WO2022262773A1 - Method for controlling floor cleaning machine to perform self-cleaning, and floor cleaning system - Google Patents

Method for controlling floor cleaning machine to perform self-cleaning, and floor cleaning system Download PDF

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Publication number
WO2022262773A1
WO2022262773A1 PCT/CN2022/098941 CN2022098941W WO2022262773A1 WO 2022262773 A1 WO2022262773 A1 WO 2022262773A1 CN 2022098941 W CN2022098941 W CN 2022098941W WO 2022262773 A1 WO2022262773 A1 WO 2022262773A1
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cleaning
self
liquid
controller
monitoring device
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PCT/CN2022/098941
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French (fr)
Chinese (zh)
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黄余元
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苏州瑞久智能科技有限公司
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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
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—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
    • 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
    • A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • FIG. 9 is an electrical wiring diagram of the controller shown in FIG. 4 .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

Disclosed in the present application are a method for controlling a floor cleaning machine to perform self-cleaning, and a floor cleaning system. The method comprises: automatically detecting, without the need of user intervention, whether a floor cleaning machine satisfies preset starting standards, wherein the starting standards comprise: at least part of a cleaning base being received and accommodated in a base body, and the remaining electric quantity of a rechargeable battery not being less than an electric quantity threshold value; and if the floor cleaning machine satisfies the preset starting standards, then automatically starting same for a self-cleaning operation.

Description

地面清洁机进行自洁的控制方法以及地面清洁***Self-cleaning control method of floor cleaning machine and floor cleaning system
相关申请的交叉引用Cross References to Related Applications
本申请要求2021年6月16日提交中国国家知识产权局、申请号为202110667583.3、申请名称为“地面清洁机进行自洁的控制方法以及地面清洁***”的中国专利申请的优先权，该专利申请的全部内容在此引入本申请作为参考。This application claims the priority of the Chinese patent application submitted to the State Intellectual Property Office of China on June 16, 2021, the application number is 202110667583.3, and the application name is "Control method for self-cleaning of floor cleaning machine and floor cleaning system", the patent application The entire contents of are hereby incorporated by reference into this application.
技术领域technical field
本发明涉及清洁设备领域，尤其是一种兼具清洁作业与自洁作业的地面清洁***以及实现自洁作业的控制方式。The invention relates to the field of cleaning equipment, in particular to a floor cleaning system with both cleaning and self-cleaning operations and a control method for realizing self-cleaning operations.
背景技术Background technique
随着人们生活的提高，地面清洁机日益成为一种普遍的家用清洁设备。其中，采用湿式清洁的地面清洁机主要包括有刷辊、清洁液供给单元以及从污液回收单元。湿式地面清洁机工作时，清洁液供给单元向刷辊提供清洁液，刷辊利用清洁液在待清洁表面上进行清洁工作，污液回收单元将待清洁表面上的污液回收和储存至自身的污液箱。由于刷辊直接与待清洁表面相接触，不可避免地依附有待清洁表面上的污液、碎屑等。为了防止刷辊处孳生霉菌，保证地面清洁机的清洁效果与刷辊的使用寿命，需要在地面清洁机完成清洁作业后需要对刷辊进行自我清洁。Along with the raising of people's life, floor cleaning machine becomes a kind of general household cleaning equipment day by day. Among them, the floor cleaning machine adopting wet cleaning mainly includes a brush roller, a cleaning liquid supply unit and a recovery unit from the dirty liquid. When the wet floor cleaner is working, the cleaning liquid supply unit provides cleaning liquid to the brush roller, and the brush roller uses the cleaning liquid to clean the surface to be cleaned, and the dirty liquid recovery unit recovers and stores the dirty liquid on the surface to be cleaned to its own Dirt tank. Since the brush roller is in direct contact with the surface to be cleaned, it inevitably adheres to the dirt, debris, etc. on the surface to be cleaned. In order to prevent the growth of mold on the brush roller and ensure the cleaning effect of the floor cleaning machine and the service life of the brush roller, it is necessary to clean the brush roller after the floor cleaning machine completes the cleaning operation.
发明内容Contents of the invention
为了解决上述提及地面清洁机完成清洁作业后需要对刷辊进行自我清洁的技术问题，本发明的目的是提供一种地面清洁机进行自洁的控制方法以及地面清洁***。In order to solve the above-mentioned technical problem that the floor cleaning machine needs to self-clean the brush roller after completing the cleaning operation, the purpose of the present invention is to provide a self-cleaning control method for the floor cleaning machine and a floor cleaning system.
为了实现上述的目的，本发明一方面提供一种地面清洁机在自洁座上进行自洁作业的控制方法，所述的地面清洁机包括具有刷辊的清洁底座、供液单元、污液回收单元以及向地面清洁机提供电能的可充电电池，所述的自洁座包括用于接收和容纳所述清洁底座的至少一部分的座体，该控制方法包括：在不需要来自用户介入的情况下自动检测所述的地面清洁机是否满足预设的启动标准；其中，所述的启动标准包括所述清洁底座的至少一部分被接收和容纳在所述的座体上以及所述可充电电池的剩余电量不小于一电量阈值；若所述的地面清洁机满足预设 启动标准，则自动进行自洁作业。In order to achieve the above object, the present invention provides a method for controlling the self-cleaning operation of the ground cleaning machine on the self-cleaning seat, the ground cleaning machine includes a cleaning base with a brush roller, a liquid supply unit, and a dirty liquid recovery unit. unit and a rechargeable battery that provides electrical energy to the floor cleaning machine, the self-cleaning base includes a base for receiving and containing at least a part of the cleaning base, the control method includes: without user intervention Automatically detect whether the floor cleaning machine meets preset activation criteria; wherein, the activation criteria include at least a portion of the cleaning base being received and accommodated on the base body and the remaining power of the rechargeable battery The power is not less than a power threshold; if the ground cleaning machine meets the preset starting standard, it will automatically perform self-cleaning operation.
在一种可能的实现方式中，所述的地面清洁机还包括一用于监测所述可充电电池的剩余电量的电量监测装置，所述可充电电池的剩余电量是否不小于所述的电量阈值是通过对比电量监测装置监测到的电量与所述的电量阈值来判断的。In a possible implementation manner, the ground cleaning machine further includes a power monitoring device for monitoring the remaining power of the rechargeable battery, whether the remaining power of the rechargeable battery is not less than the power threshold It is judged by comparing the electricity monitored by the electricity monitoring device with the electricity threshold.
在一种可能的实现方式中，所述的地面清洁机还包括充电接头；所述的自洁座还包括：电源线和充电插座，所述的电源线与所述的充电插座电耦接，所述的充电插座位于所述的座体上并且被配置成能够与所述的充电接头相接合以及电导通。还可以进一步优化地，所述清洁底座的至少一部分是否被接收和容纳在所述的座体上是通过检测所述的充电接头和所述的充电插座是否电导通来判断的。In a possible implementation manner, the floor cleaning machine further includes a charging connector; the self-cleaning seat further includes: a power cord and a charging socket, the power cord is electrically coupled to the charging socket, The charging socket is located on the seat body and is configured to be engaged with and electrically connected to the charging connector. Further preferably, whether at least a part of the cleaning base is received and accommodated on the base is judged by detecting whether the charging connector is electrically connected to the charging socket.
在一种可能的实现方式中，所述的污液回收单元包括用于接纳和储存污液的污液箱和用于监测污液箱液位的液位监测装置，所述的控制方法包括：在进行自洁作业的过程中，若所述的液位监测装置监测到的污液箱液位高于一满箱阈值，则中断自洁作业。In a possible implementation manner, the dirty liquid recovery unit includes a dirty liquid tank for receiving and storing dirty liquid and a liquid level monitoring device for monitoring the liquid level of the dirty liquid tank, and the control method includes: During the self-cleaning operation, if the liquid level of the dirty liquid tank detected by the liquid level monitoring device is higher than a full tank threshold, the self-cleaning operation is interrupted.
在一种可能的实现方式中，所述的供液单元包括用于储存清洁液的溶液箱和用于监测从所述溶液箱流出的清洁液流量的流量监测装置，所述的控制方法包括：在进行自洁作业的过程中，若所述的流量监测装置监测到清洁液的流量低于一断流阈值，则中断自洁作业与/或对外发出一警示信息。In a possible implementation manner, the liquid supply unit includes a solution tank for storing the cleaning solution and a flow monitoring device for monitoring the flow of the cleaning solution flowing out of the solution tank, and the control method includes: During the self-cleaning operation, if the flow monitoring device detects that the flow rate of the cleaning liquid is lower than a cut-off threshold, the self-cleaning operation is interrupted and/or a warning message is sent to the outside.
在一种可能的实现方式中，所述的污液回收单元还包括浊度监测装置，所述的浊度监测装置用于监测回收的污液的浑浊度，所述的控制方法还包括：在进行自洁作业的过程中，若所述的浊度监测装置所监测到的回收污液的浑浊度低于一清洁阈值，则结束自洁作业。In a possible implementation manner, the sewage recovery unit further includes a turbidity monitoring device, and the turbidity monitoring device is used to monitor the turbidity of the recovered sewage, and the control method further includes: During the self-cleaning operation, if the turbidity of the recovered dirty liquid monitored by the turbidity monitoring device is lower than a cleaning threshold, the self-cleaning operation is ended.
在一种可能的实现方式中，所述的地面清洁机还包括一能够被触发的取消按钮，所述的控制方法还包括：在进行自洁作业的过程中，若所述的取消按钮被触发，则结束自洁作业。In a possible implementation manner, the floor cleaning machine further includes a triggerable cancel button, and the control method further includes: during the self-cleaning operation, if the cancel button is triggered , the self-cleaning operation ends.
在一种可能的实现方式中，所述的地面清洁机还包括一语音播放装置，所述的控制方法包括：在自动进行自洁作业之前，先控制所述的语音播放装置对外播放一语音提示信息。In a possible implementation manner, the floor cleaning machine further includes a voice playback device, and the control method includes: before automatically performing the self-cleaning operation, first controlling the voice playback device to play a voice prompt information.
本发明另一方面提供一种地面清洁***，地面清洁***包括：地面清洁机，具有：清洁底座，适用于在地面上移动，所述的清洁底座具有能够接触待清洁地 面的刷辊和驱动所述刷辊旋转的刷辊马达；供液单元，布置成向所述的刷辊供给清洁液体，所述的供液单元包括溶液箱、位于所述溶液箱和刷辊之间的输液路径和位于所述输液路径上的液体泵；污液回收单元，包括真空马达、连通所述清洁辊和所述真空马达之间的回收路径以及位于所述回收路径上的污液箱；和控制器，所述的控制器构造成控制地面清洁机进行清洁作业和自洁作业；可充电电池，所述的可充电电池能够向所述地面清洁机的刷辊马达、液体泵以及真空马达提供电能；和自洁座，包括：座体，其用于接收和容纳所述清洁底座的至少一部分；其中，所述地面清洁机的控制器开始进行自洁作业是在不需要来自用户介入的情况下，响应于所述的控制器确定满足预设的启动标准而自动启动进行的；所述的启动标准包括所述清洁底座的至少一部分被接收和容纳在所述的座体上以及所述可充电电池的剩余电量不小于一电量阈值。Another aspect of the present invention provides a floor cleaning system. The floor cleaning system includes: a floor cleaning machine with a cleaning base suitable for moving on the ground. A brush roller motor for rotating the brush roller; a liquid supply unit arranged to supply cleaning liquid to the brush roller, and the liquid supply unit includes a solution tank, an infusion path between the solution tank and the brush roller, and a A liquid pump on the infusion path; a dirty liquid recovery unit, including a vacuum motor, a recovery path communicating between the cleaning roller and the vacuum motor, and a dirty liquid tank on the recovery path; and a controller, the The controller is configured to control the floor cleaning machine to perform cleaning and self-cleaning operations; the rechargeable battery can provide electric energy to the brush roller motor, liquid pump and vacuum motor of the floor cleaning machine; and automatically The cleaning base includes: a base body, which is used to receive and accommodate at least a part of the cleaning base; wherein, the controller of the floor cleaning machine starts to perform the self-cleaning operation in response to The controller determines that the preset activation criteria are met to automatically start the process; the activation criteria include at least a portion of the cleaning base being received and accommodated on the base body and the remaining power of the rechargeable battery The power is not less than a power threshold.
在一种可能的实现方式中，所述的地面清洁机还包括充电接头，所述的自洁座还包括：电源线和充电插座，所述的充电插座与所述的电源线电导通并且所述的充电插座布置在所述的座体上。还可以进一步优化地，所述的控制器确定所述清洁底座的至少一部分是否被接收和容纳在所述的座体上是通过确定所述的充电接头和所述的充电插座是否电导通来判断的。In a possible implementation manner, the floor cleaning machine further includes a charging connector, and the self-cleaning seat further includes: a power cord and a charging socket, the charging socket is electrically connected to the power cord and the The charging socket described above is arranged on the seat body. Further preferably, the controller determines whether at least a part of the cleaning base is received and accommodated on the base by determining whether the charging connector and the charging socket are electrically connected. of.
在一种可能的实现方式中，所述的供液单元还包括一设置在所述输液路径上的流量监测装置，所述的流量监测装置用于监测清洁液的流量并且所述的流量监测装置与所述的控制器相信号连接，所述的控制器被配置成：当所述的地面清洁机在进行自洁作业时，若所述流量监测装置所监测到的清洁液流量小于一的断流阈值，则所述的控制器中断自洁作业与/或对外发出一警示信息。In a possible implementation manner, the liquid supply unit further includes a flow monitoring device arranged on the infusion path, the flow monitoring device is used to monitor the flow of cleaning liquid and the flow monitoring device It is signal-connected with the controller, and the controller is configured to: when the floor cleaning machine is performing self-cleaning operation, if the cleaning liquid flow rate monitored by the flow monitoring device is less than one If the flow threshold is exceeded, the controller interrupts the self-cleaning operation and/or sends a warning message to the outside.
在一种可能的实现方式中，所述的供液单元还包括一设置在所述溶液箱处的清洁液监测装置，所述的清洁液监测装置用于监测所述溶液箱内清洁液液位并且所述的清洁液监测装置与所述的控制器相信号连接，所述的控制器被配置成：当所述的地面清洁机在进行自洁作业时，若所述清洁液监测装置所监测到的清洁液液位低于一空箱阈值时，则所述的控制器中断自洁作业与/或对外发出一警示信息。In a possible implementation manner, the liquid supply unit further includes a cleaning liquid monitoring device arranged at the solution tank, and the cleaning liquid monitoring device is used to monitor the liquid level of the cleaning liquid in the solution tank In addition, the cleaning liquid monitoring device is connected to the controller with a signal, and the controller is configured to: when the floor cleaning machine is performing self-cleaning operation, if the cleaning liquid monitoring device monitors When the detected cleaning fluid level is lower than an empty tank threshold, the controller interrupts the self-cleaning operation and/or sends a warning message to the outside.
在一种可能的实现方式中，所述的地面清洁机包括：清洁开关，其被配置成能够供用户输入一清洁指令；所述的控制器与所述的清洁开关信号连接，所述的 控制器能够响应于所述的清洁开关而启动和进行所述的清洁作业。In a possible implementation manner, the floor cleaning machine includes: a cleaning switch configured to allow a user to input a cleaning instruction; the controller is connected to the cleaning switch signal, and the control The device can start and perform the cleaning operation in response to the cleaning switch.
在一种可能的实现方式中，所述的污液回收单元还包括一设置在所述污液箱内的液位监测装置，所述的液位监测装置用于监所述污液箱的液位并且所述的液位监测装置与所述的控制器相信号连接，所述的控制器被配置成：当所述的地面清洁机在进行自洁作业时，若所述液位监测装置所监测到的所述污液箱液位高于一满箱阈值，则所述的控制器中断自洁作业。In a possible implementation manner, the dirty liquid recovery unit further includes a liquid level monitoring device arranged in the dirty liquid tank, and the liquid level monitoring device is used to monitor the liquid level in the dirty liquid tank. and the liquid level monitoring device is connected to the controller with a signal, and the controller is configured to: when the floor cleaning machine is performing self-cleaning operation, if the liquid level monitoring device If the detected liquid level of the dirty liquid tank is higher than a full tank threshold, the controller stops the self-cleaning operation.
在一种可能的实现方式中，所述的污液回收单元还包括一设置在所述回收路径上的浊度监测装置，所述的浊度监测装置用于监测所述回收路径上污液的浑浊度并且所述的浊度监测装置与所述的控制器相信号连接，所述的控制器被配置成：当所述的地面清洁机在进行自洁作业时，若所述浊度监测装置所监测到的污液浑浊度量小于一清洁阈值时，所述的控制器结束自洁作业。In a possible implementation manner, the sewage recovery unit further includes a turbidity monitoring device arranged on the recovery path, and the turbidity monitoring device is used to monitor the concentration of the sewage on the recovery path. turbidity and the turbidity monitoring device is connected to the controller with a signal, and the controller is configured to: when the ground cleaning machine is performing self-cleaning operation, if the turbidity monitoring device When the monitored turbidity of the dirty liquid is less than a cleaning threshold, the controller ends the self-cleaning operation.
在一种可能的实现方式中，所述的地面清洁机还包括一取消按钮，所述的取消按钮与所述的控制器信号连接并被配置成能够向所述的控制器发送取消信号，所述的控制器被配置成：当所述的地面清洁机在进行自洁作业时，若接收到所述的取消信号，则结束自洁作业。In a possible implementation manner, the floor cleaning machine further includes a cancel button, the cancel button is signal-connected to the controller and configured to send a cancel signal to the controller, so The above-mentioned controller is configured to: when the ground cleaning machine is performing the self-cleaning operation, if the cancel signal is received, the self-cleaning operation will be terminated.
在一种可能的实现方式中，所述的地面清洁机还包括一语音播放装置，所述的语音播放装置与所述的控制器信号连接并能够在所述的控制器的控制下对外播放若干条语音提示信息，所述的控制器被配置成：在所述的地面清洁机自动进行自洁作业之前，控制所述的语音播放装置对外播放一语音提示信息。In a possible implementation, the floor cleaning machine also includes a voice playback device, which is connected to the controller with a signal and can play several A voice prompt message, the controller is configured to: before the floor cleaning machine automatically performs a self-cleaning operation, control the voice playback device to play a voice prompt message externally.
本发明与现有技术相比具有以下有益效果：本发明所提供的控制方法与地面清洁***可在无使用者认为介入的情况下自动判断地面清洁机是否满足自洁作业的启动标准，若满足启动标准，则自动进行自洁作业。因而可以避免人为遗忘而未对地面清洁机进行自我清洁作业，防止地面清洁机的刷辊处孳生霉菌，保证地面清洁机的清洁效果与刷辊的使用寿命。Compared with the prior art, the present invention has the following beneficial effects: the control method and the floor cleaning system provided by the present invention can automatically judge whether the floor cleaning machine meets the start-up standard of the self-cleaning operation without the intervention of the user. When the standard is started, the self-cleaning operation will be carried out automatically. Therefore, the self-cleaning operation of the ground cleaning machine can be avoided due to human forgetting, preventing mold from breeding on the brush roller of the ground cleaning machine, and ensuring the cleaning effect of the ground cleaning machine and the service life of the brush roller.
附图说明Description of drawings
现在将参考附图描述本申请，其中：The present application will now be described with reference to the accompanying drawings, in which:
图1为本申请实施例所提供的一种地面清洁机进行自洁的控制方法的流程示意图；Fig. 1 is a schematic flow chart of a self-cleaning control method for a ground cleaning machine provided in an embodiment of the present application;
图2为图1所示的控制方法的逻辑图一；Fig. 2 is a logic diagram 1 of the control method shown in Fig. 1;
图3为图1所示的控制方法的逻辑图二；Fig. 3 is a logic diagram 2 of the control method shown in Fig. 1;
图4为本申请实施例提供的一种地面清洁***；Fig. 4 is a kind of floor cleaning system provided by the embodiment of the present application;
图5为图4所示的地面清洁机的侧视图；Fig. 5 is a side view of the floor cleaning machine shown in Fig. 4;
图6为图5所示的地面清洁机的***图；Fig. 6 is an exploded view of the floor cleaning machine shown in Fig. 5;
图7为图4所示的自洁座的立体示意图；Fig. 7 is a three-dimensional schematic diagram of the self-cleaning seat shown in Fig. 4;
图8为图7所示的自洁座的侧视图；Fig. 8 is a side view of the self-cleaning seat shown in Fig. 7;
图9为图4所示的控制器的电气接线图。FIG. 9 is an electrical wiring diagram of the controller shown in FIG. 4 .
附图标记：Reference signs:
100、地面清洁***；100. Ground cleaning system;
1、地面清洁机；11、清洁底座；111、壳体；112、刷辊；113、移动轮；114、刷辊马达；115、上盖；116、刷辊腔；12、直立机身；121、手柄部；122、主体部；123、连接部；124、清洁开关；125、取消按钮；126、语音播放装置；131、溶液箱；132、液体泵；133、流量监测装置；14、污液回收单元；141、污液箱；142、真空马达；143、回收路径；144、液位监测装置；145、浊度监测装置；151、可充电电池；152、充电控制电路；153、充电接头；16、控制器。1. Floor cleaning machine; 11. Cleaning base; 111. Housing; 112. Brush roller; 113. Moving wheel; 114. Brush roller motor; 115. Upper cover; 116. Brush roller chamber; 12. Upright body; , handle part; 122, main body part; 123, connecting part; 124, cleaning switch; 125, cancel button; 126, voice playback device; 131, solution tank; 132, liquid pump; 133, flow monitoring device; 14, dirty liquid Recovery unit; 141, sewage tank; 142, vacuum motor; 143, recovery path; 144, liquid level monitoring device; 145, turbidity monitoring device; 151, rechargeable battery; 152, charging control circuit; 153, charging connector; 16. Controller.
2、自洁座；21、座体；211、柱体；212、托盘；214、区域；213、直立臂；215、凹部；216、支撑部；22、充电插座；23、电源线。2. Self-cleaning seat; 21. Seat body; 211. Column; 212. Tray; 214. Area; 213. Upright arm; 215. Recess; 216. Supporting part; 22. Charging socket; 23. Power cord.
具体实施方式detailed description
为详细说明发明的技术内容、构造特征、所达成目的及功效，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。在下面的描述中，出于解释的目的，阐述了许多具体细节以提供对发明的各种示例性实施例或实施方式的详细说明。然而，各种示例性实施例也可以在没有这些具体细节或者在一个或更多个等同布置的情况下实施。此外，各种示例性实施例可以不同，但不必是排他的。例如，在不脱离发明构思的情况下，可以在另一示例性实施例中使用或实现示例性实施例的具体形状、构造和特性。In order to describe the technical content, structural features, goals and effects of the invention in detail, the technical solutions in the embodiments of the application will be described below in conjunction with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only the present invention. Claim some of the examples, not all of them. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide detailed illustrations of various exemplary embodiments, or implementations, of the invention. However, various exemplary embodiments may be practiced without these specific details, or with one or more equivalent arrangements. Furthermore, the various exemplary embodiments may differ, but are not necessarily exhaustive. For example, the specific shape, configuration, and characteristics of an exemplary embodiment may be used or implemented in another exemplary embodiment without departing from the inventive concept.
图1至图3示出了本发明所提供的一种地面清洁机进行自洁的控制方法。其中，地面清洁机是停靠在一自洁座上进行自洁作业的。该地面清洁机包括具有刷辊的清洁底座、为刷辊提供清洁液(在实际使用时，可能是清水也可能是清洗剂) 的供液单元、从待清洁表面上回收污液的污液回收单元以及向地面清洁机各耗能部件提供电能的可充电电池。Fig. 1 to Fig. 3 show a self-cleaning control method provided by the present invention for a floor cleaning machine. Wherein, the ground cleaning machine is docked on a self-cleaning seat for self-cleaning operation. The floor cleaning machine includes a cleaning base with brush rollers, a liquid supply unit that supplies cleaning fluid (in actual use, it may be water or cleaning agent) for the brush rollers, and a dirty liquid recovery unit that recovers dirty liquid from the surface to be cleaned unit and a rechargeable battery that provides power to the energy-consuming parts of the floor cleaning machine.
供液单元包括用于储存和对外提供清洁液的溶液箱、实现溶液箱与刷辊处流体连通的输液路径以及位于输液路径上的液体泵。输液路径上还配置有流量监测装置，以监测从溶液箱流出并进入到输液路径的清洁液的流量。The liquid supply unit includes a solution tank for storing and providing cleaning solution to the outside, an infusion path for realizing fluid communication between the solution tank and the brush roller, and a liquid pump located on the infusion path. A flow monitoring device is also arranged on the infusion path to monitor the flow rate of the cleaning solution flowing out of the solution tank and entering the infusion path.
污液回收单元包括用于接纳和储存污液的污液箱、实现污液箱与刷辊处流体连通的回收路径以及与污液箱流体连通的真空马达。污液回收单元在污液箱上设置有液位监测装置，以监测污液箱的液位；以及在回收路径上设置有用于监测回收污液浑浊度的浊度监测装置，通过浊度监测装置，可以知晓进入回收路径的污液的脏污程度。The dirty liquid recovery unit includes a dirty liquid tank for receiving and storing dirty liquid, a recovery path for fluid communication between the dirty liquid tank and the brushroll, and a vacuum motor in fluid communication with the dirty liquid tank. The dirty liquid recovery unit is provided with a liquid level monitoring device on the dirty liquid tank to monitor the liquid level of the dirty liquid tank; , the degree of contamination of the dirty liquid entering the recovery path can be known.
地面清洁机上还设置有充电接头和电量监测装置，电量监测装置用于监测可充电电池的剩余电量。The ground cleaning machine is also provided with a charging connector and a power monitoring device, and the power monitoring device is used to monitor the remaining power of the rechargeable battery.
地面清洁机上还设置有清洁开关和取消按钮，其中，清洁开关用于供使用者触发，以使得地面清洁机执行针对地面的清洁作业；清洁开关可以是地面清洁机的电源开关替代。取消按钮供被配置成能够被使用者触发，以提前结束自洁作业；取消按钮可以设置在地面清洁机上任意方便使用者操作的位置，甚至是设置在能够与地面清洁机信息交互的外设部件上。The floor cleaning machine is also provided with a cleaning switch and a cancel button, wherein the cleaning switch is used for triggering by the user so that the floor cleaning machine performs a cleaning operation for the ground; the cleaning switch can be replaced by a power switch of the floor cleaning machine. The cancel button can be configured to be triggered by the user to end the self-cleaning operation in advance; the cancel button can be set on any convenient user-operated position on the floor cleaning machine, or even be set on a peripheral component that can interact with the floor cleaning machine information superior.
自洁座包括座体、位于座体上的充电插座以及与充电插座电连接的电源线，其中，充电插座被配置成能够与地面清洁机上的充电接头相接合并且电连接。本例的自洁座既能用于供地面清洁机在此补充电能，也能供地面清洁机在此执行自我清洁作业。The self-cleaning seat includes a seat body, a charging socket on the seat body and a power cord electrically connected to the charging socket, wherein the charging socket is configured to be engaged with and electrically connected to a charging connector on the floor cleaning machine. The self-cleaning seat of this example can not only be used for the ground cleaning machine to supplement electric energy here, but also can be used for the ground cleaning machine to perform self-cleaning operations here.
图1-2所示的控制方法的流程图，其控制方法可包括以下步骤：The flowchart of the control method shown in Fig. 1-2, its control method may comprise the following steps:
S1.在不需要用户介入的情况下自动检测地面清洁机是否满足预设的启动标准。S1. Automatically detect whether the ground cleaning machine satisfies the preset start-up standard without user intervention.
如图2所示，预设的启动标准包括清洁底座的至少一部分被接收和容纳在座体上和可充电电池的剩余电量不小于电量阈值；其中，电量阈值为一根据地面清洁机进行自洁作业所需的电量而预先设定的值。As shown in Figure 2, the preset start-up criteria include that at least a part of the cleaning base is received and accommodated on the base body and the remaining power of the rechargeable battery is not less than the power threshold; wherein, the power threshold is a self-cleaning operation according to the ground cleaning machine The required power and preset value.
清洁底座的至少一部分是否被接受和容纳在座体上，例如可以通过对地面清洁机上的充电接头与自洁座上的充电插座是否电导通来间接进行判断。在其他实 施例中，判断清洁底座的至少一部分是否被接受和容纳在座体上还可以通过在充电接头上设置电压感应元件、或在充电接头和充电插座上设置一对能够配合作用的传感器等方式来判断；以上这些方案皆为行业内相关技术人员所熟知。Whether at least a part of the cleaning base is accepted and accommodated on the base can be judged indirectly, for example, by checking whether the charging connector on the floor cleaning machine is electrically connected to the charging socket on the self-cleaning base. In other embodiments, judging whether at least a part of the cleaning base is accepted and accommodated on the base can also be done by setting a voltage sensing element on the charging connector, or setting a pair of sensors that can cooperate with each other on the charging connector and the charging socket. to judge; the above solutions are well known to relevant technical personnel in the industry.
可充电电池的剩余电量不小于电量阈值可通过对比电量监测装置所监测到的可充电电池的剩余电量与电量阈值量进行判断。It can be judged that the remaining power of the rechargeable battery is not less than the power threshold by comparing the remaining power of the rechargeable battery monitored by the power monitoring device with the power threshold.
在其它实施例中，地面清洁机还可以在溶液箱中配置一用于监测溶液箱液位的溶液箱监测装置，启动标准还可以包括溶液箱的液位不小于溶液箱液位阈值，其中，溶液箱液位阈值为一根据地面清洁机进行自洁作业所需水量而预先设定的值。该启动标准可以通过对比溶液箱监测装置监测到的溶液箱液位与溶液箱阈值来进行判断。In other embodiments, the floor cleaning machine can also be equipped with a solution tank monitoring device for monitoring the liquid level of the solution tank in the solution tank, and the starting standard can also include that the liquid level of the solution tank is not less than the solution tank liquid level threshold, wherein, The liquid level threshold of the solution tank is a preset value according to the amount of water required for the self-cleaning operation of the floor cleaning machine. The starting standard can be judged by comparing the liquid level of the solution tank monitored by the solution tank monitoring device with the threshold value of the solution tank.
S2.若地面清洁机满足预设的启动标准，则自动启动进行自洁作业。S2. If the floor cleaning machine satisfies the preset starting standard, it will automatically start to perform self-cleaning operation.
如图2所示，在其它实施例中，地面清洁机还可以配置有一能够向外播放语音提示信息的语音播放装置，控制方式还可以包括在地面清洁装置自动进行自洁作业之前，先控制语音播放装置向外播放语音提示信息。As shown in Figure 2, in other embodiments, the floor cleaning machine can also be equipped with a voice playback device capable of playing voice prompt information to the outside, and the control method can also include controlling the voice before the floor cleaning device automatically performs self-cleaning operations. The playback device plays the voice prompt information to the outside.
如图3所示，在地面清洁机进行自洁作业时，若输液路径中的清洁液流量小于断流阈值，则地面清洁机中断进行自洁作业并提醒用户添加清洁液；其中，断流阈值为一预先设定的流量值，流量值小于断流值，则可以认为输液路径出现断流，清洁液的供给量不能满足继续进行自洁作业的需求。输液路径中的清洁液流量是否小于预先设定的断流阈值可以通过比较流量监测装置所监测的清洁液流量与断流阈值做出判断。。在其它实施例中，也可以不中断自洁作业而仅向用户发出提醒用户添加清洁液的提示信息，该提示信息可以时灯光信息也可以是语音信息。As shown in Figure 3, when the floor cleaning machine is performing self-cleaning operations, if the cleaning liquid flow in the infusion path is less than the cut-off threshold, the floor cleaning machine will stop the self-cleaning operation and remind the user to add cleaning liquid; where the cut-off threshold is a preset flow value, if the flow value is less than the cut-off value, it can be considered that the infusion path has a cut-off, and the supply of cleaning liquid cannot meet the demand for continuing the self-cleaning operation. Whether the flow rate of the cleaning liquid in the infusion path is less than the preset cut-off threshold can be judged by comparing the flow rate of the cleaning liquid monitored by the flow monitoring device with the cut-off threshold. . In other embodiments, the self-cleaning operation may not be interrupted, but only a prompt message reminding the user to add cleaning solution may be issued to the user, and the prompt message may be a light message or a voice message.
在地面清洁机进行自洁作业时，若污液箱的液位高于满箱阈值，则地面清洁机中断自洁作业并提醒用户倾倒污液箱内的污液；其中，满箱阈值为一根据污液箱满箱液位而预先设定的值，污液箱的液位高于满箱阈值，则可以认为污液箱没有可以继续在安全条件下存储污液的多余空间，污液箱需要排空或至少排除部分液体，才能继续安全工作污液箱的液位是否高于满箱阈值，可以通过比较液位监测装置所监测到的污液箱液位和满箱阈值来进行判断。When the floor cleaning machine performs self-cleaning operation, if the liquid level of the dirty liquid tank is higher than the full tank threshold, the ground cleaning machine interrupts the self-cleaning operation and reminds the user to dump the dirty liquid in the dirty liquid tank; wherein, the full tank threshold is one According to the pre-set value of the full tank level of the dirty liquid tank, if the liquid level of the dirty liquid tank is higher than the full tank threshold, it can be considered that the dirty liquid tank has no extra space to continue to store dirty liquid under safe conditions, and the dirty liquid tank It is necessary to empty or at least part of the liquid to continue working safely. Whether the liquid level of the dirty liquid tank is higher than the full tank threshold can be judged by comparing the liquid level of the dirty liquid tank monitored by the liquid level monitoring device with the full tank threshold.
在地面清洁机进行自洁作业过程中，若取消按钮被触发，则地面清洁机提前结束自洁作业。During the self-cleaning operation of the floor cleaning machine, if the cancel button is triggered, the floor cleaning machine ends the self-cleaning operation in advance.
在地面清洁机进行自洁作业时，如若用户始终未触发取消按钮，则自洁作业将在达成预期洁净条件后，自行结束。预期洁净条件可以是时间条件，也可以是其他预设的条件。例如，若预设的条件位进入到回收路径中回收污液的浑浊度小于清洁阈值，则地面清洁机结束进行自洁作业；其中，清洁阈值为一预先设定的浑浊度值，浑浊度小于清洁阈值，则可以认为自洁作业中产生的并进入到回收路径中的污液较为洁净，自洁对象已经达到自洁目的。回收污液的浑浊度是否小于清洁阈值，可以通过判断浊度监测装置所监测到的污液的浑浊度与清洁阈值进行判断。在其他实施例，在地面清洁机进行自洁作业时，如若用户始终未触发取消按钮，则自洁作业也可以在一个自洁运行的时长满足后，自行结束。When the floor cleaning machine is performing a self-cleaning operation, if the user does not trigger the cancel button, the self-cleaning operation will end automatically after the expected cleaning conditions are met. The expected cleaning condition may be a time condition or other preset conditions. For example, if the preset condition bit enters the recovery path and the turbidity of the recovered dirty liquid is less than the cleaning threshold, the floor cleaning machine ends the self-cleaning operation; wherein, the cleaning threshold is a preset turbidity value, and the turbidity is less than Cleaning threshold, it can be considered that the dirty liquid generated in the self-cleaning operation and entering the recovery path is relatively clean, and the self-cleaning object has achieved the purpose of self-cleaning. Whether the turbidity of the recovered dirty liquid is less than the cleaning threshold can be judged by judging the turbidity and cleaning threshold of the dirty liquid monitored by the turbidity monitoring device. In other embodiments, when the floor cleaning machine performs the self-cleaning operation, if the user does not trigger the cancel button all the time, the self-cleaning operation can also end automatically after a self-cleaning operation duration is satisfied.
在其它实施例中，地面清洁机还可以在溶液箱中配置一用于监测溶液箱内清洁液液位的清洁液监测装置，若括清洁液液位小于空箱阈值，则地面清洁机中断自洁程序与/或向用户提醒添加清洁液，其中，空箱阈值为一预先设定的清洁液液位。In other embodiments, the floor cleaning machine can also be equipped with a cleaning liquid monitoring device for monitoring the liquid level of the cleaning liquid in the solution tank. If the cleaning liquid level is less than the empty tank threshold, the floor cleaning machine will stop automatically. cleaning program and/or remind the user to add cleaning fluid, wherein the empty tank threshold is a preset cleaning fluid level.
需要说明的是，图2和图3仅用于举例说明地面清洁机满足启动标准、中断自洁作业以及结束自洁作业所需的各个条件，除非特别说明，其同一图中的各个条件的判断并不存在先后顺序的差别。It should be noted that Figure 2 and Figure 3 are only used to illustrate the various conditions required for the ground cleaning machine to meet the start-up criteria, interrupt the self-cleaning operation, and end the self-cleaning operation. Unless otherwise specified, the judgment of each condition in the same figure There is no difference in sequence.
图4示出了本发明所提供的一种地面清洁***100，该地面清洁***100能够进行清洁作业和自洁作业。地面清洁***100包括适于在待清洁表面上移动的地面清洁机1和可接收和容纳地面清洁机1的自洁座2。Fig. 4 shows a floor cleaning system 100 provided by the present invention, the floor cleaning system 100 is capable of cleaning and self-cleaning operations. The floor cleaning system 100 includes a floor cleaning machine 1 adapted to move on the surface to be cleaned and a self-cleaning seat 2 capable of receiving and accommodating the floor cleaning machine 1 .
如图5和图6所示，地面清洁机1包括适于在地面上移动的清洁底座11、可转动铰接于清洁底座11的直立机身12、用于向清洁底座11提供清洁液的供液单元(图中未标示出)、用于收回待清洁表面上污液的污液回收单元14以及控制器16(见图9)，控制器16被构造成能够控制地面清洁机1在地面上进行清洁作业和停靠在自洁座2处进行自洁作业。As shown in Figures 5 and 6, the floor cleaning machine 1 comprises a cleaning base 11 adapted to move on the ground, an upright fuselage 12 rotatably hinged to the cleaning base 11, and a liquid supply for providing cleaning liquid to the cleaning base 11. unit (not shown in the figure), the dirty liquid recovery unit 14 and the controller 16 (seeing Fig. 9) that are used to recover the dirty liquid on the surface to be cleaned, the controller 16 is configured to be able to control the floor cleaning machine 1 to carry out cleaning on the ground Cleaning operations and docking at self-cleaning seat 2 for self-cleaning operations.
清洁底座11包括壳体111、可拆卸地连接于壳体111的上盖115、可转动地连接于壳体111的刷辊112、实现清洁底座11在待清洁表面上移动的移动轮113以及用于驱动刷辊112的刷辊马达114。其中，刷辊马达114布置于清洁底座11的内部并被配置成与刷辊112传动连接以驱动刷辊112转动，移动轮113可转动地连接于壳体111底部的后端并被配置成能够与待清洁表面相接触。The cleaning base 11 includes a housing 111, an upper cover 115 detachably connected to the housing 111, a brush roller 112 rotatably connected to the housing 111, a moving wheel 113 for moving the cleaning base 11 on the surface to be cleaned, and a The brush roller motor 114 for driving the brush roller 112. Wherein, the brush roller motor 114 is arranged inside the cleaning base 11 and is configured to be in drive connection with the brush roller 112 to drive the brush roller 112 to rotate, and the moving wheel 113 is rotatably connected to the rear end of the bottom of the housing 111 and is configured to contact with the surface to be cleaned.
壳体111与上盖115共同限定有一位于清洁底座11前部的刷辊腔116，刷辊腔116具有一朝向待清洁表面设置的下开口(图中未标示出)。刷辊112位于刷辊腔116处并可转动地连接于壳体111的前部上，刷辊112的部分圆周侧面穿出刷辊腔116的下部开口以接触待清洁表面。在其它实施例中，壳体与上盖也可以被设置成一体构件或壳体与上盖之间采用固定连接。The casing 111 and the upper cover 115 jointly define a brush roller cavity 116 located at the front of the cleaning base 11 , and the brush roller cavity 116 has a lower opening (not shown in the figure) disposed toward the surface to be cleaned. The brush roller 112 is located at the brush roller chamber 116 and is rotatably connected to the front of the housing 111. A part of the circumferential side of the brush roller 112 passes through the lower opening of the brush roller chamber 116 to contact the surface to be cleaned. In other embodiments, the housing and the upper cover may also be configured as an integral component or fixedly connected between the housing and the upper cover.
直立机身12包括位于直立机身12上部的手柄部121、与清洁底座11可转动铰接的连接部123以及位于手柄部121与连接部123之间的主体部122。手柄部121被配置成适于使用者把持以操作地面清洁机1。手柄部121上还配置有清洁开关124(见图9)，清洁开关124供使用者启动地面清洁机1的清洁作业。The upright body 12 includes a handle portion 121 on the top of the upright body 12 , a connecting portion 123 rotatably hinged to the cleaning base 11 , and a main body 122 between the handle portion 121 and the connecting portion 123 . The handle part 121 is configured to be suitable for the user to hold to operate the floor cleaning machine 1 . The handle part 121 is also equipped with a cleaning switch 124 (see FIG. 9 ), and the cleaning switch 124 is used for the user to start the cleaning operation of the floor cleaning machine 1 .
供液单元包括用于储存和向外提供清洁液的溶液箱131、位于溶液箱131与刷辊之112间的输液路径(图中未标示出)以及位于输液路径上的液体泵132。溶液箱131可拆卸地连接于直立机身12的主体部122上。输液路径位于直立机身12的内部并被配置成穿过直立机身12的连接部123以延伸至清洁底座11内，输液路径的路径出口形成一流体分配器(图中未标示出)，流体分配器位于刷辊112的上侧并被配置能够将清洁液均匀地分配至刷辊112的圆周表面。输液路径上还设置有流量监测装置133(见图9)，流量监测装置133用于监测输液路径上的清洁液流量。The liquid supply unit includes a solution tank 131 for storing and supplying cleaning solution, an infusion path (not shown in the figure) between the solution tank 131 and the brush roller 112 , and a liquid pump 132 on the infusion path. The solution tank 131 is detachably connected to the main body 122 of the upright body 12 . The infusion path is located inside the upright body 12 and is configured to pass through the connecting portion 123 of the upright body 12 to extend into the cleaning base 11. The path outlet of the infusion path forms a fluid distributor (not shown in the figure), and the fluid The dispenser is located on the upper side of the brush roll 112 and is configured to evenly distribute the cleaning liquid to the circumferential surface of the brush roll 112 . A flow monitoring device 133 (see FIG. 9 ) is also provided on the infusion path, and the flow monitoring device 133 is used to monitor the flow rate of the cleaning solution on the infusion path.
污液回收单元14包括用于接纳和储存污液的污液箱141、位于污液箱141上侧的真空马达142以及位于刷辊室116与真空马达142之间的回收路径143，其中，污液箱141位于回收路径143上。真空马达142设置在溶液箱131的下侧并位于直立机身12的内部。污液箱141可拆卸地连接在直立机身12的主体部122上并被配置成与真空马达142流体连通。回收路径143位于直立机身12的内部并且穿过连接部123延伸至清洁底座11内，回收路径143同时流体连通刷辊腔116和污液箱141。污液回收单元14还设置有用于监测污液箱141液位的液位监测装置144(见图9)和用于监测污液浑浊度(浑浊度越低表面污液的清洁程度越高)的浊度监测装置145(见图9)，浊度监测装置145布置在回收路径143上。The dirty liquid recovery unit 14 includes a dirty liquid tank 141 for receiving and storing dirty liquid, a vacuum motor 142 positioned on the upper side of the dirty liquid tank 141, and a recovery path 143 between the brush roller chamber 116 and the vacuum motor 142, wherein the dirty liquid The liquid tank 141 is located on the recovery path 143 . The vacuum motor 142 is provided on the lower side of the solution tank 131 and inside the upright body 12 . Dirt tank 141 is detachably connected to main body portion 122 of upright body 12 and is configured to be in fluid communication with vacuum motor 142 . The recovery path 143 is located inside the upright body 12 and extends through the connection portion 123 into the cleaning base 11 , and the recovery path 143 is in fluid communication with the brush roller cavity 116 and the dirty liquid tank 141 at the same time. The dirty liquid recovery unit 14 is also provided with a liquid level monitoring device 144 (see FIG. 9 ) for monitoring the liquid level of the dirty liquid tank 141 and a device for monitoring the turbidity of the dirty liquid (the lower the turbidity, the higher the cleaning degree of the surface dirty liquid). A turbidity monitoring device 145 (see FIG. 9 ). The turbidity monitoring device 145 is arranged on the recovery path 143 .
地面清洁机1还包括可充电电池151、充电接头153以及位于可充电电池151和充电接头153之间的充电控制电路152(见图9)。可充电电池151同时位于污 液箱141和真空马达142的后侧并被配置于直立机身12的内部，可充电电池151同时与刷辊马达114、液体泵132、真空马达142以及控制器16电连接以为其提供电能。The floor cleaning machine 1 also includes a rechargeable battery 151 , a charging connector 153 and a charging control circuit 152 (see FIG. 9 ) located between the rechargeable battery 151 and the charging connector 153 . The rechargeable battery 151 is located at the rear side of the dirty liquid tank 141 and the vacuum motor 142 and is arranged inside the upright body 12. Electrically connected to provide power for it.
充电控制电路152被构造成能够导通和断开可充电电池151与充电接头153的电连接。充电控制电路152处于常接通状态并且被配置成：当地面清洁机1启动和进行自洁作业时，充电控制电路152断开充电接头153与可充电电池151的电连接。充电接头153露出直立机身12以连接外界电源。地面清洁机1还具有电量监测装置154(见图9)，电量监测装置154用于监测可充电电池151的剩余电量。The charging control circuit 152 is configured to be able to connect and disconnect the electrical connection between the rechargeable battery 151 and the charging connector 153 . The charging control circuit 152 is in a normally on state and is configured to disconnect the charging connector 153 from the rechargeable battery 151 when the floor cleaning machine 1 starts and performs self-cleaning operation. The charging connector 153 exposes the upright body 12 to connect to an external power source. The floor cleaning machine 1 also has a power monitoring device 154 (see FIG. 9 ), and the power monitoring device 154 is used to monitor the remaining power of the rechargeable battery 151 .
控制器16位于地面清洁机1的内部并预存有用于进行清洁作业的清洁控制程序和进行自洁作业的自洁控制程序。清洁开关124、流量监测装置133、液位监测装置144、电量监测装置154以及浊度监测装置145同时与控制器16信号连接以向其发送相关信号，控制器16同时信号连接刷辊马达114、液体泵132、充电控制电路152以及真空马达142，以实现控制地面清洁***100的工作。The controller 16 is located inside the floor cleaning machine 1 and is pre-stored with a cleaning control program for performing cleaning operations and a self-cleaning control program for performing self-cleaning operations. The cleaning switch 124, the flow monitoring device 133, the liquid level monitoring device 144, the electricity monitoring device 154 and the turbidity monitoring device 145 are simultaneously connected with the controller 16 to send relevant signals, and the controller 16 is simultaneously connected with the brush roller motor 114, The liquid pump 132 , the charging control circuit 152 and the vacuum motor 142 are used to control the operation of the floor cleaning system 100 .
地面清洁***100实现清洁作业时，使用者按下清洁开关124后，控制器16同时启动刷辊马达114、液体泵132以及真空马达142。溶液箱131内的清洁液在液体泵132的作用下通过输液路径到达流体分配器并经流体分配器分配到刷辊112上。被刷辊马达114驱动的刷辊112利用清洁液对所接触的待清洁表面进行清洁作业。转动的真空马达142在刷辊腔116的下部开口至污液箱141的回收路径143上形成负压，地面上的污液在此负压的作用下，先后经下部开口和回收路径143到达并被储存在污液箱141中。When the floor cleaning system 100 performs the cleaning operation, after the user presses the cleaning switch 124 , the controller 16 starts the brush roller motor 114 , the liquid pump 132 and the vacuum motor 142 at the same time. The cleaning liquid in the solution tank 131 reaches the fluid dispenser through the infusion path under the action of the liquid pump 132 and is distributed to the brush roller 112 through the fluid dispenser. The brush roller 112 driven by the brush roller motor 114 uses cleaning liquid to clean the contacted surface to be cleaned. The rotating vacuum motor 142 forms a negative pressure on the recovery path 143 from the lower opening of the brush roller cavity 116 to the dirty liquid tank 141. Under the action of this negative pressure, the dirty liquid on the ground passes through the lower opening and the recovery path 143 successively to reach and It is stored in the dirty liquid tank 141.
如图7和图8所示，自洁座2包括座体21、能够与充电接头152接合的充电插座22以及与充电插座22电耦接的电源线23；其中，电源线23用于为充电插座22接入外界电源。自洁座2通过自身的底表面或者若干个支脚(图中未标示出)支撑在地面上。As shown in Figures 7 and 8, the self-cleaning seat 2 includes a seat body 21, a charging socket 22 capable of engaging with a charging connector 152, and a power cord 23 electrically coupled to the charging socket 22; wherein, the power cord 23 is used for charging The socket 22 is connected to an external power supply. The self-cleaning seat 2 is supported on the ground by its own bottom surface or several legs (not shown in the figure).
座体21包括沿上下方向延伸的柱体211和固定连接于柱体211下部的托盘212，托盘212具有能够接收和容纳清洁底座11的区域214以及由区域214边缘壁面向上延伸所形成的直立臂213。区域214包括一凹部215和一体连接于凹部215的支撑部216；其中，凹部215位于支撑部216的前侧。支撑部216具有向 前下方倾斜的平坦表面并且被配置成用于接纳和支撑壳体111的部分底部，凹部215配置成用于接收和容纳刷辊112以及能够覆盖刷辊112的下表面。The seat body 21 includes a column body 211 extending in the up-down direction and a tray 212 fixedly connected to the lower part of the column body 211. The tray 212 has an area 214 capable of receiving and accommodating the cleaning base 11 and an upright arm formed by the upward extension of the edge wall of the area 214. 213. The area 214 includes a concave portion 215 and a supporting portion 216 integrally connected to the concave portion 215 ; wherein the concave portion 215 is located at the front side of the supporting portion 216 . The supporting part 216 has a flat surface inclined forward and downward and is configured to receive and support a part of the bottom of the housing 111 , and the recess 215 is configured to receive and accommodate the brush roller 112 and can cover the lower surface of the brush roller 112 .
充电插座22位于柱体211的上端部，充电插座22被配置成：当地面清洁机1放置于自洁座21上时，充电插座22能够与充电接头153相接合并且电导通。当充电控制电路152处于接通状态时，充电插座22通过充电接头152为可充电电池151进行充电。充电接头153内配置有一与控制器16信号连接的电压传感器155，当充电接头153与充电插座22相接合并且电导通时，电压传感器155向控制器16发送相应的信号。在其他实施例中，也可以不单独设置电压传感器，而是通过在充电接头与充电插座电接通后，借由流过充电接头与充电插座的电路实现向控制器传送一个代表充电接头与充电插座电接通的电压信号，以此使得控制器获知地面清洁机已经正确放置于自洁座上。The charging socket 22 is located on the upper end of the cylinder 211 , and the charging socket 22 is configured such that: when the floor cleaning machine 1 is placed on the self-cleaning seat 21 , the charging socket 22 can engage with the charging connector 153 and conduct electricity. When the charging control circuit 152 is turned on, the charging socket 22 charges the rechargeable battery 151 through the charging connector 152 . A voltage sensor 155 is disposed in the charging connector 153 and connected to the controller 16 . When the charging connector 153 engages with the charging socket 22 and conducts electricity, the voltage sensor 155 sends a corresponding signal to the controller 16 . In other embodiments, the voltage sensor may not be provided separately, but after the charging connector and the charging socket are electrically connected, a circuit representing the charging connector and the charging socket is sent to the controller by means of a circuit that flows through the charging connector and the charging socket. The socket is electrically connected to the voltage signal, so that the controller knows that the floor cleaning machine has been correctly placed on the self-cleaning seat.
如图9所示，地面清洁机1上还设置有一与控制器16信号连接的取消按钮125和语音播放装置126，取消按钮125供使用者提前结束自洁作业并被配置成当使用者按下取消按钮125后，取消按钮125向控制器16发送一取消信号。控制器16被配置成：当地面清洁机1进行自洁作业时，若接收到取消信号，则结束自洁作业。As shown in Figure 9, the floor cleaning machine 1 is also provided with a cancel button 125 and a voice playback device 126 connected with the controller 16 signal, the cancel button 125 is for the user to end the self-cleaning operation in advance and is configured to After canceling the button 125 , the cancel button 125 sends a cancel signal to the controller 16 . The controller 16 is configured to end the self-cleaning operation if a cancel signal is received when the floor cleaning machine 1 is performing the self-cleaning operation.
语音播放装置12与控制器16信号连接并能够在控制器16的控制下对外播放若干条语音提示信息，控制器16被配置成：在地面清洁机1自动进行自洁作业之前，控制语音播放装置126对外播放一语音提示信息以提醒用户将开始自洁作业。现阐述一下地面清洁***100的自洁作业工作原理。控制器16预设有自洁作业的启动标准并被配置成：当自洁作业的启动标准被满足时，自动进行自洁作业。其中，自洁作业的启动标准包括清洁底座11的至少一部分被接收和容纳在座体21上和可充电电池151的剩余电量不小于电量阈值。其中，电量阈值为一根据地面清洁机进行自洁作业所需的电量而预先设定的值；清洁底座11的至少一部分是否被接收和容纳在座体21上是通过控制器16是否接收到电压传感器155的相应信号进行判断的，而可充电电池151的剩余电量是否不小于电量阈值是通过对比电量监测装置154所监测到的可充电电池151的电量与电量阈值进行判断的。The voice playback device 12 is connected to the controller 16 with a signal and can play several pieces of voice prompt information under the control of the controller 16. The controller 16 is configured to: before the floor cleaning machine 1 automatically performs self-cleaning operations, control the voice playback device 126 plays a voice prompt message to remind the user that the self-cleaning operation will start. The working principle of the self-cleaning operation of the floor cleaning system 100 will now be described. The controller 16 is preset with start-up criteria for the self-cleaning operation and is configured to automatically perform the self-cleaning operation when the start-up criteria for the self-cleaning operation are met. Wherein, the starting criteria of the self-cleaning operation include that at least a part of the cleaning base 11 is received and accommodated on the seat body 21 and the remaining power of the rechargeable battery 151 is not less than the power threshold. Wherein, the power threshold value is a preset value according to the power required for the self-cleaning operation of the floor cleaning machine; whether at least a part of the cleaning base 11 is received and accommodated on the base 21 depends on whether the controller 16 receives the voltage sensor 155 to judge, and whether the remaining power of the rechargeable battery 151 is not less than the power threshold is judged by comparing the power of the rechargeable battery 151 monitored by the power monitoring device 154 with the power threshold.
在其它实施例中，地面清洁机还可以在溶液箱中配置一用于监测溶液箱液位的溶液箱监测装置，启动标准还可以包括溶液箱的液位不小于溶液箱液位阈值，其中，溶液箱液位阈值为一根据地面清洁机进行自洁作业所需水量而预先设定的值。该启动标准可以通过对比溶液箱监测装置监测到的溶液箱液位与溶液箱阈值来进行判断。In other embodiments, the floor cleaning machine can also be equipped with a solution tank monitoring device for monitoring the liquid level of the solution tank in the solution tank, and the starting standard can also include that the liquid level of the solution tank is not less than the solution tank liquid level threshold, wherein, The liquid level threshold of the solution tank is a preset value according to the amount of water required for the self-cleaning operation of the floor cleaning machine. The starting standard can be judged by comparing the liquid level of the solution tank monitored by the solution tank monitoring device with the threshold value of the solution tank.
在确认控制器16内自洁作业的启动标准被满足后，控制器16自动按照设定程序同时或分阶段启动刷辊马达114、液体泵132以及真空马达142。溶液箱131内的清洁液在液体泵132的作用下通过输液路径到达流体分配器并经流体分配器分配到刷辊112上。被刷辊马达114驱动的刷辊112利用清洁液对自身进行清洁作业。真空马达142在刷辊腔116至污液箱141的回收路径143上形成负压，刷辊112上的污液在此负压的作用下，先后经下部开口和回收路径143到达并被储存在污液箱141中。After confirming that the start-up criteria of the self-cleaning operation in the controller 16 are met, the controller 16 automatically starts the brush roller motor 114 , the liquid pump 132 and the vacuum motor 142 simultaneously or in stages according to the set program. The cleaning liquid in the solution tank 131 reaches the fluid dispenser through the infusion path under the action of the liquid pump 132 and is distributed to the brush roller 112 through the fluid dispenser. The brush roller 112 driven by the brush roller motor 114 cleans itself with cleaning liquid. The vacuum motor 142 forms a negative pressure on the recovery path 143 from the brush roller cavity 116 to the dirty liquid tank 141. Under the action of this negative pressure, the dirty liquid on the brush roller 112 arrives through the lower opening and the recovery path 143 successively and is stored in the In the dirty liquid tank 141.
控制器16中还预存有对应清洁液流量的断流阈值、对应污液浑浊度的清洁阈值以及对应污液箱141液位的满箱阈值。在地面清洁机1进行自洁作业的过程中，若流量监测装置133所监测到的清洁液流量低于断流阈值时，控制器16则中断进行自洁作业并向使用者提醒添加清洁液；若液位监测装置145所监测到的液位高于满箱阈值时，则控制器16中断进行自洁作业并向使用者提醒倾倒污液箱141内的污液；而若浊度监测装置145所监测到的污液浑浊度低于清洁阈值时，则控制器16结束进行自洁作业，地面清洁机1的自洁作业结束。在其它实施例中，地面清洁机液可以取消浊度监测装置，而将控制器设备成在进行自洁作业超过所预设的时间够，自动结束地面清洁机的自我清洁工作。The controller 16 also prestores a cut-off threshold corresponding to the flow rate of the cleaning liquid, a cleaning threshold corresponding to the turbidity of the dirty liquid, and a full tank threshold corresponding to the liquid level of the dirty liquid tank 141 . During the self-cleaning operation of the floor cleaning machine 1, if the flow rate of the cleaning liquid detected by the flow monitoring device 133 is lower than the cut-off threshold, the controller 16 stops the self-cleaning operation and reminds the user to add cleaning liquid; If the liquid level monitored by the liquid level monitoring device 145 is higher than the full tank threshold, the controller 16 interrupts the self-cleaning operation and reminds the user to dump the dirty liquid in the dirty liquid tank 141; and if the turbidity monitoring device 145 When the monitored turbidity of the dirty liquid is lower than the cleaning threshold, the controller 16 ends the self-cleaning operation, and the self-cleaning operation of the floor cleaning machine 1 ends. In other embodiments, the turbidity monitoring device can be canceled for the floor cleaning machine fluid, and the controller can be configured to automatically end the self-cleaning work of the floor cleaning machine when the self-cleaning operation exceeds the preset time.
在其它实施例中，地面清洁机在进行自洁作业的过程中，若流量监测装置所监测到的清洁液流量低于断流阈值或若清洁液监测装置所监测到的清洁液液位低于空箱阈值时，也可以不中断自洁作业而仅向用户发出提醒信号，其提醒信号可以是灯光提示也可以是语音提示。In other embodiments, during the self-cleaning operation of the floor cleaning machine, if the flow rate of the cleaning liquid monitored by the flow monitoring device is lower than the cut-off threshold or if the liquid level of the cleaning liquid monitored by the cleaning liquid monitoring device is lower than When the empty box threshold is reached, the self-cleaning operation may not be interrupted but only a reminder signal is sent to the user, and the reminder signal may be a light prompt or a voice prompt.
上述实施例只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并据以实施，并不能以此限制本发明的保护范围。凡根据本发明精神所作的等效变化或修饰，都应涵盖在本发明的保护范围之内。The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the protection scope of the present invention.

Claims (19)

  1. 一种地面清洁机在自洁座上进行自洁作业的控制方法，所述的地面清洁机包括具有刷辊的清洁底座、供液单元、污液回收单元以及用于向地面清洁机提供电能的可充电电池，所述的自洁座包括用于接收和容纳所述清洁底座的至少一部分的座体，其特征在于，该控制方法包括：A method for controlling the self-cleaning operation of a floor cleaning machine on a self-cleaning seat. The floor cleaning machine includes a cleaning base with a brush roller, a liquid supply unit, a dirty liquid recovery unit, and a device for supplying electric energy to the floor cleaning machine. A rechargeable battery, the self-cleaning seat includes a seat for receiving and accommodating at least a part of the cleaning base, it is characterized in that the control method includes:
    在不需要来自用户介入的情况下自动检测所述的地面清洁机是否满足预设的启动标准；其中，所述的启动标准包括所述清洁底座的至少一部分被接收和容纳在所述的座体上以及所述可充电电池的剩余电量不小于一电量阈值；Automatically detect whether the floor cleaning machine meets preset activation criteria without user intervention; wherein the activation criteria includes at least a portion of the cleaning base being received and accommodated in the base and the remaining power of the rechargeable battery is not less than a power threshold;
    若所述的地面清洁机满足所述的启动标准，则自动进行自洁作业。If the ground cleaning machine meets the start-up criteria, it will automatically perform self-cleaning operation.
  2. 根据权利要求1所述的控制方法，其特征在于，所述的地面清洁机还包括一用于监测所述可充电电池的剩余电量的电量监测装置，所述可充电电池的剩余电量是否不小于所述的电量阈值是通过对比电量监测装置监测到的电量与所述的电量阈值来判断的。The control method according to claim 1, wherein the floor cleaning machine further includes a power monitoring device for monitoring the remaining power of the rechargeable battery, whether the remaining power of the rechargeable battery is not less than The power threshold is judged by comparing the power monitored by the power monitoring device with the power threshold.
  3. 根据权利要求1所述的控制方法，其特征在于，所述的地面清洁机还包括充电接头；所述的自洁座还包括：电源线和充电插座，所述的电源线与所述的充电插座电耦接，所述的充电插座位于所述的座体上并且被配置成能够与所述的充电接头相接合以及电导通。The control method according to claim 1, wherein the ground cleaning machine also includes a charging connector; the self-cleaning seat also includes: a power cord and a charging socket, and the power cord is connected to the charging socket. The socket is electrically coupled, and the charging socket is located on the base body and is configured to be engaged with and electrically connected to the charging connector.
  4. 根据权利要求3所述的控制方法，其特征在于，所述清洁底座的至少一部分是否被接收和容纳在所述的座体上是通过检测所述的充电接头和所述的充电插座是否电导通来判断的。The control method according to claim 3, characterized in that whether at least a part of the cleaning base is received and accommodated on the base body is detected by detecting whether the charging connector is electrically connected to the charging socket to judge.
  5. 根据权利要求1所述的控制方法，其特征在于，所述的污液回收单元包括用于接纳和储存污液的污液箱和用于监测所述污液箱液位的液位监测装置，所述的控制方法包括：在进行自洁作业的过程中，若所述的液位监测装置监测到的污液箱液位高于一满箱阈值，则中断自洁作业。The control method according to claim 1, wherein the dirty liquid recovery unit includes a dirty liquid tank for receiving and storing dirty liquid and a liquid level monitoring device for monitoring the liquid level of the dirty liquid tank, The control method includes: during the self-cleaning operation, if the liquid level of the dirty liquid tank detected by the liquid level monitoring device is higher than a full tank threshold, then interrupting the self-cleaning operation.
  6. 根据权利要求1所述的控制方法，其特征在于，所述的供液单元包括用于储存清洁液的溶液箱和用于监测从所述溶液箱流出的清洁液流量的流量监测装置，所述的控制方法包括：在进行自洁作业的过程中，若所述的流量监测装置监测到清洁液的流量低于一断流阈值，则中断自洁作业与/或对外发出一警示信息。The control method according to claim 1, wherein the liquid supply unit comprises a solution tank for storing cleaning solution and a flow monitoring device for monitoring the flow of cleaning solution flowing out of the solution tank, the The control method includes: during the self-cleaning operation, if the flow monitoring device detects that the flow rate of the cleaning liquid is lower than a cut-off threshold, the self-cleaning operation is interrupted and/or a warning message is sent to the outside.
  7. 根据权利要求1所述的控制方法，其特征在于，所述的污液回收单元还 包括浊度监测装置，所述的浊度监测装置用于监测回收的污液的浑浊度，所述的控制方法还包括：在进行自洁作业的过程中，若所述的浊度监测装置所监测到的回收污液的浑浊度低于一清洁阈值，则结束自洁作业。The control method according to claim 1, wherein the sewage recovery unit further comprises a turbidity monitoring device, and the turbidity monitoring device is used to monitor the turbidity of the recovered sewage, and the control The method further includes: during the self-cleaning operation, if the turbidity of the recovered dirty liquid monitored by the turbidity monitoring device is lower than a cleaning threshold, then ending the self-cleaning operation.
  8. 根据权利要求1所述的控制方法，其特征在于，所述的地面清洁机还包括一能够被触发的取消按钮，所述的控制方法还包括：在进行自洁作业的过程中，若所述的取消按钮被触发，则结束自洁作业。The control method according to claim 1, wherein the ground cleaning machine further includes a triggerable cancel button, and the control method further includes: during the self-cleaning operation, if the The cancel button is triggered, then the self-cleaning operation ends.
  9. 根据权利要求1所述的控制方法，其特征在于，所述的地面清洁机还包括一语音播放装置，所述的控制方法包括：在自动进行自洁作业之前，先控制所述的语音播放装置对外播放一语音提示信息。The control method according to claim 1, wherein the floor cleaning machine further includes a voice playback device, and the control method includes: before automatically performing the self-cleaning operation, first controlling the voice playback device Play a voice prompt message to the outside world.
  10. 一种地面清洁***，其特征在于，包括：A floor cleaning system, characterized in that it comprises:
    地面清洁机(1)，具有：A floor cleaning machine (1) having:
    清洁底座(11)，适用于在地面上移动，所述的清洁底座(11)具有能够接触待清洁地面的刷辊(112)和驱动所述刷辊(112)旋转的刷辊马达(114)；The cleaning base (11) is suitable for moving on the ground. The cleaning base (11) has a brush roller (112) capable of contacting the ground to be cleaned and a brush roller motor (114) that drives the brush roller (112) to rotate ;
    供液单元，布置成向所述的刷辊(112)供给清洁液体，所述的供液单元包括溶液箱(131)、位于所述溶液箱(131)和刷辊(112)之间的输液路径和位于所述输液路径上的液体泵(132)；A liquid supply unit arranged to supply cleaning liquid to the brush roller (112), the liquid supply unit comprising a solution tank (131), an infusion solution positioned between the solution tank (131) and the brush roller (112) path and a liquid pump (132) located on said infusion path;
    污液回收单元(14)，包括真空马达(142)、连通所述清洁辊(112)和所述真空马达(142)之间的回收路径(143)以及位于所述回收路径(143)上的污液箱(141)；以及A dirty liquid recovery unit (14), comprising a vacuum motor (142), a recovery path (143) communicating between the cleaning roller (112) and the vacuum motor (142), and a recovery path (143) located on the recovery path (143) dirt tank (141); and
    控制器(16)，所述的控制器(16)构造成控制所述地面清洁机(1)执行清洁作业和自洁作业；A controller (16), the controller (16) is configured to control the floor cleaning machine (1) to perform cleaning operations and self-cleaning operations;
    可充电电池(151)，所述的可充电电池(151)能够向所述地面清洁机(1)的刷辊马达(114)、液体泵(132)以及真空马达(142)提供电能；和A rechargeable battery (151), the rechargeable battery (151) can provide electric energy to the brush roller motor (114), liquid pump (132) and vacuum motor (142) of the floor cleaning machine (1); and
    自洁座(2)，包括：Self-cleaning seat (2), including:
    座体(21)，其用于接收和容纳所述清洁底座(11)的至少一部分；a base (21) for receiving and accommodating at least a part of said cleaning base (11);
    其中，所述地面清洁机(1)的控制器(16)开始进行自洁作业是在不需要来自用户介入的情况下，响应于所述的控制器(16)确定满足预设的启动标准而自动启动进行的；所述的启动标准包括所述清洁底座(11)的至少一部分被接收和容纳在所述的座体(21)上以及所述可充电电池(151)的剩余电量不小于一电 量阈值。Wherein, the controller (16) of the floor cleaning machine (1) starts to perform the self-cleaning operation in response to the controller (16) determining that a preset start-up standard is satisfied without user intervention. It is automatically activated; the activation criteria include that at least a part of the cleaning base (11) is received and accommodated on the base (21) and the remaining power of the rechargeable battery (151) is not less than one power threshold.
  11. 根据权利要求10所述的地面清洁***，其特征在于，所述的地面清洁机(1)还包括充电接头(153)；所述的自洁座(2)还包括：电源线(23)和充电插座(22)，所述的充电插座(22)布置在所述的座体(21)上并且与所述的电源线(23)电导通。The floor cleaning system according to claim 10, characterized in that, the floor cleaning machine (1) also includes a charging connector (153); the self-cleaning seat (2) also includes: a power cord (23) and A charging socket (22), the charging socket (22) is arranged on the seat body (21) and electrically connected to the power line (23).
  12. 根据权利要求11述的地面清洁***，其特征在于，所述的控制器(16)确定所述清洁底座(11)的至少一部分是否被接收和容纳在所述的座体(21)上是通过确定所述的充电接头(153)和所述的充电插座(22)是否电导通来判断的。The floor cleaning system according to claim 11, wherein the controller (16) determines whether at least a part of the cleaning base (11) is received and accommodated on the base (21) by It is judged by determining whether the charging joint (153) and the charging socket (22) are electrically connected.
  13. 根据权利要求10所述的地面清洁***，其特征在于，所述的供液单元还包括一设置在所述输液路径上的流量监测装置(133)，所述的流量监测装置(133)用于监测清洁液的流量并且所述的流量监测装置(133)与所述的控制器(16)相信号连接，所述的控制器(16)被配置成：当所述的地面清洁机(1)在进行自洁作业时，若所述流量监测装置(133)所监测到的清洁液流量小于一的断流阈值，则所述的控制器(16)中断自洁作业与/或对外发出一警示信息。The floor cleaning system according to claim 10, characterized in that, the liquid supply unit further comprises a flow monitoring device (133) arranged on the infusion path, and the flow monitoring device (133) is used for The flow rate of the cleaning liquid is monitored and the flow monitoring device (133) is signal-connected with the controller (16), and the controller (16) is configured to: when the floor cleaning machine (1) During the self-cleaning operation, if the flow rate of the cleaning fluid detected by the flow monitoring device (133) is less than a cut-off threshold, the controller (16) will stop the self-cleaning operation and/or issue a warning to the outside information.
  14. 根据权利要求10所述的地面清洁***，其特征在于，所述的供液单元还包括一设置在所述溶液箱(131)处的清洁液监测装置(134)，所述的清洁液监测装置(134)用于监测所述溶液箱(131)内清洁液液位并且所述的清洁液监测装置(134)与所述的控制器(16)相信号连接，所述的控制器(16)被配置成：当所述的地面清洁机(1)在进行自洁作业时，若所述清洁液监测装置(134)所监测到的清洁液液位低于一空箱阈值时，则所述的控制器(16)中断自洁作业与/或对外发出一警示信息。The ground cleaning system according to claim 10, characterized in that, the liquid supply unit further comprises a cleaning liquid monitoring device (134) arranged at the solution tank (131), and the cleaning liquid monitoring device (134) is used to monitor the liquid level of the cleaning liquid in the solution tank (131) and the cleaning liquid monitoring device (134) is connected with the signal of the controller (16), and the controller (16) It is configured to: when the floor cleaning machine (1) is performing self-cleaning operation, if the cleaning liquid liquid level monitored by the cleaning liquid monitoring device (134) is lower than an empty tank threshold, then the The controller (16) interrupts the self-cleaning operation and/or sends a warning message to the outside.
  15. 根据权利要求10所述的地面清洁***，其特征在于，所述的地面清洁机(1)包括：清洁开关(124)，其被配置成能够供用户输入一清洁指令；所述的控制器(16)与所述的清洁开关(124)信号连接，所述的控制器(16)能够响应于所述的清洁开关(124)而启动和进行所述的清洁作业。The floor cleaning system according to claim 10, characterized in that, the floor cleaning machine (1) comprises: a cleaning switch (124), which is configured to allow a user to input a cleaning instruction; the controller ( 16) Signal connection with the cleaning switch (124), the controller (16) can start and perform the cleaning operation in response to the cleaning switch (124).
  16. 根据权利要求10所述的地面清洁***，其特征在于，所述的污液回收单元(14)还包括一设置在所述污液箱(141)内的液位监测装置(144)，所述的液位监测装置(144)用于监所述污液箱(141)的液位并且所述的液位监测装置(144)与所述的控制器(16)相信号连接，所述的控制器(16)被配置成： 当所述的地面清洁机(1)在进行自洁作业时，若所述液位监测装置(141)所监测到的所述污液箱(141)液位高于一满箱阈值，则所述的控制器(16)中断自洁作业。The ground cleaning system according to claim 10, characterized in that, said dirty liquid recovery unit (14) further comprises a liquid level monitoring device (144) arranged in said dirty liquid tank (141), said The liquid level monitoring device (144) is used to monitor the liquid level of the dirty liquid tank (141) and the described liquid level monitoring device (144) is connected with the described controller (16) in signal, and the described control The device (16) is configured to: When the ground cleaning machine (1) is performing self-cleaning operation, if the liquid level of the dirty liquid tank (141) detected by the liquid level monitoring device (141) is high At a full tank threshold, the controller (16) stops the self-cleaning operation.
  17. 根据权利要求10所述的地面清洁***，其特征在于，所述的污液回收单元还包括一设置在所述回收路径上的浊度监测装置(145)，所述的浊度监测装置(145)用于监测所述回收路径(143)上污液的浑浊度并且所述的浊度监测装置(145)与所述的控制器(16)相信号连接，所述的控制器(16)被配置成：当所述的地面清洁机(1)在进行自洁作业时，若所述浊度监测装置(145)所监测到的污液浑浊度量小于一清洁阈值时，所述的控制器(16)结束自洁作业。The ground cleaning system according to claim 10, characterized in that, the sewage recovery unit further comprises a turbidity monitoring device (145) arranged on the recovery path, and the turbidity monitoring device (145 ) is used to monitor the turbidity of the dirty liquid on the recovery path (143) and the turbidity monitoring device (145) is connected to the controller (16) in signal, and the controller (16) is controlled by It is configured that: when the ground cleaning machine (1) is performing a self-cleaning operation, if the turbidity of the dirty liquid monitored by the turbidity monitoring device (145) is less than a cleaning threshold, the controller ( 16) End the self-cleaning operation.
  18. 根据权利要求10所述的地面清洁***，其特征在于，所述的地面清洁机(1)还具有：取消按钮(125)，所述的取消按钮(125)与所述的控制器(16)信号连接并能够向所述的控制器(16)发送取消信号，所述的控制器(16)被配置成：当所述的地面清洁机(1)在进行自洁作业时，若所述的控制器(16)接收到所述的取消信号，则结束自洁作业。The floor cleaning system according to claim 10, characterized in that, the floor cleaning machine (1) also has: a cancel button (125), and the cancel button (125) is connected with the controller (16) The signal is connected and can send a cancel signal to the controller (16), and the controller (16) is configured to: when the floor cleaning machine (1) is performing a self-cleaning operation, if the The controller (16) ends the self-cleaning operation after receiving the cancel signal.
  19. 根据权利要求10所述的地面清洁***，其特征在于，所述的地面清洁机还包括一语音播放装置(126)，所述的语音播放装置(126)与所述的控制器(16)信号连接并能够在所述的控制器(16)的控制下对外播放若干条语音提示信息，所述的控制器(16)被配置成：在所述的地面清洁机(1)自动进行自洁作业之前，控制所述的语音播放装置(126)对外播放一语音提示信息。The floor cleaning system according to claim 10, characterized in that, the floor cleaning machine also includes a voice playback device (126), and the voice playback device (126) communicates with the controller (16) signal connected and capable of playing several pieces of voice prompt information externally under the control of the controller (16), the controller (16) is configured to: automatically perform self-cleaning operations on the floor cleaning machine (1) Before, the voice playing device (126) is controlled to play a voice prompt message externally.
PCT/CN2022/098941 2021-06-16 2022-06-15 Method for controlling floor cleaning machine to perform self-cleaning, and floor cleaning system WO2022262773A1 (en)

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