CN116076964A - Control method and device of cleaning equipment and cleaning equipment - Google Patents
Control method and device of cleaning equipment and cleaning equipment Download PDFInfo
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- CN116076964A CN116076964A CN202211105461.6A CN202211105461A CN116076964A CN 116076964 A CN116076964 A CN 116076964A CN 202211105461 A CN202211105461 A CN 202211105461A CN 116076964 A CN116076964 A CN 116076964A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 54
- 230000009471 action Effects 0.000 claims abstract description 39
- 230000004044 response Effects 0.000 claims abstract description 16
- 230000015654 memory Effects 0.000 claims description 10
- 239000013076 target substance Substances 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 16
- 239000010865 sewage Substances 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000010408 sweeping Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 239000002689 soil Substances 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
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- 230000003247 decreasing effect Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004364 calculation method Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
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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
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Positive-Displacement Pumps (AREA)
Abstract
The application discloses cleaning equipment, a control method and a control device for the cleaning equipment, wherein the cleaning equipment comprises an air pump and an air pump motor for driving the air pump, and the control method comprises the following steps: in response to a control instruction for an air pump motor, starting the air pump motor according to a first duty ratio, wherein the air pump motor is used for driving an air pump to execute a sucking action for dirt, and the first duty ratio is larger than or equal to a preset duty ratio; after the air pump motor is started, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio in a first preset time, and a dirt parameter of dirt sucked by the air pump is detected, wherein the dirt parameter is used for representing the dirt degree of the dirt. The technical scheme provided by the application can improve the accuracy of dirt parameter detection.
Description
Technical Field
The application belongs to the technical field of cleaning equipment control, and particularly relates to a cleaning equipment control method and device and cleaning equipment.
Background
At present, cleaning devices, including sweeping robots, require detection of dirt parameters when suctioning dirt. The existing detection scheme is usually used for directly detecting the dirt in the dirt suction process, and the influence of dirt detection conditions on the detection of dirt parameters is not considered, so that the problem of inaccurate dirt parameter detection is easy to occur. Based on this, how to improve the accuracy of the dirt parameter detection is a technical problem to be solved.
Disclosure of Invention
The embodiment of the application provides a control method and device of cleaning equipment and the cleaning equipment, and further can improve the accuracy of dirt parameter detection at least to a certain extent.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.
According to a first aspect of embodiments of the present application, there is provided a control method of a cleaning apparatus including an air pump and an air pump motor driving the air pump, the method including: in response to a control instruction for an air pump motor, starting the air pump motor according to a first duty ratio, wherein the air pump motor is used for driving an air pump to execute a sucking action for dirt, and the first duty ratio is larger than or equal to a preset duty ratio; after the air pump motor is started, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio in a first preset time, and a dirt parameter of dirt sucked by the air pump is detected, wherein the dirt parameter is used for representing the dirt degree of the dirt.
In some embodiments of the present application, based on the foregoing, after detecting the dirt sucked by the air pump, the method further includes: and in a second preset time, the duty ratio of the air pump motor is adjusted from the second duty ratio to a third duty ratio so as to drive the air pump to complete the suction action on dirt.
In some embodiments of the present application, based on the foregoing, the cleaning apparatus further comprises a dirt cavity and a sensor, the air pump is in communication with the dirt cavity for drawing dirt into the dirt cavity, and the sensor is for detecting a dirt parameter of the dirt.
In some embodiments of the present application, based on the foregoing scheme, the method further includes: detecting the working efficiency of the air pump motor, wherein the working efficiency is used for representing the dirt absorbing capacity of the air pump; and if the working efficiency is lower than the preset working efficiency, adjusting at least one of the first duty ratio, the second duty ratio, the third duty ratio, the first preset time and the second preset time until the working efficiency is higher than or equal to the preset working efficiency.
In some embodiments of the present application, based on the foregoing solution, the detecting the working efficiency of the air pump motor includes: according to a fourth duty ratio, controlling the air pump motor to drive the air pump to pump the target substance to the dirt cavity, and recording the time when the target substance fills the dirt cavity as a reference time; and determining the working efficiency of the air pump motor according to the reference time.
In some embodiments of the present application, based on the foregoing solution, the determining the working efficiency of the air pump motor according to the reference time includes: acquiring the cavity volume of the dirt cavity; and calculating the ratio of the cavity volume to the reference time to serve as the working efficiency of the air pump motor.
In some embodiments of the present application, based on the foregoing solution, the reducing the duty cycle of the air pump motor from the first duty cycle to the second duty cycle in the first preset time includes: determining a first adjustment rate of each moment in a first preset time according to a first preset corresponding relation between the adjustment rate and each moment in the first preset time; and according to the first regulation rate, the duty ratio of the air pump motor is reduced from the first duty ratio to a second duty ratio in the first preset time.
In some embodiments of the present application, based on the foregoing solution, the step of increasing the duty cycle of the air pump motor from the second duty cycle to a third duty cycle in a second preset time includes: determining a second adjustment rate of each moment in a second preset time according to a second preset corresponding relation between the adjustment rate and each moment in the second preset time; and according to the second regulation rate, the duty ratio of the air pump motor is regulated to be higher than a third duty ratio from the second duty ratio in the second preset time.
In some embodiments of the present application, based on the foregoing, the cleaning apparatus further includes a valve motor for driving the valve to switch from the first state to the second state, or for driving the valve to switch from the second state to the first state, the method further comprising: if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to execute the suction action for the dirt according to the first control frequency; and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
In some embodiments of the present application, based on the foregoing scheme, the method further includes: controlling a timer to alternately time the first time length and the second time length; responding to the timer to start timing for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state, or driving the valve to switch from the second state to the first state; and triggering the air pump motor to drive the air pump to execute the suction action for the dirt or drive the air pump to execute the discharge action for the dirt in response to the starting timing of the timer for a second duration.
According to a second aspect of embodiments of the present application, there is provided a control device of a cleaning apparatus including an air pump and an air pump motor driving the air pump, the device including: a starting unit for starting the air pump motor according to a first duty ratio in response to a control instruction for the air pump motor, wherein the air pump motor is used for driving the air pump to execute a suction action for dirt, and the first duty ratio is larger than or equal to a preset duty ratio; the air pump motor is started, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio in a first preset time, and a dirt parameter of dirt sucked by the air pump is detected, wherein the dirt parameter is used for representing the dirt degree of the dirt.
According to a third aspect of embodiments of the present application, there is provided a computer readable storage medium having stored therein at least one program code loaded and executed by a processor to implement operations performed by a method as described in any of the first aspects above.
According to a fourth aspect of embodiments of the present application, there is provided a cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one program code loaded and executed by the one or more processors to implement the method of any of the embodiments of the first aspect described above.
In this application, earlier through a higher duty cycle control air pump motor start, can guarantee that the air pump motor is at the higher rotational speed drive air pump operation of beginning to make the air pump can form higher negative pressure start suction action in the short time, the quick response avoids the negative pressure lower unable system inertia of overcoming, and response speed is slow, avoids the condition emergence of the suction action of unable start air pump, improves the stability of whole cleaning equipment operation. In addition, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio, the flow speed of dirt is slowed down, the influence of the too fast dirt flow speed on the detection of dirt parameters is avoided, and the accuracy of the detection of the dirt parameters is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
fig. 1 shows a working principle diagram of a cleaning device to which the technical solution of the embodiments of the present application can be applied;
FIG. 2 shows a flow chart of a control method of a cleaning apparatus in an embodiment of the present application;
FIG. 3 shows a flow chart for detecting the operation efficiency of the air pump motor in an embodiment of the present application;
FIG. 4 shows a detailed flowchart of a control method of a cleaning apparatus in an embodiment of the present application;
FIG. 5 shows a detailed flowchart of a control method of a cleaning apparatus in an embodiment of the present application;
fig. 6 shows a graph of duty cycle versus time for an air pump motor in an embodiment of the present application;
fig. 7 shows another flowchart of a control method of the cleaning apparatus in the embodiment of the present application.
FIG. 8 shows a block diagram of a control device of a cleaning apparatus in an embodiment of the present application;
fig. 9 shows a schematic structural view of a cleaning apparatus in an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In order to enable a person skilled in the art to better understand the present application, the working principle of the cleaning device according to the present application will be briefly described with reference to fig. 1.
Referring to fig. 1, there is shown a schematic diagram of the operation of a cleaning device to which the technical solution of the embodiments of the present application can be applied.
The cleaning apparatus referred to herein may include a dirt chamber 105, a valve 104, a valve motor 103, an air pump 102, and an air pump motor 101. Wherein the dirt cavity 105 is adapted to receive dirt, such as sewage, air, etc., generated by the cleaning apparatus during cleaning.
Further, as shown in fig. 1, (a) shows a schematic diagram of the cleaning apparatus in a dirt suction operation state, and (b) shows a schematic diagram of the cleaning apparatus in a dirt discharge operation state. Specifically, the air pump 102 sucks the dirt into the dirt cavity 105 by sucking the air in the dirt cavity 105 to form a negative pressure in the dirt cavity 105 under the driving of the air pump motor 101, or the air pump 102 charges the air into the dirt cavity 105 to form a high pressure in the dirt cavity 105 to discharge the dirt contained in the dirt cavity 105 out of the dirt cavity.
Specifically, when the valve motor 103 drives the valve core 108 in the valve 104 to rotate to a position state as shown in fig. (a), the air inlet of the air pump 102 is communicated with the dirt cavity 105, the air in the dirt cavity 105 is sucked, and then the air is discharged outside through the air outlet of the air pump 102 and the valve 104, and in the process, the air in the dirt cavity 105 is sucked to form negative pressure, so that the dirt can be sucked into the dirt cavity 105 from the dirt suction pipe 106. When the valve motor 103 drives the valve core 108 in the valve 104 to rotate to a position state shown in the figure (b), the cleaning device is switched from the dirt suction working state to the dirt discharge working state, at the moment, the air inlet of the air pump 102 is communicated with the outside, the outside air is sucked, then the air is filled into the dirt cavity 105 through the air outlet of the air pump 102, in the process, the air in the dirt cavity 105 is increased to form high pressure, and then the dirt can be discharged out of the dirt cavity 105.
In this application, it should be explained that the valve core 108 shown in fig. 1 divides the inner cavity of the valve 104 into two spaces, and two pipes are connected in each space, for example, as shown in fig. (a), one space is connected to an air inlet pipe of the air pump and a pipe in which the inner cavity of the valve is connected to the dirt cavity, and the other space is connected to an air outlet pipe of the air pump and a pipe in which the inner cavity of the valve is connected to the outside. Also, for example, as shown in fig. (b), one space is communicated with an air inlet pipeline of the air pump and a pipeline of the valve inner cavity communicated with the outside, and the other space is communicated with an air outlet pipeline of the air pump and a pipeline of the valve inner cavity communicated with the dirt cavity. Under the drive of the valve motor 103, the valve core 108 rotates in the valve 104, so that the communication relation among the pipelines is switched, and the flow path of dirt in the cleaning equipment can be switched, so that the cleaning equipment can be switched between a dirt suction working state and a dirt discharge working state.
In this application, it should be further noted that the dirt suction pipe and the dirt discharge pipe of the dirt cavity 105 are both provided with a check valve 109, where, when the cleaning apparatus is in the dirt suction working state, a negative pressure is formed in the dirt cavity 105, which is lower than the external air pressure, and the dirt can be sucked into the dirt cavity 105 through the check valve in the dirt suction pipe, but the external air cannot enter the dirt cavity 105 through the check valve in the dirt discharge pipe, so that the dirt can be smoothly sucked into the dirt cavity 105. When the cleaning device is in the dirt discharging working state, high pressure is formed in the dirt cavity 105 and is higher than the external air pressure, and dirt in the dirt cavity 105 can be discharged into the outside through the one-way valve in the sewage pipeline, but the external dirt cannot enter the dirt cavity 105 through the one-way valve in the sewage pumping pipeline, so that the dirt in the dirt cavity 105 is smoothly discharged.
In the application, the cleaning equipment control method can be applied to various large, medium and small cleaning equipment, such as sweeping robots, sanitation equipment and the like. Specifically, taking the floor sweeping robot as an example, a large amount of sewage is generated after the floor sweeping robot cleans the floor, and after the floor sweeping robot returns to the robot base station, the robot base station needs to transfer the sewage in the floor sweeping robot, at this time, the sewage in the floor sweeping robot needs to be sucked cleanly, that is, the sewage can be sucked into a sewage cavity (sewage cavity) in the robot base station, and the sewage in the sewage cavity is discharged to other places later.
Referring to fig. 2, a flowchart of a control method of a cleaning apparatus in an embodiment of the present application, which may be performed by an apparatus having a calculation processing function, includes an air pump and an air pump motor driving the air pump. Referring to fig. 2, the control method of the cleaning apparatus at least includes steps 210 to 230, which are described in detail as follows:
in step 210, in response to a control instruction for the air pump motor, the air pump motor is started according to a first duty cycle, the air pump motor is used for driving the air pump to perform a suction action for dirt, and the first duty cycle is greater than or equal to a preset duty cycle.
In this application, the control instruction for the air pump motor may be an instruction capable of triggering the air pump motor to drive the air pump to perform the suction action for the dirt, and after triggering the instruction, the air pump motor may be started according to the first duty ratio.
In the present application, the preset duty ratio may be a duty ratio that satisfies the minimum start-up condition of the air pump motor, or may be a duty ratio that is larger than the minimum start-up condition of the air pump motor. The first duty ratio for starting the air pump motor is larger than or equal to the preset duty ratio, and the air pump motor is beneficial in that the air pump motor can be ensured to be smoothly started, so that the running stability of the whole cleaning equipment is improved.
With continued reference to fig. 2, in step 230, after the air pump motor is started, the duty cycle of the air pump motor is reduced from the first duty cycle to a second duty cycle for a first preset time, and a soil parameter of the soil pumped by the air pump is detected, the soil parameter being used to characterize the soil level of the soil.
In this application, after the air pump motor is started, will the duty cycle of air pump motor by first duty cycle is low to the second duty cycle, can reduce the speed that the filth was sucked to make the velocity of flow of filth slow, the instrument of being convenient for detects the dirty parameter of filth, and then improves the accuracy that the filth parameter detected.
In this application, through the scheme as provided in fig. 2, first through the higher on-duty control air pump motor start, can guarantee that the air pump motor is at the higher rotational speed drive air pump operation of beginning to make the air pump can form higher negative pressure start suction action in the short time, quick response avoids the negative pressure lower unable system inertia of overcoming, and response speed is slow, avoids the condition emergence of the suction action of unable start air pump, improves the stability of whole cleaning equipment operation. In addition, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio, the flow speed of dirt is slowed down, the influence of the too fast dirt flow speed on the detection of dirt parameters is avoided, and the accuracy of the detection of the dirt parameters is improved.
After step 230 shown in fig. 2, i.e. after detecting the dirt sucked by the air pump, the following step 250 may also be performed:
step 250, the duty ratio of the air pump motor is increased from the second duty ratio to a third duty ratio in a second preset time, so as to drive the air pump to complete the suction action for the dirt.
In this application, after detecting the filth parameter of filth, through will the duty cycle of air pump motor is by the second duty cycle is adjusted to the third duty cycle, can increase the negative pressure that the air pump produced for the suction action of air pump to improve the efficiency that the air pump carried out the suction filth, in order to realize that the filth is sucked totally.
It is noted that in the present application, if the dirt is completely sucked clean in order to achieve the fastest speed, the second duty ratio may be set to 100%.
In the present application, the cleaning apparatus may include a dirt cavity in which the air pump communicates for sucking dirt to the dirt cavity, and a sensor for detecting a dirt parameter of the dirt.
Specifically, the sensor may be disposed in the dirt cavity, or may be disposed in a pipeline through which dirt flows, and it is understood that a location of the sensor may be arbitrary, which is not limited in this application.
In one embodiment of the present application, the following steps 251 to 252 may also be performed:
step 251, detecting the working efficiency of the air pump motor, wherein the working efficiency is used for representing the dirt absorbing capacity of the air pump.
In this application, through detecting the work efficiency that is used for the characterization the dirt absorbing capacity of air pump, can fully take into account the problem that the air pump motor is along with service time is elongated and the performance decay, if detect work efficiency and be less than predetermine work efficiency, then indicate that air pump motor performance descends, at this moment through the adjustment first duty cycle, the second duty cycle, the third duty cycle, first predetermine time to and at least one in the second predetermine time can make air pump motor's work efficiency satisfy predetermine work efficiency.
For example, when the working efficiency of the air pump motor is reduced, the first duty ratio can be increased, the second duty ratio is increased, the third duty ratio is reduced by a first preset time, and the second preset time is increased, so that the self-compensation of the working efficiency of the air pump motor is realized, the stability of the air pump motor is improved, namely the stability of the cleaning equipment in working is improved.
In one embodiment of the present application, detecting the operation efficiency of the air pump motor may be performed in accordance with the steps shown in fig. 3.
Referring to fig. 3, a flowchart for detecting the operation efficiency of the air pump motor in the embodiment of the present application is shown. Specifically, the method comprises the steps 241 to 242:
and 241, controlling the air pump motor to drive the air pump to suck the target substance into the dirt cavity according to the fourth duty ratio, and recording the time for the target substance to fill the dirt cavity as the reference time.
And step 242, determining the working efficiency of the air pump motor according to the reference time.
In this embodiment, the fourth duty ratio may be set to 100% or 90%, and it is understood that the value of the fourth duty ratio may be arbitrary, which is not limited in this application.
In this embodiment, the target substance may be sewage or clean water.
Specifically, an anti-overflow screw can be arranged in the sewage cavity, and the cleaning equipment can be provided with a controllable clean water spraying pipeline and a flowmeter. When the detection is needed, clean water can be sprayed out at a stable flow, the air pump can suck clean water at a full speed and stably and enter the sewage cavity until the trigger overflow prevention is performed, and the time length used for triggering the overflow prevention can be recorded as the reference time.
In the present application, the working efficiency of the air pump motor can be accurately represented by the reference time, and it can be understood that if the reference time is longer, the working efficiency of the air pump motor is lower.
Further, in step 242, the working efficiency of the air pump motor is determined according to the reference time, and the following steps 2421 to 2422 may be performed:
step 2421, a cavity volume of the dirt cavity is obtained.
Step 2422, calculating the ratio of the cavity volume to the reference time as the working efficiency of the air pump motor.
In the application, the attenuation degree of the air pump is evaluated by comparing the working efficiency of the air pump motor with the factory calibration value through the ratio of the cavity volume to the reference time, the objectivity of the attenuation degree evaluation of the air pump can be ensured, and a more accurate basis is provided for self-compensation of the air pump motor.
In one embodiment of the above step 230, the step of lowering the duty cycle of the air pump motor from the first duty cycle to the second duty cycle within the first preset time may be performed as shown in fig. 4.
Referring to fig. 4, a detailed flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises the steps 231 to 232:
In this embodiment, the adjustment rates at each time in the first preset time may be equal, or may be gradually increased, or may be gradually decreased, and it may be understood that the first preset correspondence between the adjustment rates and each time in the first preset time may be set according to actual needs, which is not excessively set in this application.
In one embodiment of the above step 250, the step of increasing the duty cycle of the air pump motor from the second duty cycle to the third duty cycle for a second preset time may be performed as shown in fig. 5.
Referring to fig. 5, a detailed flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises steps 251 to 252:
step 251, determining a second adjustment rate at each time in a second preset time according to a second preset corresponding relation between the adjustment rate and each time in the second preset time.
And step 252, according to the second adjustment rate, the duty ratio of the air pump motor is adjusted to be higher than the second duty ratio to a third duty ratio within the second preset time.
In this embodiment, the adjustment rates at each time in the second preset time may be equal, or may be gradually increased, or may be gradually decreased, and it may be understood that the second preset correspondence between the adjustment rates and each time in the second preset time may be set according to actual needs, which is not excessively set in this application.
In order to better understand the above two embodiments, an auxiliary description will be given below with reference to fig. 6.
Referring to fig. 6, a graph of duty cycle versus time of the air pump motor in an embodiment of the present application is shown.
As can be appreciated from the relationship 600, the air pump motor is started at A1 duty cycle during time T1, then at each time during part T2, the duty cycle of the air pump motor is adjusted from A1 to A2 at a constant first adjustment rate, and finally at each time during time T3, the duty cycle of the air pump motor is adjusted from A2 to A3 at a constant second adjustment rate.
In the present application, as mentioned before, the cleaning device may further comprise a valve motor, which may be used to drive the valve from the first state to the second state or vice versa.
In the application, if the valve is switched from the first state to the second state, the air pump motor is controlled to drive the air pump to execute the suction action for the dirt according to the first control frequency. And if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
In the present application, the suction or discharge action is performed by driving the air pump by one air pump motor by providing two motors, i.e., one valve motor to drive the valve switching valve state, in the cleaning apparatus. Specifically, the valve motor is used for driving the valve to switch the valve state, and the switching of the valve state can be linked with the air pump motor to drive the air pump to switch and execute the suction action and the discharge action.
Therefore, compared with the method that the valve and the air pump are alternately driven by one motor, the method has the advantages that the valve and the air pump are respectively driven by the valve motor and the air pump motor (namely frequency division control) because the control frequency of the motor is different from the control frequency of the motor when the valve is driven and the control frequency of the motor is driven, the problem that the same motor is easy to generate mutual crosstalk when the motor is alternately controlled according to different control frequencies can be avoided, the problem that the device on a power supply network is damaged by reverse electromotive force generated by power generation of the motor is avoided, and the safety and the stability of the cleaning equipment in operation are further enhanced.
Further, in the present application, the steps shown in fig. 7 may also be performed.
Referring to fig. 7, another flowchart of a control method of the cleaning apparatus in the embodiment of the present application is shown. Specifically, the method comprises steps 261 to 263:
at step 261, a control timer alternately times the first duration and the second duration.
In step 262, in response to the timer beginning to time the first duration, the valve motor is triggered to drive the valve to switch from the first state to the second state, or to drive the valve to switch from the second state to the first state.
In step 263, in response to the timer starting to time the second time period, the air pump motor is triggered to drive the air pump to perform the suction action for the dirt, or to drive the air pump to perform the discharge action for the dirt.
In this application, the action of air pump suction filth and valve state switching is independent relatively, when the valve motor action, makes the air pump motor be in standby state, and after the valve motor switches to the back in place, the action of corresponding suction filth or discharge filth is carried out to the restart air pump motor, because the motor of two execution modules can not move simultaneously, so can carry out timesharing control to air pump motor and valve motor in different time slices.
In the application, the air pump motor and the valve motor in the cleaning equipment all need certain control, but the speed regulation proportion and the control frequency needed by the air pump motor and the valve motor are different according to different working conditions, so that the optimal control effect can be achieved in a time-sharing and frequency-dividing mode on the premise of not increasing extra cost.
The following describes an embodiment of an apparatus of the present application, which may be used to perform the control method of the cleaning device in the above-described embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the control method of the cleaning device described in the present application.
Referring to fig. 8, a block diagram of a control device of a cleaning apparatus in an embodiment of the present application is shown, the cleaning apparatus including an air pump and an air pump motor driving the air pump.
As shown in fig. 8, a control device 800 of a cleaning apparatus according to an embodiment of the present application includes: a start unit 801 and a turn-down unit 802.
Wherein, the starting unit 801 is configured to start the air pump motor according to a first duty ratio in response to a control instruction for the air pump motor, where the air pump motor is configured to drive the air pump to perform a suction action for the dirt, and the first duty ratio is greater than or equal to a preset duty ratio; and the lowering unit 802 is configured to lower the duty ratio of the air pump motor from the first duty ratio to the second duty ratio in a first preset time after the air pump motor is started, and detect a dirt parameter of dirt sucked by the air pump, where the dirt parameter is used for representing a dirt degree of the dirt.
In some embodiments of the present application, based on the foregoing solution, the square device further includes a height adjusting unit, configured to adjust the duty cycle of the air pump motor from the second duty cycle to a third duty cycle for a second preset time after detecting the dirt sucked by the air pump, so as to drive the air pump to complete the suction action for the dirt.
In some embodiments of the present application, based on the foregoing, the cleaning apparatus further comprises a dirt cavity and a sensor, the air pump is in communication with the dirt cavity for drawing dirt into the dirt cavity, and the sensor is for detecting a dirt parameter of the dirt.
In some embodiments of the present application, based on the foregoing solution, the apparatus further includes: the detection unit is used for detecting the working efficiency of the air pump motor, and the working efficiency is used for representing the dirt sucking capacity of the air pump; and the adjusting unit is used for adjusting at least one of the first duty ratio, the second duty ratio, the third duty ratio, the first preset time and the second preset time until the working efficiency is higher than or equal to the preset working efficiency if the working efficiency is lower than the preset working efficiency.
In some embodiments of the present application, based on the foregoing solution, the detection unit is configured to: according to a fourth duty ratio, controlling the air pump motor to drive the air pump to pump the target substance to the dirt cavity, and recording the time when the target substance fills the dirt cavity as a reference time; and determining the working efficiency of the air pump motor according to the reference time.
In some embodiments of the present application, based on the foregoing solution, the detection unit is configured to: acquiring the cavity volume of the dirt cavity; and calculating the ratio of the cavity volume to the reference time to serve as the working efficiency of the air pump motor.
In some embodiments of the present application, based on the foregoing scheme, the throttling unit 802 is configured to: determining a first adjustment rate of each moment in a first preset time according to a first preset corresponding relation between the adjustment rate and each moment in the first preset time; and according to the first regulation rate, the duty ratio of the air pump motor is reduced from the first duty ratio to a second duty ratio in the first preset time.
In some embodiments of the present application, based on the foregoing solution, the height adjusting unit is configured to: determining a second adjustment rate of each moment in a second preset time according to a second preset corresponding relation between the adjustment rate and each moment in the second preset time; and according to the second regulation rate, the duty ratio of the air pump motor is regulated to be higher than a third duty ratio from the second duty ratio in the second preset time.
In some embodiments of the present application, based on the foregoing, the cleaning apparatus further includes a valve motor for driving the valve to switch from the first state to the second state, or for driving the valve to switch from the second state to the first state, the device further includes: a first control unit for controlling the air pump motor to drive the air pump to perform a suction action for the dirt according to a first control frequency if the valve is switched from a first state to a second state; and the second control unit is used for controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency if the valve is switched from the second state to the first state.
In some embodiments of the present application, based on the foregoing solution, the apparatus further includes: a third control unit for controlling the timer to alternately time the first time period and the second time period; responding to the timer to start timing for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state, or driving the valve to switch from the second state to the first state; and triggering the air pump motor to drive the air pump to execute the suction action for the dirt or drive the air pump to execute the discharge action for the dirt in response to the starting timing of the timer for a second duration.
Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium having stored therein at least one program code loaded and executed by a processor to implement operations performed by a control method of a cleaning apparatus as described above.
Based on the same inventive concept, the embodiments of the present application further provide a cleaning apparatus, referring to fig. 9, which shows a schematic structural diagram of the cleaning apparatus in the embodiments of the present application, where the cleaning apparatus includes one or more memories 904, one or more processors 902, and at least one computer program (program code) stored on the memories 904 and executable on the processors 902, and when the processors 902 execute the computer program, the control method of the cleaning apparatus is implemented as described above.
Where in FIG. 9 a bus architecture (represented by bus 900), bus 900 may include any number of interconnected buses and bridges, with bus 900 linking together various circuits, including one or more processors, represented by processor 902, and memory, represented by memory 904. Bus 900 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The bus interface 905 provides an interface between the bus 900 and the receiver 901 and the transmitter 903. The receiver 901 and the transmitter 903 may be the same element, i.e. a transceiver, providing a unit for communicating with various other apparatus over a transmission medium. The processor 902 is responsible for managing the bus 900 and general processing, while the memory 904 may be used to store data used by the processor 902 in performing operations.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely exemplary of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A control method of a cleaning apparatus, the cleaning apparatus including an air pump and an air pump motor driving the air pump, the method comprising:
in response to a control instruction for an air pump motor, starting the air pump motor according to a first duty ratio, wherein the air pump motor is used for driving an air pump to execute a sucking action for dirt, and the first duty ratio is larger than or equal to a preset duty ratio;
after the air pump motor is started, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio in a first preset time, and a dirt parameter of dirt sucked by the air pump is detected, wherein the dirt parameter is used for representing the dirt degree of the dirt.
2. The method of claim 1, wherein after detecting the dirt drawn by the air pump, the method further comprises:
and in a second preset time, the duty ratio of the air pump motor is adjusted from the second duty ratio to a third duty ratio so as to drive the air pump to complete the suction action on dirt.
3. The method of claim 2, wherein the cleaning apparatus further comprises a dirt cavity and a sensor, the air pump being in communication with the dirt cavity for drawing dirt into the dirt cavity, the sensor for detecting a dirt parameter of the dirt.
4. A method according to claim 3, characterized in that the method further comprises:
detecting the working efficiency of the air pump motor, wherein the working efficiency is used for representing the dirt absorbing capacity of the air pump;
and if the working efficiency is lower than the preset working efficiency, adjusting at least one of the first duty ratio, the second duty ratio, the third duty ratio, the first preset time and the second preset time until the working efficiency is higher than or equal to the preset working efficiency.
5. The method of claim 4, wherein said detecting the operation efficiency of the air pump motor comprises:
according to a fourth duty ratio, controlling the air pump motor to drive the air pump to pump the target substance to the dirt cavity, and recording the time when the target substance fills the dirt cavity as a reference time;
and determining the working efficiency of the air pump motor according to the reference time.
6. The method of claim 5, wherein determining the operating efficiency of the air pump motor based on the reference time comprises:
acquiring the cavity volume of the dirt cavity;
and calculating the ratio of the cavity volume to the reference time to serve as the working efficiency of the air pump motor.
7. The method of any one of claims 1 to 6, wherein the cleaning apparatus further comprises a valve motor for driving the valve from the first state to the second state or vice versa, the method further comprising:
if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to execute the suction action for the dirt according to the first control frequency;
and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to execute the discharging action for the dirt according to the second control frequency.
8. The method of claim 7, wherein the method further comprises:
controlling a timer to alternately time the first time length and the second time length;
responding to the timer to start timing for a first time period, triggering the valve motor to drive the valve to switch from a first state to a second state, or driving the valve to switch from the second state to the first state;
and triggering the air pump motor to drive the air pump to execute the suction action for the dirt or drive the air pump to execute the discharge action for the dirt in response to the starting timing of the timer for a second duration.
9. A control device of a cleaning apparatus, the cleaning apparatus including an air pump and an air pump motor driving the air pump, the device comprising:
a starting unit for starting the air pump motor according to a first duty ratio in response to a control instruction for the air pump motor, wherein the air pump motor is used for driving the air pump to execute a suction action for dirt, and the first duty ratio is larger than or equal to a preset duty ratio;
the air pump motor is started, the duty ratio of the air pump motor is reduced from the first duty ratio to the second duty ratio in a first preset time, and a dirt parameter of dirt sucked by the air pump is detected, wherein the dirt parameter is used for representing the dirt degree of the dirt.
10. A cleaning device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one piece of program code loaded and executed by the one or more processors to implement the method of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211105461.6A CN116076964A (en) | 2022-09-09 | 2022-09-09 | Control method and device of cleaning equipment and cleaning equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211105461.6A CN116076964A (en) | 2022-09-09 | 2022-09-09 | Control method and device of cleaning equipment and cleaning equipment |
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| CN116076964A true CN116076964A (en) | 2023-05-09 |
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| CN202211105461.6A Pending CN116076964A (en) | 2022-09-09 | 2022-09-09 | Control method and device of cleaning equipment and cleaning equipment |
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| CN (1) | CN116076964A (en) |
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- 2022-09-09 CN CN202211105461.6A patent/CN116076964A/en active Pending
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