CN114699020A

CN114699020A - Cleaning device and method for controlling the adaptation of parts of a cleaning device

Info

Publication number: CN114699020A
Application number: CN202210334701.3A
Authority: CN
Inventors: 孙建; 闾浩; 梁志勇; 徐锡胜
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2022-07-05
Anticipated expiration: 2042-03-30
Also published as: CN114699020B; WO2023185337A1

Abstract

The embodiment of the application provides a cleaning device and a control method for adapting work among components of the cleaning device. The technical scheme that this application embodiment provided, long design is long for the long adaptation of electric duration with battery pack during the liquid duration that the liquid storage bucket corresponds, and cleaning equipment is full bucket or empty bucket and battery pack full-electricity's the condition at the liquid storage bucket like this, and the user uses this cleaning equipment clean indoor or outdoor ground, uses the liquid storage bucket from full bucket to empty bucket or from empty bucket to full bucket when, and battery pack's residual capacity also almost exhausts or reaches the condition that minimum electric quantity needs to charge. That is to say, the technical scheme that this application embodiment provided, from the angle of the work adaptation between the cleaning device use in-process part, let long adaptation during liquid duration and electric duration, reduce the user and handle the emergence probability that the battery can't continue the operational aspect again to charge soon after the liquid storage barrel is discovered midway for the user for the use of product is experienced more intelligently, more scientific.

Description

Cleaning device and method for controlling the adaptation of parts of a cleaning device

Technical Field

The application relates to the technical field of cleaning equipment, in particular to cleaning equipment and a control method for adapting work between parts of the cleaning equipment.

Background

Existing cleaning devices, such as floor washers, are basically equipped with the following core components: the device comprises a main motor, a ground brush motor, a pump, a clear water barrel, a sewage barrel, a battery component and the like. The main motor works to generate suction force to recycle the sewage to the sewage bucket. The ground brush motor drives the rolling brush to rotate so as to clean the ground. The pump is used for pumping out the cleaning liquid in the cleaning water barrel and spraying the cleaning liquid on the roller brush. The battery pack supplies power for loads such as a main motor, a ground brush motor and a pump.

During use of the cleaning device by a user, the following situations may occur: the sewage bucket is full and needs to be dumped, and after the sewage bucket is dumped and installed, the work continues to find that the clean water bucket is lack of water and needs to be added with water; the user goes to add the clear water again, waits these two buckets to pour water and add water and handles the back that finishes, and the battery probably does not have the electricity again this time, and user experience is not good.

Disclosure of Invention

In view of the above problem, embodiments of the present application provide a technical solution capable of improving the problem, which is described in the following.

In one embodiment of the present application, a cleaning apparatus is provided. The cleaning device includes:

an apparatus main body on which a cleaning device is provided;

the liquid storage barrel is arranged on the equipment main body and used for storing cleaning liquid or recycling sewage, liquid in the liquid storage barrel reaches a set high capacity and is called a full barrel, and liquid in the liquid storage barrel reaches a set low capacity and is called an empty barrel; when the equipment main body works, the time required by the liquid storage barrel from full barrel to empty barrel or from empty barrel to full barrel is the liquid endurance time;

the battery pack is arranged on the equipment main body and used for supplying power to the cleaning equipment, and the endurance time of the battery pack is the electric endurance time;

wherein the liquid duration is adapted to the electric duration.

In another embodiment of the present application, another cleaning apparatus is provided. The cleaning device includes:

an apparatus main body on which a cleaning device is provided;

the liquid storage barrel is arranged on the equipment main body and used for storing cleaning liquid or recycling sewage;

the first detection device is used for detecting the available amount of the liquid storage barrel, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;

the battery pack is arranged on the equipment main body and used for supplying power to the cleaning equipment;

the controller is electrically connected with the battery assembly and the first detection device and used for acquiring the residual electric quantity of the battery assembly, and calculating the working parameters of the equipment main body by using a endurance adaption algorithm based on the available quantity and the residual electric quantity; and controlling the equipment main body to work according to the working parameters, so that the duration of liquid endurance corresponding to the available amount of the liquid storage barrel is matched with the duration of electric endurance corresponding to the residual electric quantity of the battery pack.

In yet another embodiment of the present application, a method of controlling the fitting operation between components of a cleaning appliance is provided. The method comprises the following steps:

acquiring the available amount of a liquid storage barrel of cleaning equipment, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;

acquiring the residual capacity of a battery assembly of the cleaning equipment;

calculating working parameters of the equipment main body by utilizing a endurance adaption algorithm based on the available quantity and the residual electric quantity;

and controlling the equipment main body to work according to the working parameters, so that the duration of liquid endurance corresponding to the available amount of the liquid storage barrel is matched with the duration of electric endurance corresponding to the residual electric quantity of the battery pack.

The technical scheme that this application embodiment provided, long design is long for the long adaptation of electric duration with battery pack during the liquid duration that the stock solution bucket corresponds, and cleaning equipment is full bucket or empty bucket and battery pack full-electricity's the condition at the stock solution bucket like this, and the user uses this cleaning equipment clean indoor or outdoor ground, uses the stock solution bucket from full bucket to empty bucket or from empty bucket to full bucket when, and battery pack's residual capacity also almost exhausts or reaches the condition that minimum electric quantity needs to charge. That is to say, the technical scheme that this application embodiment provided, from the angle of the work adaptation between the cleaning device use in-process part, let long adaptation during liquid duration and electric duration, reduce the user and handle the emergence probability that the battery can't continue the operational aspect again to charge soon after the liquid storage barrel is discovered midway for the user for the use of product is experienced better.

The above-described embodiments are solutions to the adaptation provided from a static, product design level. The technical scheme provided by another embodiment of the application is also a scheme for solving the working adaptation among the components from a dynamic perspective from the viewpoint of the working adaptation among the components in the using process of the equipment. According to the technical scheme, the available amount (the current available cleaning liquid amount or the current recoverable liquid amount) of the liquid storage barrel is detected in real time through the first detection device, then the operation of the equipment main body is controlled according to the available amount and the residual circuit of the battery pack and the proper working parameters calculated by using the endurance adaptation algorithm, so that the liquid endurance time corresponding to the available amount is adapted to the electric endurance time corresponding to the residual electric quantity, the occurrence probability of the situation that the battery electric quantity is insufficient after the liquid storage barrel is processed midway by a user is reduced, and the use experience of the product is more intelligent and scientific.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic view of a cleaning apparatus provided in an embodiment of the present application;

FIG. 2 is a schematic view of another angle of a cleaning device according to an embodiment of the present application;

fig. 3 is a schematic view of a first implementation manner of electrical connection of a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device in the cleaning apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a second implementation manner of electrical connection of a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device in the cleaning apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram illustrating a third implementation manner of electrical connection between a battery assembly, a first main board, a main motor, a pump, a first detection device, and a second detection device in the cleaning apparatus according to an embodiment of the disclosure;

fig. 6 is a schematic view of a fourth implementation manner of electrical connection of a battery assembly, a first main board, a main motor, a pump, a first detection device and a second detection device in the cleaning apparatus according to an embodiment of the present disclosure;

fig. 7 is a flowchart illustrating a method for controlling an adapting operation between components of a cleaning apparatus according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are used merely to distinguish between the various operations, and do not represent any order of execution per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The design idea of the technical scheme of each embodiment of the application is as follows: when the user uses the cleaning device, the battery is fully charged if the initial storage tank is full or empty (e.g., the clear water tank is full or the waste water tank is empty). When the user starts to use the liquid storage barrel, the electric quantity of the battery component is almost exhausted or reaches the lowest electric quantity (needing to be charged) after the liquid storage barrel is used to be empty or full (such as a clear water barrel is empty or a sewage barrel is full). The user can then turn off the end of use and charge the cleaning device. While reducing the probability of the following: the user uses for a while, and the stock solution bucket needs the liquid feeding or emptys, and the user does not use for a while again the circumstances of no electricity after the liquid feeding or emptys.

The present application is innovative from a number of perspectives. One angle is a static angle, and the capacity of the liquid storage barrel and the capacity of the battery pack are matched and designed in the design stage. For example, based on the cleaning area of most household users, the capacity of the liquid storage barrel in a certain working mode can be designed to clean the whole house or more than 80% (or more), and the electric endurance of the battery pack can also ensure the whole house cleaning or more than 80% (or more). For example, in this mode of operation: the power of the main motor is low power, the pumping output of the pump communicated with the liquid storage barrel is low level, and the like. Or other operation modes, which is not limited in this embodiment. For example, the operation mode is an operation mode corresponding to a light pollution environment, that is, an operation mode when the degree of contamination detected by the cleaning device in the intelligent mode is low. Wherein, dirty degree can be obtained through sensor detection ground on the scrubbing brush, or through detection device detection sewage in the recovery pipeline. Another angle is the dynamic angle, does the innovation in control, makes cleaning device's work adaptation between the part through control, lets the long adaptation during long and battery pack's the long electric endurance of the liquid duration that the stock solution bucket corresponds, lets cleaning device can work as far as possible, reduces the user and handles the emergence probability of the condition of stock solution bucket because of not having the electricity to finish the work for a moment again for a moment.

The following examples will be described from these two innovative perspectives, respectively.

Fig. 1 and 2 show a schematic structural diagram of a cleaning device provided in an embodiment of the present application. The embodiment is designed by matching the capacity of the liquid storage barrel with the capacity of the battery pack from a static angle. As shown in fig. 1 and 2, the cleaning apparatus includes: the apparatus body 1, the liquid storage barrel 2 and the battery assembly (not shown). Wherein the apparatus body 2 is provided with a cleaning device. Such as the cleaning device is a floor brush 3 as shown in fig. 1. The floor brush 3 may include a roll brush and a floor brush motor, and the floor brush motor drives the roll brush to rotate. The liquid storage barrel 2 is arranged on the equipment main body 1 and used for storing cleaning liquid or recycling sewage, liquid in the liquid storage barrel 2 reaches a set high capacity and is called a full barrel, and liquid in the liquid storage barrel 2 reaches a set low capacity and is called an empty barrel; when the equipment main body works, the time required by the liquid storage barrel from full barrel to empty barrel or from empty barrel to full barrel is the liquid duration. The battery pack is arranged on the equipment main body 1 and used for supplying power to the cleaning equipment, and the duration of the battery pack is the duration of electric duration. Specifically, the liquid duration is adapted to the electric duration.

Wherein, "adapting" may specifically be: the liquid endurance time is equal to the electric endurance time; or the liquid duration is less than the electric duration and less than the amount within the set tolerance of the adaptation requirement. For example, the set tolerance is: 0-5 minutes.

In another realizable version, the electrical endurance time is N times or more than N times the liquid endurance time. More specifically, the liquid storage barrel is a sewage barrel, and correspondingly, the duration of the liquid endurance is the duration of the sewage endurance corresponding to the sewage barrel. The electric endurance time is N times or more than N times of the sewage endurance time. For example, the whole-house cleaning scene is suitable for cleaning with a large area, the electric endurance can be long enough, and the cleaning times of the sewage bucket are controlled to be 2-3 times. Optionally, the value range of N may be 2 to 6. Preferably, the electric duration is an integral multiple of the sewage duration, and the integral can take values of 2, 3, 4, 5 and 6, and on the basis, considering that actual operation is not completely accurate and has a certain fuzzy amount, the electric duration can be more than the integral multiple of the sewage duration, such as more than 2 times, more than 3 times, more than 4 times, more than 5 times and more than 6 times.

The function of the liquid storage barrel of cleaning equipment with different types or functions can be different. For example, some cleaning devices only have a liquid storage barrel for storing cleaning liquid, and when the cleaning device is used for cleaning floors, carpets and the like, the cleaning liquid in the liquid storage barrel continuously or intermittently outputs the liquid outwards through dripping seepage or pumping. The liquid output from the liquid storage barrel can be directly sprayed to the ground, or dripped/sprayed to the rolling brush, the rag and the like, which is not limited in this embodiment. Or, the cleaning device is specially used for collecting sewage, and only one liquid storage barrel for recovering sewage is arranged on the cleaning device. For example, in the cleaning apparatus shown in fig. 1 and 2, the liquid storage tank 2 includes a clean water tank 21 and a sewage tank 22.

Referring to fig. 1 and 2, the liquid storage tub 2 in the present embodiment may include a clean water tub 21 and a dirty water tub 22. The cleaning water barrel 21 is used for storing cleaning liquid, the liquid in the cleaning water barrel 21 reaches a first set high capacity and is called a full barrel, and the liquid reaches a first set low capacity and is called an empty barrel; the time length of the clear water barrel 21 from full barrel to empty barrel is the clear water endurance time length. The slop pail 22 is used for recycling sewage, and the sewage in the slop pail 22 reaches a second set high capacity and is called a full pail, and the sewage reaches a second set low capacity and is called an empty pail; the time required by the slop pail 22 from empty pail to full pail is the duration of sewage endurance. The clear water duration is basically equal to the sewage duration.

It should be noted here that, from the viewpoint of product design, in order to make the fresh water duration equal to the sewage duration, it is not simple to simply design the capacity of the fresh water tank to be the same as the capacity of the sewage tank. Here, it should be considered that: the water absorption amount of the roll brush, the sewage recovery rate, the recovery amount of the sewage per unit time by the suction force generated by the main motor, the amount of the sewage remaining in the piping of the apparatus main body, and the like. Therefore, these factors need to be taken into account. For example, the ratio of the capacity of the clean water barrel to the capacity of the sewage barrel can be 1.1-2. Preferably, the ratio of the capacity of the clear water barrel to the capacity of the sewage barrel can be 1.1-1.3. Here, it should be noted that: the slop pail volume is not the actual pail volume of the slop pail, but is the maximum tagged volume of the slop pail, i.e. the volume of the max water line of the slop pail; the reason is that: the cleaning device will incline when working, and max water line is set to prevent water from contacting the filter (HEPA) at the top of the sewage bucket in the inclined state.

Or, in another implementation scheme, the clear water endurance time is M times or more than M times of the sewage endurance time. Wherein M can be 2-3. If M is too large, the capacity of the clear water barrel can be required to be large, so that the volume of the equipment can be increased, and the use is not light. Preferably, the duration of the clear water endurance is an integral multiple of the duration of the sewage endurance, such as 2 times or 3 times, and on the basis, the duration of the clear water endurance may be more than 2 times or more than 3 times of the duration of the sewage endurance, considering that the actual operation is not completely accurate and a certain fuzzy amount exists.

The above is a design innovation on the premise that the apparatus main body operates in an operating mode. For example, the apparatus main body has a plurality of operation modes such as a low-range operation mode, a high-range operation mode, an intelligent mode, and the like. Taking a household cleaning device as an example, because the internal environment of a family is not dirty, in most cases, a user can clean the household cleaning device by using a low-grade working mode or an intelligent mode. In the design stage of the cleaning equipment, the cleaning area in most families is considered to be 80-120 square meters, and a low-grade working mode is used in most cases. In the design, the battery capacity, the clear water barrel capacity and the sewage barrel capacity are designed by determining the required electric quantity and the cleaning liquid quantity for cleaning the ground surface of 50 square meters in a low-grade working mode.

The liquid storage barrel is provided with a plurality of working gears corresponding to different working modes of the equipment main body. Wherein, the multiple working gears of the liquid storage barrel are related to the power of the pump or the main motor. For example, the liquid storage barrel is a clear water barrel, and various working gears of the liquid storage barrel are related to the power of the pump. If the liquid storage barrel is a sewage barrel, various working gears of the liquid storage barrel are related to the power of the main motor. For example, when the liquid storage barrel works at a first gear, the duration of the liquid running is equal to the duration of the electric running. Wherein, the first gear is the gear with the lowest water outlet or water inlet per unit time in the plurality of working gears.

It can be seen that, the technical scheme that this embodiment provided designs the length of time of endurance of the liquid that the liquid storage bucket corresponds for the length of time adaptation during the electricity duration with battery pack, and like this cleaning device is full bucket or empty bucket and battery pack full-charge's the condition at the liquid storage bucket, and the user uses this cleaning device to clean indoor or outdoor ground, and when using the liquid storage bucket from full bucket to empty bucket or from empty bucket to full bucket, battery pack's surplus electric quantity also almost exhausts or reaches the condition that minimum electric quantity needs to charge. That is to say, the technical scheme that this application embodiment provided, from the angle of the work adaptation between the cleaning device use in-process part, let long adaptation during liquid duration and electric duration, reduce the user and handle the emergence probability that the battery can't continue the operational aspect again to charge soon after the liquid storage barrel is discovered midway for the user for the use of product is experienced better.

The design concept of the present embodiment will be described below with reference to a specific product.

Assume that the product has a clear water bucket and a dirty water bucket. The maximum capacity of the slop pail is 720 ml. 720ml here refers to the capacity of the max water line of the slop pail; rather than the actual capacity of the slop cask. The reason is that: the cleaning device will incline when working, and max water line is set to prevent water from contacting the filter (HEPA) at the top of the sewage bucket in the inclined state. The volume of the clear water barrel is 880 ml.

The following table 1 shows the pump flow (ml/min) of the pump in the corresponding working mode of each gear of the cleaning device, i.e. the water output (ml) of the clear water bucket in unit time (i.e. 1 minute).

The gear modes can be selected by a user through an interactive device of the cleaning equipment or automatically determined by the cleaning equipment according to the dirt degree grade. Wherein the degree of soiling may be determined on the basis of detection information of a detection device (such as a second detection device as will be mentioned hereinafter) provided on the cleaning apparatus. For example, the second detection device may be disposed in the sewage recovery pipe or the sewage bucket, and is configured to detect a degree of contamination of the recovered sewage. The controller of the cleaning device can measure the dirty condition of the sewage based on the detection information detected by the second detection device, so as to correspondingly obtain the corresponding dirty degree.

Taking the cleaning device working in the 1-gear mode as an example:

the nominal capacity of the battery core in the battery pack is 4000mAh, and the output capacity of the actual battery pack is about 3600 mAh. In the 1-gear mode, the pump flow rate of the pump is 20ml/min (namely the clear water barrel works at 1 gear), and the main motor power is 90W.

According to the following formula I, the calculated theoretical battery endurance time is as follows:

battery duration (rated voltage of battery pack) actual capacity)/complete machine power

(3.6V 7 × 3600mAh)/90W ═ 1.008h (formula one)

In formula one, the rated voltage of the battery pack is 3.6V per battery, and the battery pack on the current product comprises 7 batteries. According to laboratory measurement, the actual running time of the battery is measured to be 43 minutes, which is shorter than the calculated 1h, because the actual running time of the battery not only comprises the work of the main motor, but also comprises the electric energy loss of other components such as a ground brush motor, a pump, a display screen and the like.

Clear water tank capacity/pump flow

(880 x 98%)/20 ═ 43.12 minutes (equation two)

Duration of sewage endurance (slop pail capacity + rolling brush water absorption 25ml + pail wall and pipe residual quantity 5 ml)/(water recovery rate pump flow)

(720+25+ 5)/(90% × 20) (1 st pattern corresponds to a water recovery of 90%, which can be determined experimentally)

41.6 minutes (formula three)

From the above calculations it can be seen that: the battery endurance time, the clear water endurance time and the sewage endurance time are basically consistent. From the specific numerical value, the duration of the clear water is slightly longer than the duration of the sewage.

When the endurance configuration time is set among the components, the endurance time of the above three components is basically consistent, and the following three parameters are used: clear water bucket capacity, dirty water bucket capacity, battery capacity.

According to the second formula and the third formula, it can be obtained: the volume of the clear water barrel and the water recovery rate are respectively the volume of the sewage barrel, the water absorption capacity of the rolling brush is 25ml, and the residual volume of the barrel wall and the pipeline is 5 ml. In order to keep the clear water endurance basically consistent with the sewage endurance, the capacity proportional relation between the clear water bucket and the sewage bucket can be designed according to a formula II and a formula III.

Alternatively, in another embodiment, when the required fresh water duration is more than N times of the sewage duration (N is 2 or 3), the proportional relationship between the capacities of the fresh water bucket and the sewage bucket can be obtained according to the formula two and the formula three.

The electric endurance time in the 1-gear mode is substantially consistent with the water endurance time (clear water endurance time or sewage endurance time). And under other gear modes, the electric endurance time is longer than the water endurance time.

Take the cleaning device working in the 5-gear mode as an example: the pump flow rate of the pump is 100ml/min (namely the clear water bucket works at 5 gears), and the power of the main motor is 120W.

According to the formula I, the calculated theoretical battery endurance time is as follows:

＝(3.6V*7*3600mAh)/120W＝(3.6*7*3.6)/90＝45min

According to the laboratory measurement, the actual operation time of the battery is about 36 minutes through actual measurement.

Clear water tank capacity/pump flow

(880 × 98%)/100 ═ 8.62 minutes

(720+25+ 5)/(92% + 100) (5-step mode for 92% water recovery)

8.15 min

From the above, it can be seen that: the clear water duration and the sewage duration are basically consistent under the 5-gear mode. From the specific numerical value, the duration of the clear water is slightly longer than the duration of the sewage.

The contents are all designed by taking a certain gear mode as a design reference and matching sewage bucket parameters, clear water bucket parameters and battery capacity of the cleaning equipment. Essentially, the intelligent mode of the cleaning device can also be used as a design basis. When the cleaning equipment works in an intelligent mode, when a dirt sensor in the recovery channel detects that the sewage is heavy, the main motor can increase power, and the pump flow of the pump is synchronously increased to increase the water yield of the clean water; when the sewage is detected to be medium-low sewage, the power of the main motor is reduced, and the pump flow of the pump is synchronously reduced. Therefore, the parameters of all parts in the intelligent mode are obtained, and the parameters of the battery, the clean water bucket, the sewage bucket and the like can be matched and designed based on the following formula IV, so that the parameters, the model selection and the design of all parts of the cleaning equipment are more adaptive and scientific.

M (sewage bucket capacity + liquid loss)/water recovery rate is the capacity of the clear water bucket;

battery endurance time N (slop pail capacity + liquid loss)/(water recovery rate pump flow)

Wherein, the pump flow is a pump working parameter in an intelligent mode, and the liquid consumption is a default value (the water absorption capacity of the rolling brush is 25ml + the residual quantity of the barrel wall and the pipeline is 5 ml); the water recovery rate is related to the power of the main motor in the intelligent mode, and the larger the power of the main motor is, the higher the water recovery rate is. N is 2-6; m is 1 to 3.

Further, the present embodiment also makes innovations in the control of the cleaning apparatus from a dynamic perspective. As shown in fig. 3 to 6, the cleaning apparatus provided in this embodiment may further include: a first detection device 4 and a controller 9. The first detection device 4 is configured to detect an available amount of the liquid storage barrel 2, where the available amount is a currently available amount of cleaning liquid or a currently recoverable amount of liquid in the liquid storage barrel 2. The controller 9 is electrically connected with the battery assembly 10 and the first detection device 4, and is configured to obtain a remaining power of the battery assembly 10, and calculate a working parameter of the apparatus main body based on the available amount and the remaining power by using a endurance adaptive algorithm; and controlling the equipment main body to work according to the working parameters, so that the duration of liquid endurance corresponding to the available amount of the liquid storage barrel is matched with the duration of electric endurance corresponding to the residual electric quantity of the battery pack.

Specifically, the operating parameters of the device body may include, but are not limited to, at least one of the following:

the pump pumps the cleaning liquid from the liquid storage barrel, the power of a main motor related to the water outlet of the liquid storage barrel, the output rotating speed of a ground brush motor, the brightness of a display screen on the equipment main body, the opening or closing of a voice playing function on the equipment main body and the like.

The core purpose of the calculation of the endurance adaptation algorithm in the embodiment is as follows: through adjusting the working parameters of the working parts of the cleaning equipment, the liquid duration is adapted to the electric duration, so that the cleaning equipment can continuously work for a longer time without interruption under the conditions of the current available amount of the liquid storage barrel and the current residual electric quantity of the battery. The embodiment of the present application does not specifically limit the endurance adaptation algorithm.

For example, if the remaining amount of the battery is not large and the remaining amount of the clean water in the clean water tank is large, some power consuming functions, such as a voice playing function and a display function of a display screen, can be turned off to reduce the power consumption of the cleaning device, so as to fully guarantee the cleaning duration of the cleaning device.

In a specific embodiment, the liquid storage barrel 2 comprises a clear water barrel 21 and a sewage barrel 22. The cleaning device further comprises second detection means 5. The second detecting device 5 is electrically connected to the controller 9, and is configured to detect a degree of contamination of the sewage recovered to the sewage bucket 22. Accordingly, the above first detecting means 4 may be used to detect the currently available amount of cleaning liquid in the cleaning water tub 21. For example, the first detection device may be a liquid level sensor, and the amount of the cleaning liquid in the cleaning water tank can be obtained through liquid level information sensed by the liquid level sensor.

Accordingly, the controller 9, when calculating the operating parameters of the main body of the device by using the endurance adaptation algorithm based on the available amount and the remaining capacity, is configured to:

when the current available cleaning liquid amount is larger than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage pollution degree, wherein the working parameters mainly comprise the power of a main motor and the water pumping amount;

and when the current available cleaning liquid amount is smaller than the threshold value, calculating working parameters of the equipment main body by using a endurance adaption algorithm according to the current available cleaning liquid amount and the residual electric quantity, wherein the working parameters mainly comprise main motor power and water pumping quantity.

Further, as shown in fig. 3 to 6, the cleaning apparatus provided in this embodiment further includes: a main motor 7, a pump 8 and a first main board 6. Wherein a main motor 7 is provided on the apparatus body for generating a suction force to suck the contaminated water and impurities into the tub 22. A pump 8 is provided on the apparatus body for pumping out the cleaning liquid in the cleaning water tub 21 to the surface to be cleaned.

As shown in fig. 3, the controller 9 is located on the first main board 6, and the first main board 6 is electrically connected to the main motor 7, the pump 8, the battery assembly 10, the first detection device 4, and the second detection device 5, respectively. More specifically, the battery pack 10 includes a second main board and a battery. The first motherboard 6 may be electrically connected to the second motherboard.

Alternatively, as shown in fig. 4, in a second implementation manner, the controller 9 is located on the battery assembly 10, the main motor 7 is electrically connected to the battery assembly 10, the first main board 6 is electrically connected to the pump 8, the first detection device 4, and the second detection device 5, respectively, and the first main board 6 is electrically connected to the battery assembly 10 to indirectly control the operation of the pump through communication with the battery assembly 10. Specifically, the controller 9 is disposed on the second motherboard, and the main motor 7 is electrically connected to the second motherboard.

Alternatively, as shown in fig. 5, in a third implementation manner, the controller 9 is located on the battery assembly 10, the battery assembly 10 is electrically connected to the main motor 7 and the pump 8, respectively, and the first main board 6 is electrically connected to the battery assembly 10, the first detection device 4, and the second detection device 5, respectively. Specifically, the controller 9 is disposed on the second main board, and the main motor 7 and the pump 8 are electrically connected to the second main board.

Alternatively, as shown in fig. 6, in a fourth implementation manner, the controller 9 is located on the battery assembly 10, and the battery assembly 10 is electrically connected to the main motor 7, the pump 8, the first detection device 4, and the second detection device 5, respectively. Specifically, the controller 9 is disposed on the second main board, and the main motor 7, the pump 8, the first detection device 4, and the second detection device 5 are all electrically connected to the second main board.

The above is also a solution from the viewpoint of work adaptation between components during the use of the device, but from a dynamic viewpoint. The available amount (the current available cleaning liquid amount or the current recoverable liquid amount) of the liquid storage barrel is detected in real time through the first detection device, then based on the available amount and a residual circuit of the battery pack, a suitable working parameter is calculated through a endurance adaptation algorithm, and the operation of the equipment main body is controlled according to the working parameter, so that the endurance time of liquid corresponding to the available amount is adapted to the endurance time of electricity corresponding to the residual electric quantity, the occurrence probability that the battery electric quantity is insufficient after a user processes the liquid storage barrel midway is reduced, and the use experience of the product is better.

The following embodiments create innovations in the control of the cleaning apparatus from a dynamic perspective alone. That is, the present embodiment provides a cleaning apparatus. The structure of the cleaning device and the electrical connection structure between the electrical components can be seen in fig. 1 to 6 mentioned in the above embodiments, respectively, and the cleaning device includes: the device comprises a device body 1, a liquid storage barrel 2, a first detection device 4, a battery pack 10 and a controller 9. Wherein, the device body 1 is provided with a cleaning device. The liquid storage barrel 2 is arranged on the equipment main body 1 and used for storing cleaning liquid or recycling sewage. The first detecting device 4 is used for detecting the available amount of the liquid storage barrel 2, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel. A battery assembly 10 is provided on the apparatus body 1 for supplying power to the cleaning apparatus. The controller 9 is electrically connected with the battery assembly 10 and the first detection device 4, and is configured to obtain a remaining power of the battery assembly 10, and calculate a working parameter of the apparatus main body based on the available amount and the remaining power by using a endurance adaptive algorithm; and controlling the equipment main body to work according to the working parameters, so that the duration of liquid endurance corresponding to the available amount of the liquid storage barrel is matched with the duration of electric endurance corresponding to the residual electric quantity of the battery pack.

Specifically, the duration of liquid endurance corresponding to the available amount is equal to the duration of electric endurance corresponding to the residual electric quantity; or the liquid endurance time corresponding to the available amount is less than the electric endurance time corresponding to the residual electric quantity, and the liquid endurance time is less than the electric endurance time corresponding to the residual electric quantity and is within the set tolerance of the adaptation requirement. Wherein, the set tolerance can be 0-2 minutes.

Further, the liquid storage barrel 2 in this embodiment includes a clean water barrel 21 and a sewage barrel 22. Correspondingly, the cleaning device further comprises a second detection means 5.

The second detecting device 5 is electrically connected to the controller 9, and is configured to detect a degree of contamination of the sewage recovered to the sewage bucket 22. The first detecting means 4 hereinbefore is adapted to detect the amount of cleaning liquid currently available in the cleaning water tub 21. Accordingly, the controller 9, when calculating the operating parameters of the apparatus main body based on the available power and the remaining power and by using the endurance adaptation algorithm, is configured to:

when the current available cleaning liquid amount is larger than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage pollution degree;

and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by using a endurance adaptive algorithm according to the current available cleaning liquid amount and the residual electric quantity.

Still further, the cleaning device provided by the present embodiment further includes a main motor 7, a pump 8, and a first main board 6. The connection relationship among the main motor 7, the pump 8, the first main board 6, the battery assembly 10, the first detection device 4, the second detection device 5, and the like, and the setting position of the controller 9, and other relevant contents, can be referred to the corresponding description above, and are not repeated herein.

In response to the innovation of the present application in the control method from the dynamic point of view, the present application also provides an embodiment of the method as shown in fig. 7, which is a control method for adapting the work between the components of the cleaning apparatus, the method comprising;

101. acquiring the available amount of a liquid storage barrel of cleaning equipment, wherein the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;

102. acquiring the residual capacity of a battery assembly of the cleaning equipment;

103. calculating working parameters of the equipment main body by utilizing a endurance adaption algorithm based on the available quantity and the residual electric quantity;

104. and controlling the equipment main body to work according to the working parameters, so that the duration of liquid endurance corresponding to the available amount of the liquid storage barrel is matched with the duration of electric endurance corresponding to the residual electric quantity of the battery pack.

For example, the liquid storage barrel includes a clean water barrel and a sewage barrel. Correspondingly, the step 103 "calculating the operating parameters of the device body by using the endurance adaptation algorithm based on the available power and the remaining power" may specifically include:

1031. acquiring the degree of sewage contamination recovered to the sewage bucket;

1032. when the current available cleaning liquid amount is larger than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage pollution degree;

1033. and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by using a endurance adaptive algorithm according to the current available cleaning liquid amount and the residual electric quantity.

In the above 1032, for example, in the above table 1, it is determined that the apparatus main body operates in the corresponding gear mode according to the degree of contamination of the sewage. In different gear modes, the pump flow of the pump is different, and the main motor power is the same or different.

The 1033 mentioned above. Endurance adaptation algorithm this embodiment does not limit it. The endurance adaptive algorithm can be obtained based on means such as theoretical derivation or can be directly selected as a machine learning model such as a convolutional neural network model (simple in structure and light in weight), the model can be trained in advance, and the trained model is configured on the cleaning equipment, such as stored in a storage area of the first main board, so that the controller can call the trained model. The machine learning model can also be used for learning the use habits of the user to train in the use process of the user so as to improve the intelligent degree of the cleaning equipment.

The technical solution provided by this embodiment is also a solution for solving the work adaptation between components from a dynamic perspective, from the viewpoint of the work adaptation between components in the use process of the device. According to the technical scheme, the available amount (the current available cleaning liquid amount or the current recoverable liquid amount) of the liquid storage barrel is detected in real time through the first detection device, then based on the available amount and the residual circuit of the battery pack, the proper working parameter is calculated by using the endurance adaptation algorithm, and the equipment main body is controlled to work according to the working parameter, so that the duration of liquid endurance corresponding to the available amount is adapted to the duration of electric endurance corresponding to the residual electric amount, the occurrence probability of insufficient battery electric quantity after the liquid storage barrel is processed midway by a user is reduced, and the use experience of the product is better.

To sum up, the technical scheme that this application embodiment provided has just considered the collaborative work matching problem of cleaning device each part from the design phase, for example the long matching of duration and electric duration of endurance of liquid, the long matching of duration and sewage duration of endurance of clear water etc. to just let the design parameter of each part of cleaning device more adapt, more scientific at the design phase. By adding a more intelligent algorithm such as a endurance adaptation algorithm on the operation control of the actual cleaning equipment, each part of the cleaning equipment is intelligently adapted to working parameters in the actual cleaning process, and the cleaning equipment is further more scientific and intelligent in control.

The following describes schemes provided in the embodiments of the present application with reference to specific usage scenarios.

Scene one

The user takes off the cleaning device that this application embodiment provided from the charging seat, fills the clear water bucket with the cleaning solution before the use, and the slop pail is emptyd to empty bucket, then the start. The user holds the handle and pushes the cleaning equipment to clean the ground at home, and the user cleans all rooms one by one according to the sequence of self preference. After cleaning a complete room, the user finds that the clear water in the clear water barrel is not left, the sewage barrel is almost full, the electric quantity of the battery is not left, and the user is just right. The user then places the cleaning device on the charging dock to continue charging for the next cleaning to be full. The user removes the slop pail and dumps it and installs it back.

Scene two

The user takes off the cleaning equipment that this application embodiment provided from the charging seat and cleans the ground in the house. Before the use, the clear water barrel is filled with cleaning solution, the sewage barrel is dumped into an empty barrel, and then the machine is started. After a period of cleaning, the first detection device of the cleaning device detects that the cleaning liquid amount in the cleaning water tank is less than 50%, and the controller of the cleaning device calculates the working parameters of the device body by using the endurance adaptive algorithm based on the available amount of the cleaning liquid and the remaining capacity of the battery, such as the pump flow rate of the pump, the power of the main motor and the like. Then, the controller controls the operation of the apparatus main body according to the calculated operating parameters. After the user cleans the whole house, the user finds that the clear water in the clear water barrel is not left, the sewage barrel is almost full, and the electric quantity of the battery is not left and is just right. The user then places the cleaning device on the charging dock to continue charging for the next cleaning to be full. The user removes the slop pail and dumps it and installs it back.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A cleaning apparatus, comprising:

an apparatus main body on which a cleaning device is provided;

wherein the liquid duration is adapted to the electric duration.

2. The cleaning apparatus of claim 1,

the liquid endurance time is equal to the electric endurance time; or

The liquid duration is less than the electric duration and less than the amount within a set tolerance of the adaptation requirement.

3. The cleaning apparatus as claimed in claim 2, wherein the set tolerance is 0-5 minutes.

4. The cleaning apparatus according to claim 1, wherein the electrical endurance is N times longer than the liquid endurance, and N ranges from 2 to 6.

5. The cleaning apparatus of claim 1, wherein the reservoir tank comprises:

the cleaning barrel is used for storing cleaning solution, and liquid in the cleaning barrel reaches a first set high capacity and is called as a full barrel, and liquid in the cleaning barrel reaches a first set low capacity and is called as an empty barrel; the time required by the clear water barrel from full barrel to empty barrel is the clear water endurance time;

the sewage bucket is used for recovering sewage, the sewage in the sewage bucket reaches a second set high capacity and is called a full bucket, and the sewage in the sewage bucket reaches a second set low capacity and is called an empty bucket; the time required by the sewage bucket from empty bucket to full bucket is the duration of sewage endurance;

the clear water endurance time is equal to the sewage endurance time, or the clear water endurance time is M times of the sewage endurance time, and M is 2-3.

6. The cleaning apparatus as claimed in claim 5, wherein the ratio of the volume of the clean water tub to the volume of the dirty water tub is 1.1-2.5.

7. The cleaning apparatus as defined in any one of claims 1 to 6, wherein the reservoir has a plurality of operating positions;

when the liquid storage barrel works at a first gear, the duration of the liquid endurance is equal to the duration of the electric endurance;

wherein, the first gear is the gear with the lowest water outlet or water inlet per unit time in the plurality of working gears.

8. The cleaning apparatus as claimed in any one of claims 1 to 6, further comprising:

the device comprises a first detection device, a second detection device and a control device, wherein the first detection device is used for detecting the available amount of the liquid storage barrel, and the available amount is the current available cleaning liquid amount or the current recoverable liquid amount in the liquid storage barrel;

the controller is electrically connected with the battery assembly and the first detection device and used for acquiring the residual electric quantity of the battery assembly, and calculating working parameters of the equipment main body by using a endurance adaption algorithm based on the available quantity and the residual electric quantity; and controlling the equipment main body to work according to the working parameters, so that the liquid endurance time corresponding to the available quantity is matched with the electric endurance time corresponding to the residual electric quantity.

9. The cleaning apparatus as claimed in claim 8, wherein the operating parameters of the apparatus body include at least one of:

the pump pumps the cleaning liquid from the liquid storage barrel, the power of a main motor related to the water yield of the liquid storage barrel, the output rotating speed of a ground brush motor, the brightness of a display screen on the equipment main body and the opening or closing of a voice playing function on the equipment main body.

10. The cleaning apparatus as defined in claim 8, wherein the liquid storage bucket comprises a clear water bucket and a slop water bucket; and the cleaning device further comprises:

the second detection device is electrically connected with the controller and is used for detecting the degree of contamination of the sewage recovered to the sewage bucket;

the first detection device is used for detecting the current available cleaning liquid amount in the clean water barrel;

the controller is configured to, when calculating the operating parameter of the device main body based on the available amount and the remaining power and using a endurance adaptation algorithm:

when the current available cleaning liquid amount is larger than or equal to a set threshold value, determining working parameters of the equipment main body according to the sewage pollution degree; or,

and when the current available cleaning liquid amount is smaller than the set threshold, calculating working parameters of the equipment main body by using a endurance adaption algorithm according to the current available cleaning liquid amount and the residual electric quantity.

11. The cleaning apparatus defined in claim 8, further comprising:

a main motor provided on the apparatus body for generating a suction force to suck the sewage into the tub;

the pump is arranged on the equipment main body and is used for pumping the cleaning liquid in the cleaning water barrel to the rolling brush and/or the surface to be cleaned; and

a first main board;

the controller is located on the first main board, and the first main board is electrically connected with the main motor, the pump, the battery assembly, the first detection device and the second detection device respectively; or,

the controller is located on the battery assembly, the main motor is electrically connected with the battery assembly, the first main board is electrically connected with the pump, the first detection device and the second detection device respectively, and the first main board is electrically connected with the battery assembly to indirectly control the pump to work through communication with the battery assembly;

or the controller is located on the battery assembly, the battery assembly is electrically connected with the main motor and the pump respectively, and the first main board is electrically connected with the battery assembly, the first detection device and the second detection device respectively;

or, the controller is located on the battery pack, and the battery pack is electrically connected with the main motor, the pump, the first detection device and the second detection device respectively.

12. A cleaning apparatus, comprising:

an apparatus main body on which a cleaning device is provided;

13. The cleaning apparatus defined in claim 12,

the liquid endurance time corresponding to the available amount is equal to the electric endurance time corresponding to the residual electric quantity; or alternatively

The liquid endurance time corresponding to the available amount is shorter than the electric endurance time corresponding to the residual electric quantity, and the smaller amount is within the set tolerance of the adaptation requirement.

14. The cleaning apparatus as claimed in claim 12 or 13, wherein the reservoir tank comprises a clear water tank and a slop tank; and the cleaning device further comprises:

the first detection device is used for detecting the current available cleaning liquid amount in the cleaning water barrel;

and when the current available cleaning liquid amount is smaller than the threshold value, calculating the working parameters of the equipment main body by utilizing a endurance adaptive algorithm according to the current available cleaning liquid amount and the residual electric quantity.

15. The cleaning apparatus defined in claim 14, further comprising:

a main motor provided on the apparatus body for generating a suction force to suck the sewage and the foreign substances into the tub;

the pump is arranged on the equipment main body and used for pumping the cleaning liquid in the cleaning water barrel to a surface to be cleaned; and

a first main board;

16. A method for controlling the adaptation of the working between the components of a cleaning appliance,

17. The method of claim 16, wherein the liquid storage buckets comprise a clear water bucket and a slop bucket; and

calculating the working parameters of the equipment main body by utilizing a endurance adaption algorithm based on the available quantity and the residual electric quantity, wherein the working parameters comprise:

acquiring the degree of sewage contamination recovered to the sewage bucket;

when the current available cleaning liquid amount is larger than or equal to a threshold value, determining working parameters of the equipment main body according to the sewage pollution degree; or,