% of the maximum working current of the dust collection motor before the first adjustment. It should be noted that after the second filter screen is replaced, the maximum operating current of the dust collection motor needs to be adjusted back to the initial state, that is, the value of k is 1, and then the maximum current of the dust collection motor is restored to Im.
In this application embodiment, can make the atmospheric pressure between dirt box filter screen and the dust absorption motor rise when the dust absorption motor of machine of sweeping the floor rotates, be higher than the atmospheric pressure of dust absorption motor air outlet. The air flows from the place with high air pressure to the place with low air pressure, when the dust box filter screen is blocked, the air between the dust box filter screen and the dust collection motor is gradually thin, the pressure is gradually reduced to be close to the air pressure of the air outlet of the dust collection motor, and no or little air flow is caused. At this time, the dust suction motor is in a no-load idling state or a low-load state. If the motor is a speed-controlled dust collection motor, the rotating speed of the dust collection motor is unchanged, the torque is reduced, the working current is reduced, the working power of the dust collection motor is reduced, and the suction force of the air inlet of the dust collection motor is also reduced. If the speed of the dust collection motor is not controlled, the dust collection motor with constant working voltage can reduce the torque and increase the rotating speed due to the reduction or disappearance of the load, and the counter electromotive force is increased after the rotating speed is increased, so that the effective voltage at two ends of the inductance of the dust collection motor is offset, and the working current of the dust collection motor is reduced. In addition, the cleaning frequency of the dust box filter screen can reflect the use frequency of the dust box filter screen to a certain extent, and the use time can be shortened when the use frequency is higher.
The embodiment of the application provides a sweeper, and the sweeper can be used for realizing the method flow realized in the method embodiment. As shown in fig. 8, the sweeper 40 may include a floor detection module 41, a suction motor sampling module 42, a processing module 43, and a prompting module 44.
And the ground detection module 41 is used for determining the current ground type and detecting the filth blockage of the dust box filter screen when the ground type is a preset type. Wherein, dirty stifled detection of dirt box filter screen includes: and the dust collection motor sampling module 42 is used for sampling the working parameters of the dust collection motor to obtain the current motor parameter values. And the processing module 43 is configured to determine whether the filter screen of the dust box is dirty or not according to a comparison result between the current motor parameter value obtained by the dust collection motor sampling module 42 and a preset reference parameter value.
In one implementation, the current motor parameter value includes a current working current of the dust collection motor, the preset reference parameter value includes a current threshold, and the current threshold is smaller than a maximum working current of the dust collection motor and is in direct proportion to the maximum working current of the dust collection motor.
The processing module 43 is further configured to determine that the filter screen of the dust box is dirty and blocked if the current working current of the dust collection motor is smaller than the current threshold.
In one implementation mode, the dust box filter screen comprises a first filter screen and a second filter screen, and in the working process of the sweeper, the airflow is discharged after passing through the dust box, the first filter screen, the second filter screen and the dust collection motor in sequence. The first filter screen is matched with the second filter screen in size, and the filtering mesh number of the first filter screen is smaller than that of the second filter screen.
In one implementation, the prompt module 44 is configured to prompt to clean the first filter screen if the number of times of cleaning the first filter screen does not reach the threshold value of the number of times of cleaning, or the number of times of cleaning the first filter screen reaches the threshold value of the number of times of cleaning, the number of times of cleaning the first filter screen is not an integral multiple of the threshold value of the number of times of cleaning, and the number of times of cleaning the first filter screen does not reach the threshold value of the number of times of cleaning. And the cleaning frequency threshold is smaller than the cleaning frequency threshold.
And the processing module 43 is further configured to update the cleaning times of the first filter screen.
Or,
and the prompt module 44 is further configured to prompt to clean the first filter screen and the second filter screen if the cleaning frequency of the first filter screen reaches the cleaning frequency threshold and is an integral multiple of the cleaning frequency threshold.
And the processing module 43 is further configured to update the cleaning times of the first filter screen and the second filter screen.
Or,
and the prompt module 44 is further configured to prompt to clean the first filter screen and replace the second filter screen if the cleaning frequency of the first filter screen reaches the cleaning frequency threshold.
The processing module 43 is further configured to zero the cleaning times of the first filter screen and the second filter screen.
In one implementation, the number of cleans threshold is 3 to 7 times the number of cleans threshold.
In one implementation, the processing module 43 is further configured to adjust a maximum working current of the dust collection motor, so that the adjusted maximum working current of the dust collection motor is smaller than the maximum working current of the dust collection motor before adjustment. When the cleaning frequency of the first filter screen reaches the cleaning frequency threshold or the second filter screen is replaced, the maximum working current of the adjusted dust collection motor is 70% -90% of the maximum working current of the dust collection motor before the first adjustment.
In one implementation, the number of the first filter mesh is 150 to 250, the number of the second filter mesh is 800 to 1000, the areas of the first filter mesh and the second filter mesh are respectively 15 to 25 square centimeters, and the area of the first filter mesh is greater than or equal to the area of the second filter mesh.
In one implementation, the current threshold is 70% to 90% of the maximum operating current of the suction motor.
In one implementation, the ground detection module 41 includes at least one of a down-looking infrared sensor, a walking motor sampling module, and a rolling brush motor sampling module.
It should be noted that the prompting module 44 can also be used for prompting the power usage condition, the current working mode, and the like of the sweeper 40. In the embodiment of the present application, the prompt module 44 may be implemented as a display module, an audio playing module, and the like, which is not limited herein.
In one implementation, the sweeper 40 may also include a communication module 45 and/or a storage module 46. The communication module 45 may be configured to implement data interaction among the modules, and support data transmission between the sweeper 40 and third-party equipment such as a mobile phone, a tablet computer, a server, and the like; the storage module 46 may be configured to store contents required by the modules to implement the corresponding functions. In the embodiment of the present application, the content, format, and the like stored in the storage module are not limited.
In the embodiment of the present application, the ground detection module 41 and the processing module 43 may be implemented as a processor and/or a controller; the dust collection motor sampling module 42 and the communication module 45 can be realized as communication interfaces; prompt module 44 may be implemented as an audio player and/or a display; the storage module 46 may be implemented as a memory.
Fig. 9 is a schematic structural view of another sweeper provided in the embodiment of the present application. The sweeper 50 may include a processor 51 (and/or controller, only processor shown), a communication interface 52, an audio player 53 (and/or display, only audio player shown), and a memory 54. The processor 51, the communication interface 52, the audio player 53, and the memory 54 may communicate with each other through a bus 55. The functions implemented by the above components may refer to the description of the functions of the modules, which is not repeated herein.
It should be noted that, referring to fig. 8 and 9, the sweeper provided in the embodiment of the present application may include more or less modules and components than those shown in the drawings, and the data transmission relationship between the modules and the components includes but is not limited to that shown in the drawings, and the specific data transmission relationship may refer to input and output requirements of data involved in the process of executing the method flow, which is not limited herein.
The application provides a sweeper, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the method in any one of the various possible implementation modes.
The present application provides a computer-readable storage medium. The storage medium stores a computer program which, when executed by a processor, implements the method of any of the various possible implementations described above.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the entity and system embodiments, since they are substantially similar to the method embodiments, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (9)
1. The utility model provides a dirty stifled detection method of quick-witted dirt box filter screen of sweeping floor, the machine of sweeping floor includes dust absorption motor, ground detection module and dust absorption motor sampling module, its characterized in that, the method includes:
determining the current ground type through the ground detection module, and performing dirty blockage detection on a dust box filter screen when the ground type is a preset type; wherein,
dirty stifled detection of dirt box filter screen includes:
sampling the working parameters of the dust collection motor through the dust collection motor sampling module to obtain the current motor parameter value; the current motor parameter value comprises the current working current of the dust collection motor, and the preset reference parameter value comprises a current threshold value which is smaller than the maximum working current of the dust collection motor and is in direct proportion to the maximum working current of the dust collection motor; and (c) a second step of,
according to the comparison result of the current motor parameter value and a preset reference parameter value, whether the dust box filter screen is dirty or not is determined, and the method comprises the following steps:
if the current working current of the dust collection motor is smaller than the current threshold value, determining that the filter screen of the dust box is dirty and blocked;
after cleaning the filter screen of the sweeper, the method further comprises: and adjusting the maximum working current of the dust collection motor so that the adjusted maximum working current of the dust collection motor is smaller than the maximum working current of the dust collection motor before adjustment.
2. The method according to claim 1, wherein the dust box filter screen comprises a first filter screen and a second filter screen, and during the operation of the sweeper, the airflow is discharged after passing through the dust box, the first filter screen, the second filter screen and the dust suction motor in sequence;
the first filter screen is matched with the second filter screen in size, and the filtering mesh number of the first filter screen is smaller than that of the second filter screen.
3. The method of claim 2, wherein after determining whether the dirt box screen is fouled, the method further comprises:
if the cleaning times of the first filter screen do not reach a cleaning times threshold value, or the cleaning times of the first filter screen reach the cleaning times threshold value, the cleaning times of the first filter screen are not integral multiples of the cleaning times threshold value, and the cleaning times of the first filter screen do not reach the cleaning times threshold value, prompting to clean the first filter screen, and updating the cleaning times of the first filter screen; or,
if the cleaning times of the first filter screen reach the cleaning times threshold and are integral multiples of the cleaning times threshold, prompting to clean the first filter screen and the second filter screen, and updating the cleaning times of the first filter screen and the second filter screen; or,
if the cleaning times of the first filter screen reach the cleaning times threshold, prompting to clean the first filter screen and replace the second filter screen, and clearing the cleaning times of the first filter screen and the second filter screen;
wherein the threshold of the cleaning times is smaller than the threshold of the cleaning times.
4. The method of claim 3, wherein the threshold number of cleans is 3 to 7 times the threshold number of cleans.
5. The method of claim 3, wherein when the number of cleanings of the first filter screen reaches a threshold number of cleanings or the second filter screen is replaced, the maximum operating current of the suction motor after the adjustment is 70% to 90% of the maximum operating current of the suction motor before the first adjustment.
6. The method of claim 2, wherein the first screen has a mesh count of 150 to 250, the second screen has a mesh count of 800 to 1000, the first and second screens each have an area of 15 to 25 square centimeters, and the area of the first screen is greater than or equal to the area of the second screen.
7. The method of claim 1, wherein the current threshold is 70% to 90% of a maximum operating current of the suction motor.
8. The method of claim 1, wherein the ground detection module comprises at least one of a look-down infrared sensor, a walking motor sampling module, and a rolling brush motor sampling module.
9. The sweeper comprises a dust collection motor, a ground detection module and a dust collection motor sampling module, and is characterized by further comprising a processing module;
the ground detection module is used for determining the current ground type and carrying out dirty blockage detection on the dust box filter screen when the ground type is a preset type; wherein,
the dust collection motor sampling module is used for sampling the working parameters of the dust collection motor to obtain the current motor parameter value; the current motor parameter value comprises the current working current of the dust collection motor, the preset reference parameter value comprises a current threshold value which is smaller than the maximum working current of the dust collection motor and is in direct proportion to the maximum working current of the dust collection motor,
the processing module is used for determining whether the dust box filter screen is dirty or not according to the comparison result of the current motor parameter value and the preset reference parameter value obtained by the dust collection motor sampling module, and is specifically used for:
if the current working current of the dust collection motor is smaller than the current threshold value, determining that the filter screen of the dust box is dirty and blocked;
and the maximum working current of the dust collection motor is adjusted after the filter screen of the sweeper is cleaned, so that the adjusted maximum working current of the dust collection motor is smaller than the maximum working current of the dust collection motor before adjustment.
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| CN113049955A (en) * | 2021-03-19 | 2021-06-29 | 深圳市杰深科技有限公司 | Full-dirt detection method for cleaning device |
| CN113287973B (en) * | 2021-04-26 | 2022-05-03 | 宁波德晶元科技有限公司 | Dust collector plugging degree determination method and system based on rotating speed compensation analysis |
| CN116058705A (en) * | 2021-12-22 | 2023-05-05 | 陈思盛 | Intelligent dust collection device with classification function |
| CN115031270A (en) * | 2022-06-14 | 2022-09-09 | 杭州老板电器股份有限公司 | Control method and device of central range hood system and central range hood system |
| CN115349776B (en) * | 2022-08-10 | 2024-05-03 | 成都市联洲国际技术有限公司 | Method and device for detecting state of sweeper, sweeper and storage medium |
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| CN109363581A (en) * | 2018-10-22 | 2019-02-22 | 珠海市微半导体有限公司 | A kind of dust suction control method, chip and the clean robot of clean robot |
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