Test method and cleaning apparatus

Abstract

The application discloses a test method and a cleaning device, and relates to the technical field of cleaning devices, wherein the test method comprises the following steps: acquiring at least one test mode of the cleaning device; determining a control signal corresponding to a spraying execution component of the cleaning device based on the test mode; controlling the spraying execution component to spray cleaning liquid based on the control signal, and determining a cleaning liquid coverage result based on the distribution of the cleaning liquid on the surface of a target area. The method of the application realizes objective quantification and repeatable testing of the coverage effect, significantly improves the test efficiency, and reduces resource waste caused by subjective judgment and repeated experiments.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to a testing method and a cleaning device. Background Technology

[0002] In the testing of cleaning fluid spraying for cleaning equipment (such as window cleaning robots), accurately evaluating the coverage effect of the cleaning fluid on different window surface materials is a key requirement for optimizing cleaning performance and improving testing efficiency. Related technologies typically employ fixed-flow spray control methods or simple timed switching logic to control the output of the cleaning fluid.

[0003] However, fixed-flow or timed control schemes in related technologies cannot dynamically adjust spray parameters (such as spray intensity, duration, and interval) according to actual test scenarios, making it difficult to quantify and evaluate the cleaning fluid coverage effect on different surfaces. The testing process relies heavily on manual visual inspection or experience-based judgment, which is not only highly subjective and lacks repeatability, but also prone to waste of cleaning fluid due to overspraying, further increasing the energy consumption of cleaning equipment and testing costs. In addition, the lack of standardized testing procedures and a unified evaluation system makes it impossible to compare results under different test conditions, severely restricting the fine-tuning of cleaning fluid spray parameters.

[0004] Therefore, in the testing environment of cleaning equipment and cleaning fluid spraying, how to achieve an objective, repeatable, and quantitative evaluation of the cleaning fluid coverage effect, and overcome the problems of low testing efficiency and resource waste caused by traditional fixed control methods, has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application aims to at least partially address one of the technical problems in related technologies. To this end, the first objective of this application is to propose a testing method that acquires at least one test mode of a cleaning device, determines the corresponding control signal for the spraying execution component based on this test mode, and then controls the spraying execution component to spray cleaning fluid. Finally, the cleaning fluid coverage result is determined based on the distribution of the cleaning fluid on the surface of the target area. This effectively solves the problem in related technologies where the use of fixed flow rate or simple timing control makes it impossible to quantitatively evaluate the cleaning fluid coverage effect on different surfaces. This method introduces a programmable test mode, parameterizing and controlling the spraying action, enabling the spraying process to be accurately repeated. This achieves objective quantification and repeatable testing of the coverage effect, significantly improving testing efficiency and reducing resource waste caused by subjective judgment and repeated trials. Simultaneously, this method provides a reliable technical means for the standardized evaluation of the cleaning fluid spraying performance of cleaning equipment.

[0006] The second objective of this application is to propose an electronic device.

[0007] To achieve the above objectives, a first aspect of this application provides a testing method, the method comprising: acquiring at least one test mode of a cleaning device; determining a control signal corresponding to a spraying execution component of the cleaning device based on the test mode; controlling the spraying execution component to spray cleaning liquid based on the control signal; and determining a cleaning liquid coverage result based on the distribution of the cleaning liquid on the surface of a target area.

[0008] According to the testing method of this application embodiment, at least one test mode of the cleaning equipment is obtained, a control signal corresponding to the spraying execution component of the cleaning equipment is determined based on the test mode, the spraying execution component is controlled to spray cleaning liquid based on the control signal, and the cleaning liquid coverage result is determined based on the distribution of cleaning liquid on the surface of the target area. Therefore, this method can quantitatively evaluate the coverage effect of cleaning liquid on different surfaces. By parameterizing and controlling the spraying action through programmable test modes, the spraying process can be accurately repeated, achieving objective quantification and repeatable testing of the coverage effect. This improves testing efficiency, reduces resource waste caused by subjective judgment and repeated trials, and provides reliable technical support for the standardized evaluation of the cleaning liquid spraying performance of cleaning equipment.

[0009] According to one embodiment of this application, the control signal includes a pulse width modulation signal, and determining the control signal corresponding to the spraying execution component of the cleaning equipment based on the test mode includes: determining the duty cycle of the pulse width modulation signal based on the test mode and a preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the test mode and the duty cycle.

[0010] According to one embodiment of this application, the spraying execution component includes a water pump and a solenoid valve, the test mode includes a spraying duration, and the step of controlling the spraying execution component to spray cleaning liquid based on the control signal includes: driving the water pump and the solenoid valve respectively based on the pulse width modulation signal so that the water pump and the solenoid valve are continuously open for the spraying duration.

[0011] According to one embodiment of this application, the test mode further includes a spraying mode type, a spraying interval time, and a spraying cycle number. The spraying mode type includes a multi-pump working mode and a single-pump working mode. The step of controlling the spraying execution component to spray cleaning liquid based on the pulse width modulation signal further includes: controlling the spraying execution component to spray cleaning liquid based on the spraying mode type, the spraying interval time, and the spraying cycle number.

[0012] According to one embodiment of this application, controlling the spraying execution component to spray cleaning fluid based on the spraying mode type, the spraying interval time, and the number of spraying cycles includes: when the spraying mode type is the multi-pump working mode, driving all water pumps to complete the cleaning fluid spraying according to the spraying duration; when the spraying mode type is the single-pump working mode, driving a single water pump in conjunction with the solenoid valve to complete the cleaning fluid spraying according to the spraying duration; after the spraying duration is reached, adjusting the pulse width modulation signal to zero to shut down all water pumps and the solenoid valve; after the spraying interval time ends, restarting all water pumps and the solenoid valve to spray until the number of spraying cycles is reached.

[0013] According to one embodiment of this application, the cleaning fluid coverage result includes coverage rate. Determining the cleaning fluid coverage result based on the distribution of the cleaning fluid on the surface of the target area includes: determining the target cleaning fluid consumption based on the distribution of the cleaning fluid on the surface of the target area; determining the coverage area based on the target cleaning fluid consumption and a preset liquid film thickness parameter; and determining the coverage rate based on the ratio of the coverage area to the total area of ​​the target area.

[0014] According to one embodiment of this application, determining the target cleaning fluid consumption based on the distribution of the cleaning fluid on the surface of the target area includes: determining the cleaning fluid consumption per spray based on the product of the flow rate of a single spray and the spray duration of a single spray; and determining the total target cleaning fluid consumption based on the product of the cleaning fluid consumption per spray and the number of spray cycles.

[0015] According to one embodiment of this application, the cleaning fluid coverage result includes a uniformity index, and the method further includes: obtaining the coverage of multiple spraying actions; determining the fluctuation variance of the coverage based on multiple coverage rates, and using the fluctuation variance as the uniformity index.

[0016] According to one embodiment of this application, the method further includes: acquiring an emergency stop signal; driving the spraying actuator to a preset safe state, wherein driving to the preset safe state includes: shutting down all drive signals used to drive the spraying actuator through a hardware-level interrupt response.

[0017] To achieve the above objectives, an electronic device is provided in the second aspect of this application, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described testing method.

[0018] The electronic device according to the embodiments of this application, by performing the above-described testing method, achieves objective quantification and repeatable testing of coverage effect, significantly improves testing efficiency, and reduces resource waste caused by subjective judgment and repeated trials.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] Figure 1 This is a flowchart of a test method according to an embodiment of this application.

[0021] Figure 2 This is a flowchart illustrating a specific example of a test method according to this application.

[0022] Figure 3 This is a block diagram of a cleaning device according to an embodiment of this application. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0024] In the field of cleaning equipment technology, to effectively clean glass surfaces, the common practice is to use a fixed water pump and piping system to spray cleaning fluid onto the glass surface at preset times or according to a simple pre-set logic (e.g., spraying once per round trip). This approach is widely adopted primarily to provide the necessary liquid during the cleaning process to wet and dissolve stubborn stains, thereby improving the efficiency and cleaning effect of physical wiping.

[0025] However, this approach is less than ideal when applied to quantitatively evaluate the coverage of cleaning fluid on different glass surfaces (e.g., uncoated glass, hydrophobic coated glass, frosted glass, etc.). In other words, the inherent design of this approach, prioritizing ease of control (e.g., fixed flow rate, simple timing), inevitably compromises the objective evaluation of spraying effectiveness and the standardization of the testing process. For instance, when developing different models of cleaning equipment or testing different cleaning fluid formulations, the relevant technologies rely solely on visual observation of the fluid's diffusion on the glass surface or estimation of the sprayed fluid volume to subjectively judge the quality of the spraying. This subjective evaluation method has significant drawbacks: First, the test results are highly dependent on the tester's experience, judgment criteria, and even the lighting conditions during observation, leading to a lack of consistency and reproducibility in test results between different testers and different rounds. Second, it cannot accurately quantify key indicators such as coverage and uniformity, making it difficult for product developers to deduce and optimize spraying parameters (such as pump power and spraying duration) based on data. Third, due to the inability to precisely control the spraying, it often leads to overspraying, wasting cleaning fluid and water resources, and increasing the load on the cleaning equipment and the labor costs of frequent fluid replenishment. Specifically, in tests that require comparing the impact of the opening response speed of two different solenoid valves on coverage, testers can only roughly describe that "valve A seems to spray more" or "valve B sprays more evenly," but cannot give a quantitative conclusion such as "valve A has a 15% higher coverage than valve B."

[0026] In-depth analysis revealed that the relevant technologies treat the spraying of cleaning fluid as a simple, binary (i.e., on or off) discrete action, failing to recognize that the spraying process itself is a continuous physical process influenced by multiple quantifiable electrical parameters. Specifically, there is a lack of ability to independently and precisely control the key parameters constituting a single spraying action (such as the power of the driving water pump, the duration of the solenoid valve's opening, the spraying interval, and the overall number of cycles). Due to the lack of such refined parameter control methods, the spraying effect (i.e., the distribution pattern and coverage area of ​​the cleaning fluid on the surface) becomes a black box that is difficult to predict and quantify.

[0027] To overcome the aforementioned contradictions, this invention proposes a testing method that uses a microcontroller to generate PWM (Pulse Width Modulation) signals with precisely adjustable duty cycle, frequency, and duration to independently and collaboratively drive a water pump and a solenoid valve. This decomposes the originally uncontrollable spraying operation into multiple programmable electrical parameter combinations. Combined with feedback from flow and pressure sensors on the actual spraying process, this method ultimately achieves objective quantification and standardized repeatable testing of coverage effects. This addresses the technical problems of unquantifiable assessment of coverage effects, strong subjectivity in the testing process, low efficiency, and resource waste in cleaning equipment testing scenarios. The method achieves the technical effect of generating multiple repeatable test modes and objectively recording coverage data, thereby providing a quantitative basis for optimizing spraying strategies.

[0028] In one embodiment of this application, the testing method can be applied to a cleaning fluid coverage testing system. This system mainly includes a main controller module responsible for the system's core logic operations and mode scheduling; a PWM signal generator module that receives instructions from the main controller and generates PWM signals with specific duty cycles and frequencies; a water pump drive module comprising two independently driven water pumps and a shared solenoid valve, used to drive the cleaning fluid output and control the on / off state of the nozzles, respectively; a sensor detection module, including at least one flow sensor and one pressure sensor, installed on the liquid delivery pipeline for real-time monitoring of the liquid flow rate and pipeline pressure during spraying; a human-machine interface module for interaction with the testing personnel, including a start button, a stop button, and status indicator lights; and a data recording and analysis module for storing sensor data collected during the test and calculating quantitative results such as coverage rate, and outputting them to external devices (such as computers) via serial ports for viewing and analysis. All modules are electrically connected to the main controller module, forming a complete closed-loop testing system.

[0029] The main controller refers to any integrated circuit or device capable of executing instructions, performing logical operations, storing data, and scheduling other modules. Specifically, it can refer to a microcontroller unit, such as a microprocessor based on the ARM Cortex-M series, or it can encompass digital signal processors, field-programmable gate arrays, or other application-specific integrated circuits. A PWM signal generator refers to any circuit or module capable of generating a square wave signal with adjustable duty cycle, frequency, and phase. For example, it may include, but is not limited to: timers / counters integrated within a microcontroller (such as general-purpose timers TIM2, TIM3, and TIM4) and their corresponding pulse width modulation output channels, or a standalone PWM signal generation chip.

[0030] The spraying actuator refers to a group of physical components that perform liquid spraying actions after receiving a control signal. It includes at least a water pump to pump and pressurize the liquid from the storage tank and a solenoid valve to control the liquid spray path or its on / off state. The sensor module refers to any device capable of converting non-electrical physical quantities (such as liquid flow rate or liquid pressure) into measurable electrical signals. For example, for flow rate, a Hall effect flow sensor or ultrasonic flow meter can be used; for pressure, a piezoresistive pressure sensor or capacitive pressure sensor can be used. The data recording and analysis module refers to any logical unit or physical storage medium capable of receiving, storing, and organizing processed monitoring data. This can be the random access memory or read-only memory inside the main controller, or an external memory card (such as an SD card) or a software recording unit that transmits data to a host computer via a communication interface.

[0031] The testing methods and cleaning equipment proposed in the embodiments of this application are described below with reference to the accompanying drawings.

[0032] Figure 1 This is a flowchart of a test method according to an embodiment of this application.

[0033] like Figure 1 As shown, the testing method in this application embodiment may include the following steps: S1, Obtain at least one test mode for the cleaning equipment.

[0034] Specifically, at least one test mode of the cleaning equipment can be obtained first. For example, executed by the aforementioned main controller, the test mode is not a simple start command, but a set of predefined structured data stored in the main controller. This data contains all the underlying parameters required to construct a complete spraying behavior. As a specific implementation, the test mode can be concretized into a predefined data structure, such as the TestPattern structure. This structure can contain a pattern ID field (pattern_id) to uniquely identify the mode, fields for setting the PWM duty cycle of the water pump and solenoid valve (such as pump1_pwm, pump2_pwm, valve_pwm), a field for the duration of a continuous spray (spray_duration), a field for the interval duration between two sprays (interval_duration), a field for the number of repeated spraying cycles (cycle_count), and a pattern type (pattern_type) to distinguish different spraying strategies. By predefining multiple such structures, the system can have a test mode library containing multiple different spraying strategies. This approach allows complex testing tasks to be broken down into sets of parameters that can be edited and called independently, laying the foundation for automated and standardized repetitive testing.

[0035] More generally, test modes can be implemented in a variety of ways. For example, they may include, but are not limited to, a data table stored in external memory (such as EEPROM) and loaded into the main controller via a communication interface; or a command frame sent in real time by the host computer via a serial port and parsed by the main controller.

[0036] S2, based on the test mode, determines the control signal corresponding to the spraying execution component of the cleaning equipment.

[0037] Specifically, after determining the test mode, the control signals corresponding to the spraying actuators of the cleaning equipment can be determined based on the test mode. For example, the main controller needs to generate specific physical signals capable of driving the actual hardware based on the parameters in the data corresponding to the test mode. In this embodiment, these control signals include at least PWM signals and GPIO (General Purpose Input Output) enable signals. The spraying actuators can be at least one of a water pump or a spray valve; different test modes correspond to different control signal parameters to adapt to different test requirements.

[0038] When determining the control signal, at the hardware level, the main controller reads the pump1_pwm value (e.g., 50) from the TestPattern structure and writes it to the capture / compare register of the corresponding PWM timer (e.g., TIM2), thereby changing the duty cycle of the PWM signal. At the logic level, the main controller can read the pattern_type field to determine whether to connect to the first pump, the second pump, or both pumps if there are multiple pumps, such as two pumps. In this way, the abstract parameters in the test mode are accurately translated into physical signals that drive the hardware to perform actions.

[0039] S3 controls the spraying execution unit to spray cleaning liquid based on the control signal, and determines the cleaning liquid coverage result based on the distribution of cleaning liquid on the surface of the target area.

[0040] Specifically, after determining the control signal, the spraying actuator can be controlled to spray cleaning fluid based on the control signal, and the cleaning fluid coverage result can be determined based on the distribution of cleaning fluid on the surface of the target area. For example, the control signal can drive a corresponding water pump to pressurize and pump the cleaning fluid from the storage tank, and at the same time, the control signal can drive a solenoid valve to allow high-pressure liquid to be sprayed from the nozzle onto the surface of the target area (such as a standard glass plate). Afterwards, the system does not end directly, but needs to obtain the spraying results. It should be noted that the repeatability of the precise control of the spraying components in terms of time and power provides a reliable execution basis for the subsequent determination of the coverage result based on the distribution. Finally, based on the distribution of cleaning fluid on the surface of the target area, the system determines one or more quantitative indicators as the coverage result. This result may be static (coverage rate obtained by capturing images with an external camera and analyzing them with a processor) or it may be based on sensor calculations (such as indirectly calculating the coverage area by monitoring the actual volume of liquid consumed by a flow meter).

[0041] Therefore, by acquiring different pre-configured test modes, the corresponding control signals can be obtained to precisely control the operation of the spraying components, ultimately resulting in standardized and reproducible cleaning liquid coverage. This eliminates the need for repeated manual adjustments to control parameters, improving the efficiency of testing the spraying effect of cleaning equipment and ensuring the consistency and comparability of test results from different batches. It can provide accurate and reliable data support for optimizing the spraying strategy of cleaning equipment.

[0042] According to one embodiment of this application, the control signal includes a pulse width modulation signal. Determining the control signal corresponding to the spraying execution component of the cleaning equipment based on the test mode includes: determining the duty cycle of the pulse width modulation signal based on the test mode and a preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the test mode and the duty cycle.

[0043] Specifically, to optimize the control accuracy and adaptability of the above-mentioned testing method, this application also provides several preferred solutions. In one preferred embodiment, the control signal may include a pulse width modulation (PWM) signal. That is, by adjusting the duty cycle of the PWM signal, the output power of the spraying actuator can be precisely controlled, thereby stabilizing the spray volume of cleaning liquid per unit time. Compared with traditional control methods such as directly adjusting voltage and current, PWM signals offer higher control accuracy, faster system response after parameter adjustment, and stronger parameter reuse between different devices, better meeting the requirements of standardized testing for control stability and repeatability. When determining the duty cycle, it is only necessary to directly call the preset mapping relationship to match the corresponding value according to the currently selected test mode, eliminating the need for testers to manually calculate and adjust based on experience, further simplifying the testing operation process.

[0044] In other words, the duty cycle of the pulse width modulation signal can be determined based on the test mode and the preset mapping relationship, where the preset mapping relationship indicates the relationship between the test mode and the duty cycle. This limitation aims to address the sub-problem of how to accurately control the output power of the spraying actuator based on different test modes in the core method. By establishing a preset mapping relationship between the test mode and the comparison value to be written to the PWM register, the system can automatically generate a precise PWM control signal, thereby achieving fine-grained and automated adjustment of the spraying output power.

[0045] For example, when the main controller executes the load test mode, it reads the `pump1_pwm` field from the current test mode data structure. A value like "50" indicates a 50% duty cycle. This "50" is the input for the mapping relationship. The default mapping relationship is represented by a mathematical formula: `compare_value = (htim->Init.Period + 1)`. The formula is `duty / 100`, where `htim->Init.Period` is the timer's auto-reload value (e.g., 999), and `duty` is the duty cycle percentage (i.e., 50%). The calculated comparison value is: (999 + 1). 50 / 100=500. Then, the comparison value 500 is written into the register of the corresponding timer (such as TIM2), and the hardware PWM generator automatically outputs a PWM signal with a duty cycle of 50% and a frequency of 1kHz to drive the first water pump.

[0046] The duty cycle percentage of the preset mapping relationship is preferably adjusted between 10% and 100%. Alternatively, a PWM comparison value digital value ranging from 0 to 65535 can be used, or an equivalent functional mapping can be achieved through a pre-calibrated voltage-duty cycle lookup table. This mapping transforms an abstract test mode parameter into a precise and repeatable physical control signal, solving the problem of accuracy and consistency in control signal generation.

[0047] Therefore, the spray volume under different test modes can be precisely and stably controlled, which not only avoids human error caused by manual adjustment, but also solves the problem that test results cannot be compared horizontally due to inconsistent control parameters between different devices. This greatly improves the repeatability and reliability of the spray performance test of cleaning equipment, while simplifying the operation process of testers and lowering the technical threshold of test operation.

[0048] According to one embodiment of this application, the spraying execution component includes a water pump and a solenoid valve. The test mode includes spraying duration. The spraying execution component is controlled to spray cleaning liquid based on a control signal, including: driving the water pump and the solenoid valve respectively based on a pulse width modulation signal so that the water pump and the solenoid valve are continuously open for the spraying duration.

[0049] Specifically, in a preferred embodiment, the spraying actuator includes a water pump and a solenoid valve. The test mode includes spraying duration. When the spraying actuator is controlled to spray cleaning fluid based on a control signal, the water pump and solenoid valve can be driven separately based on a pulse width modulation signal to keep them continuously open for the spraying duration. This design aims to coordinate the control of multiple key actuators to complete a spraying action with strict timing and accurate duration, thereby solving the timing problem of multiple components (water pump and solenoid valve) in coordinated operation, ensuring the duration and consistency of each spraying action, and preventing spraying effect deviations caused by inconsistent start or stop times of components.

[0050] For example, the first water pump, the second water pump, and the solenoid valve are each set to their respective PWM duty cycles. This ensures that the pump motors and the solenoid coils of the solenoid valves receive precise drive energy. Then, by setting macros on the GPIO pins, the enable pins of the first water pump, the second water pump, and the solenoid valve are pulled high, thereby starting these devices. Next, a timer interrupt is used to make the main controller wait precisely for a certain period. This waiting time is the spraying duration. After the wait ends, all enable pins can be turned off, stopping the device. Finally, the duty cycles of all channels are set to zero to ensure that even if the enable pins experience slight level fluctuations due to external interference, the actuators will not be accidentally turned on. In this embodiment, the spraying duration parameter is not limited to a fixed millisecond value and can be adjusted within a range of, for example, 50 milliseconds to 1000 milliseconds, depending on the actual application scenario.

[0051] Therefore, precise timing control ensures the consistency of the pump and solenoid valve's start and stop. This guarantees a uniform dosage of the sprayed cleaning fluid, avoiding waste from excessive spraying or insufficient spraying to meet cleaning requirements. Duty cycle regulation also stabilizes the output drive energy, preventing frequent start-stop of actuators from damaging the hardware and extending the component's lifespan. Furthermore, the zeroing of the duty cycle after spraying further enhances the reliability and stability of the entire spraying process, ensuring the accuracy of the test results.

[0052] According to one embodiment of this application, the test mode further includes a spraying mode type, a spraying interval time, and a spraying cycle number. The spraying mode type includes a multi-pump working mode and a single-pump working mode. The spraying execution component is controlled to spray cleaning liquid based on a pulse width modulation signal. The test mode further includes: controlling the spraying execution component to spray cleaning liquid based on the spraying mode type, the spraying interval time, and the spraying cycle number.

[0053] Specifically, in order to further optimize the ability to perform complex and multi-sequence tests in the above embodiments, the present application also provides the following preferred solutions. A single spraying operation can be precisely controlled by PWM parameters and duration, but in actual tests, it may be necessary to simulate various spraying modes during the operation of the cleaning device.

[0054] For example, in a preferred embodiment, the test mode further includes the type of spraying mode, the spraying interval time, and the number of spraying cycles. The type of spraying mode includes a multi-pump working mode and a single-pump working mode. When controlling the spraying execution component to spray the cleaning liquid based on the pulse width modulation signal, the spraying execution component can also be controlled to spray the cleaning liquid based on the type of spraying mode, the spraying interval time, and the number of spraying cycles. This limitation is to solve the problem that a single and linear spraying operation cannot simulate diverse actual working scenarios. By introducing parameterized controls such as the type of spraying mode, interval time, and number of cycles, the system can automatically execute complex spraying test sequences that include multiple working modes (such as single pump / multi pump), multiple rounds, and intervals, thereby enhancing the comprehensiveness and flexibility of the test.

[0055] For example, in the TestPattern data structure, the pattern_type field defines the type of spraying mode. For example, a value of 0 represents the multi-pump working mode, and a value of 1 represents the single-pump working mode. The interval_duration defines the waiting time (in milliseconds) between two cycles, and the cycle_count defines the total number of spraying cycles to be executed. In the Execute_Single_Test function, these parameters will be judged. For example, if pattern.cycle_count is 3, the for loop will execute the Single_Spray_Operation 3 times. After each cycle finishes the spraying operation, it will be judged whether it is the last cycle (i < pattern.cycle_count - 1). If not, the system will enter the waiting interval state. Subsequently, the next spraying will be started. Those skilled in the art can understand that alternative ways to achieve the same purpose also include: managing the switching of different modes through a state machine, or adopting a non-blocking delay method inside the loop to handle key events simultaneously.

[0056] Thus, it is possible to automatically complete multi-round spraying tests that conform to the actual usage scenario according to the preset parameters, without the need for testers to manually trigger the operation repeatedly. This not only reduces the workload of manual testing but also ensures that the test process highly conforms to the working process of the real cleaning device, enhancing the reference value of the test results. At the same time, it can cover the performance test requirements under different working modes of single pump and multi pump, making it easier to accurately identify potential fault problems in the spraying system under different working modes.

[0057] According to one embodiment of this application, the spraying execution component is controlled to spray cleaning fluid based on the spraying mode type, spraying interval time, and spraying cycle number, including: when the spraying mode type is a multi-pump working mode, driving all water pumps to complete the cleaning fluid spraying according to the spraying duration; when the spraying mode type is a single-pump working mode, driving a single water pump in conjunction with a solenoid valve to complete the cleaning fluid spraying according to the spraying duration; after the spraying duration is reached, adjusting the pulse width modulation signal to zero to shut down all water pumps and solenoid valves; after the spraying interval time ends, restarting all water pumps and solenoid valves to spray until the spraying cycle number is reached.

[0058] Specifically, when controlling the spraying actuators to spray cleaning fluid based on the spraying mode type, spraying interval time, and number of spray cycles, the spraying mode type can be determined first. If the spraying mode is a multi-pump operating mode, all pumps can be driven to complete the cleaning fluid spraying according to the spraying duration. If the spraying mode is a single-pump operating mode, a single pump can be driven in conjunction with a solenoid valve to complete the cleaning fluid spraying according to the spraying duration. Then, the spraying time is determined. After the spraying duration is reached, the pulse width modulation signal can be adjusted to zero to shut down all pumps and solenoid valves. After the spraying interval time ends, all pumps and solenoid valves can be restarted for spraying until the required number of spray cycles is reached.

[0059] For example, taking the predefined array of patterns as an example, the pattern with pattern ID 1 (pattern_type=0) is the multi-pump working mode. In this mode, Execute_Single_Test will call Single_Spray_Operation and enable the first and second water pumps to work simultaneously. The pattern with pattern ID 4 (pattern_type=1, pump2_pwm=0, pump1_pwm=100) represents the single-pump working mode, meaning only the first water pump works. After spraying, the PWM signal is returned to zero. Then, wait for the spraying interval time to complete. If the preset number of spraying cycles has not been completed by this time, the water pump and the corresponding solenoid valve will be turned on again according to the selected spraying mode to spray, repeating the "spraying-waiting interval" process until the preset number of spraying cycles is reached, at which point the entire spraying cleaning process stops.

[0060] Therefore, by determining the spraying mode type, it can adapt to different working scenarios, meeting the needs of high-flow-rate rapid cleaning, and also achieving low-flow-rate precise spraying through single-pump operation, reducing cleaning fluid waste. At the same time, by controlling the spraying interval and the number of cycles, it can reserve reaction time for the cleaning fluid to dissolve stains through segmented spraying, improving the cleaning effect. It can also quickly shut off the water pump and solenoid valve through pulse width modulation signals, accurately controlling the spraying duration each time, avoiding excess cleaning fluid overflow from affecting the test environment, improving the automation and control accuracy of the spraying cleaning process, and adapting to the cleaning needs of different test scenarios.

[0061] According to one embodiment of this application, the cleaning fluid coverage result includes coverage rate. The cleaning fluid coverage result is determined based on the distribution of cleaning fluid on the surface of the target area, including: determining the target cleaning fluid consumption based on the distribution of cleaning fluid on the surface of the target area; determining the coverage area based on the target cleaning fluid consumption and a preset liquid film thickness parameter; and determining the coverage rate based on the ratio of the coverage area to the total area of ​​the target area.

[0062] Specifically, in order to calculate an objective and quantifiable coverage index from a physical perspective, this application provides the following preferred solutions. In a preferred embodiment, the cleaning fluid coverage result may include coverage rate. When determining the cleaning fluid coverage result based on the distribution of cleaning fluid on the surface of the target area, the target cleaning fluid consumption is first determined based on the distribution of cleaning fluid on the surface of the target area. For example, the total consumption can be calculated by combining the cumulative duration of the water pump being turned on with the water pump's output per unit time, or the total consumption can be obtained by summing the output of the solenoid valve when it is energized once and the number of times it is turned on.

[0063] After determining the target cleaning fluid consumption, the coverage area can be determined based on the target cleaning fluid consumption and a preset liquid film thickness parameter. For example, dividing the target cleaning fluid consumption by the preset liquid film thickness yields the actual coverage area formed by the cleaning fluid. Since the preset liquid film thickness is a pre-defined thickness required for effective cleaning, this parameter can be a fixed value pre-stored by those skilled in the art based on the actual cleaning scenario, or it can be a parameter adaptively adjusted according to the surface material of the target area and current cleaning needs. For example, it may include, but is not limited to, theoretical thickness estimated based on fluid surface tension and substrate contact angle, average thickness values ​​calibrated through experiments, or empirical thickness preset according to nozzle type. After obtaining the coverage area, the ratio of the coverage area to the total area of ​​the target area is calculated to obtain the actual cleaning fluid coverage rate during this cleaning process. Therefore, this design aims to transform the visually immeasurable distribution of cleaning fluid into an absolute value related to area through physical relationships, solving the problem that coverage rate cannot be objectively defined and calculated from a physical perspective, and providing traceable and highly accurate quantitative evidence for test results.

[0064] For example, after the spraying action is completed, the sensor module (e.g., a flow sensor) detects the total volume of cleaning fluid consumed during the entire spraying process, which is the target cleaning fluid consumption. The system has a preset liquid film thickness parameter, which represents the thickness of the thin layer formed by the cleaning fluid on a specific material surface (such as glass) under ideal, uniform distribution conditions. This thickness is usually an empirical value or calibrated experimentally, for example, 10 micrometers. Using the physical formula, coverage area = cleaning fluid consumption / preset liquid film thickness parameter, the theoretically achievable area of ​​the cleaning fluid can be calculated. Finally, coverage rate = (coverage area / total area of ​​the target area) 100%. Those skilled in the art will understand that this liquid film thickness parameter can be pre-calibrated and stored for different surfaces (such as glass, mirrors, and metals) and different cleaning fluid formulations.

[0065] Therefore, by deriving the coverage rate from the consumption and preset liquid film thickness, there is no need to configure additional image acquisition and visual recognition modules, which reduces the hardware cost and algorithm complexity of the testing system. At the same time, it avoids the problem that visual detection is easily affected by ambient light and the background color of the stain, which can lead to detection errors. It can stably output objective and reproducible quantitative coverage results, providing a unified quantitative evaluation standard for verifying the cleaning effect of different spraying schemes and different cleaning equipment.

[0066] In one embodiment of this application, a camera (image sensor) mounted directly above the target area can be used to directly analyze the distribution boundaries and area of ​​droplets or liquid films formed by the cleaning fluid on the surface using image processing algorithms, thereby directly calculating the coverage rate. In practical applications, two methods can also be combined: using physical methods to estimate the total amount of liquid used, while using visual methods to verify and correct the liquid film thickness parameters, thereby mutually calibrating and obtaining more reliable coverage data.

[0067] According to one embodiment of this application, determining the target cleaning fluid consumption based on the distribution of cleaning fluid on the surface of the target area includes: determining the cleaning fluid consumption per spray based on the product of the flow rate of a single spray and the spray duration of a single spray; and determining the total target cleaning fluid consumption based on the product of the cleaning fluid consumption per spray and the number of spray cycles.

[0068] Specifically, when determining the target cleaning fluid consumption based on the distribution of the cleaning fluid on the surface of the target area, the consumption per spray can first be determined by multiplying the flow rate of a single spray by the spray duration of a single spray. Then, the total target cleaning fluid consumption can be determined by multiplying the consumption per spray by the number of spray cycles. This provides a preferred calculation model for calculating the total consumption: Total consumption = (Flow rate per spray) / ... (Spraying duration) Number of spray cycles. The flow rate per spray cycle can be obtained by real-time collection and integration using a flow sensor.

[0069] In other words, the total consumption can be calculated by accumulating multiple sprays without the need to weigh or measure the volume of the sprayed cleaning liquid. This simplifies the consumption acquisition process, improves testing efficiency, and is adaptable to cleaning scenarios with multiple rounds of spraying, ensuring the accuracy of consumption calculation.

[0070] Therefore, the total consumption of the target cleaning fluid can be directly obtained through simple multiplication. The calculation process is simple, the requirements for hardware equipment are low, and there is no need to configure additional weighing devices or volume measurement modules. This can effectively reduce the overall cost of the testing system, while also reducing the error caused by additional measurement, and further improving the reliability of the cleaning fluid consumption test.

[0071] According to one embodiment of this application, the cleaning fluid coverage result includes a uniformity index, and the method further includes: obtaining the coverage of multiple spraying actions; determining the variance of the coverage based on multiple coverages, and using the variance of the variance as a uniformity index.

[0072] Specifically, to quantify the stability or uniformity of coverage, the cleaning fluid coverage results include a uniformity index, which refers to any statistical indicator that can quantify the degree of fluctuation in coverage over multiple sprays. For example, this may include, but is not limited to, the variance, standard deviation, coefficient of variation, or the ratio of the maximum deviation to the mean of the coverage.

[0073] The coverage rate is obtained from multiple spraying actions, and the variance of coverage fluctuation is determined based on these multiple coverage rates. This variance is then used as a uniformity index. In other words, statistical methods are used to transform the coverage fluctuation amplitude from multiple repeated tests into a single value that reflects stability. The smaller this value, the better the consistency of the spraying strategy and the higher the repeatability.

[0074] For example, for a single test, the spraying area can be divided into multiple sub-areas, and the cleaning liquid coverage rate in each sub-area can be calculated. Then, the variance of the coverage rate of all sub-areas can be calculated, and the variance obtained can be used as the uniformity index of this test. For multiple repeated tests, the overall coverage rate obtained from each complete test can be calculated first, and then the variance of the overall coverage rate can be calculated. Finally, the variance can be used as the uniformity index of the overall spraying strategy to characterize the stability of the coverage effect during multiple spraying processes.

[0075] This allows for a direct quantification of the uniformity and stability of cleaning fluid coverage under different spraying strategies and equipment parameters. It helps researchers quickly compare the advantages and disadvantages of different solutions, accurately pinpoint problems with poor coverage stability, and optimize spray path planning, nozzle parameters, or equipment operating logic. This improves the overall cleaning consistency of automatic cleaning equipment, reduces incomplete cleaning in certain areas due to uneven coverage, and provides a quantifiable objective basis for evaluating the cleaning effect of automatic cleaning equipment, avoiding the bias of subjective human judgment.

[0076] According to one embodiment of this application, the testing method further includes: acquiring an emergency stop signal; driving the spraying actuator to a preset safe state, wherein driving to the preset safe state includes: shutting down all drive signals used to drive the spraying actuator through a hardware-level interrupt response.

[0077] Specifically, to ensure safety in the event of unexpected situations during testing, an emergency stop signal can be acquired. This signal can be triggered by on-site personnel using a physical emergency stop button, or automatically output by the system self-test module when it detects an equipment malfunction. Upon receiving the emergency stop signal, the spraying actuator can be driven to a preset safe state. This involves shutting down all drive signals for the spraying actuator via a hardware-level interrupt response. In other words, compared to stopping solely through software logic, a hardware-level interrupt bypasses the software processing flow, directly cutting off drive signals in a very short time. This avoids the safety risks associated with software response delays. Even if the software experiences lag or abnormalities, the emergency stop function can still be triggered normally, effectively improving the safety redundancy of the testing process and ensuring the safety of testing personnel and equipment.

[0078] An emergency stop signal refers to any input identifier that can trigger a safe shutdown action. This may include, but is not limited to, low-level or high-level signals from physical buttons, logic signals from remote control, or abnormal status flags detected by the system itself. For quantification, the signal response time can be defined as less than 10 milliseconds to ensure the immediacy of hardware-level interrupts.

[0079] A preset safety state refers to any system state that ensures the spraying actuators stop operating and all drive outputs are shut down. Examples include, but are not limited to, setting all PWM duty cycles to zero, shutting down the enable pins of the water pump and solenoid valves, resetting the timer compare value, or performing multiple of the above operations simultaneously.

[0080] For example, when the emergency stop button is pressed, the STOP_TEST_PIN pin level changes from high to low. This pin is configured as an external interrupt input in hardware. In the interrupt service routine, this function is executed immediately, and all water pump and solenoid valve enable signals are immediately shut off via hardware GPIO operations. Even if the main program logic is suspended or the software loop is not completed, the entire system can enter a safe state at hardware speed through the interrupt response. Subsequently, the PWM output is immediately cleared. By employing the above-described hardware and software coordinated emergency stop scheme, this preferred solution can provide immediate stop action to prevent cleaning fluid leakage or equipment damage.

[0081] Therefore, even in scenarios where the test system software malfunctions, the reliable triggering of the emergency stop action can still be guaranteed, providing a safety net for the testing process from a hardware perspective. This significantly reduces the probability of safety accidents during testing and effectively avoids problems such as cleaning fluid leakage and equipment overload damage caused by the failure of the spraying actuator to stop in time. This improves the overall reliability and safety of the testing process and meets the stringent safety protection requirements of industrial testing scenarios.

[0082] In summary, as a concrete example, in a research and development laboratory for cleaning equipment (such as a window-cleaning robot), test engineers wanted to evaluate whether a novel micro-mist nozzle could more uniformly cover a hydrophobic glass surface than existing nozzles. The test engineers fixed a standard-sized piece of hydrophobic glass (the target area) onto the test bench and connected the nozzle under test to the system's solenoid valve output. The system was configured via a host computer to automatically execute a test sequence containing multiple modes (such as low-power, multi-cycle mode, and high-power, single-cycle mode).

[0083] During testing, after pressing the start button, the main controller generates appropriate PWM signals based on preset test mode parameters, driving the water pump and solenoid valve to precisely spray a fixed amount of cleaning fluid onto the glass surface. The system records the actual spray volume each time using a flow sensor and analyzes the distribution of the cleaning fluid on the glass using a camera and image processing program to calculate quantitative data such as coverage and uniformity index. If abnormalities occur in the cleaning fluid flow during the process (such as excessive pressure due to pipe blockage), the sensor module can issue a warning, or the test engineer can press the emergency stop button, and the system will immediately shut down all drives via hardware interruption, stopping the spraying immediately. After the test is completed, the system automatically generates a test report containing coverage, consumption, and uniformity index data for different modes. This frees test engineers from massive, repetitive, and time-consuming manual observation and estimation, improving testing efficiency and obtaining previously unavailable, precise quantitative data that can guide product optimization.

[0084] The following is combined Figure 2The method described in this application is used to describe the method.

[0085] As a specific example, the testing method of this application may include the following steps: S101, Obtain at least one test mode for the cleaning equipment.

[0086] S102, determine the duty cycle of the pulse width modulation signal based on the test mode and the preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the test mode and the duty cycle.

[0087] S103 drives the water pump and solenoid valve respectively based on the pulse width modulation signal, so that the water pump and solenoid valve are continuously open to extend the spraying duration.

[0088] S104, after the spraying duration is reached, adjusts the pulse width modulation signal to zero to shut off all water pumps and solenoid valves.

[0089] S105: After the spraying interval ends, turn on all water pumps and solenoid valves again to spray until the required number of spraying cycles is reached.

[0090] S106, determine the target cleaning fluid consumption based on the distribution of the cleaning fluid on the surface of the target area, and determine the coverage area based on the target cleaning fluid consumption and the preset liquid film thickness parameter.

[0091] S107, the coverage rate is determined based on the ratio of the covered area to the total area of ​​the target area.

[0092] S108. Determine whether an emergency stop signal has been received. If yes, proceed to step S109; otherwise, proceed to step S103.

[0093] S109, drive the water pump and solenoid valve to a preset safe state, wherein driving to the preset safe state includes: shutting down all drive signals used to drive the water pump and solenoid valve through a hardware-level interrupt response.

[0094] In summary, the testing method according to the embodiments of this application obtains at least one test mode of the cleaning equipment, determines the control signal corresponding to the spraying execution component of the cleaning equipment based on the test mode, controls the spraying execution component to spray cleaning liquid based on the control signal, and determines the cleaning liquid coverage result based on the distribution of cleaning liquid on the surface of the target area. Therefore, this method achieves objective quantification and repeatable testing of the coverage effect, significantly improves testing efficiency, and reduces resource waste caused by subjective judgment and repeated trials.

[0095] Corresponding to the above embodiments, this application also proposes a cleaning device.

[0096] like Figure 3As shown, the cleaning device 200 of this application embodiment may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, it implements the above-described testing method.

[0097] The cleaning equipment according to the embodiments of this application, by performing the above-described testing method, achieves objective quantification and repeatable testing of the coverage effect, significantly improves testing efficiency, and reduces resource waste caused by subjective judgment and repeated trials.

[0098] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0099] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0103] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A testing method, characterized in that, The method includes: Obtain at least one test mode for the cleaning equipment; Based on the test mode, determine the control signal corresponding to the spraying execution component of the cleaning equipment; The control signal is used to control the spraying execution component to spray cleaning liquid, and the cleaning liquid coverage result is determined based on the distribution of the cleaning liquid on the surface of the target area.

2. The test method according to claim 1, characterized in that, The control signal includes a pulse width modulation signal, and the step of determining the control signal corresponding to the spraying execution component of the cleaning equipment based on the test mode includes: The duty cycle of the pulse width modulation signal is determined based on the test mode and the preset mapping relationship, wherein the preset mapping relationship is used to indicate the relationship between the test mode and the duty cycle.

3. The test method according to claim 2, characterized in that, The spraying actuator includes a water pump and a solenoid valve. The test mode includes spraying duration. The step of controlling the spraying actuator to spray cleaning liquid based on the control signal includes: The water pump and the solenoid valve are driven respectively based on the pulse width modulation signal, so that the water pump and the solenoid valve are continuously open for the spraying duration.

4. The test method according to claim 3, characterized in that, The test mode also includes spray mode type, spray interval time, and number of spray cycles. The spray mode type includes multi-pump operation mode and single-pump operation mode. The step of controlling the spray execution component to spray cleaning liquid based on the pulse width modulation signal also includes: The spraying execution component is controlled to spray cleaning liquid based on the spraying mode type, the spraying interval time, and the number of spraying cycles.

5. The test method according to claim 4, characterized in that, The method of controlling the spraying execution unit to spray cleaning liquid based on the spraying mode type, the spraying interval time, and the number of spraying cycles includes: When the spraying mode type is the multi-pump working mode, all water pumps are driven to complete the cleaning liquid spraying according to the spraying duration; When the spraying mode is a single pump working mode, a single water pump is driven in conjunction with the solenoid valve to complete the spraying of cleaning liquid according to the spraying duration. After the spraying duration is reached, the pulse width modulation signal is adjusted to zero to shut down all water pumps and solenoid valves. After the spraying interval ends, all water pumps and the solenoid valves are turned on again to spray until the spraying cycle is reached.

6. The test method according to claim 1, characterized in that, The cleaning fluid coverage result includes coverage rate. Determining the cleaning fluid coverage result based on the distribution of the cleaning fluid on the surface of the target area includes: The target cleaning fluid consumption is determined based on the distribution of the cleaning fluid on the surface of the target area; The coverage area is determined based on the target cleaning fluid consumption and the preset liquid film thickness parameter. The coverage rate is determined based on the ratio of the covered area to the total area of ​​the target area.

7. The test method according to claim 6, characterized in that, Determining the target cleaning fluid consumption based on the distribution of the cleaning fluid on the surface of the target area includes: The amount of cleaning fluid consumed per spray is determined by multiplying the flow rate of a single spray by the spray duration of a single spray. The total consumption of the target cleaning fluid is determined by multiplying the amount of cleaning fluid consumed in a single spray by the number of spray cycles.

8. The test method according to claim 6, characterized in that, The cleaning fluid coverage result includes a uniformity index, and the method further includes: To obtain the coverage rate of multiple spraying actions; The variance of the coverage is determined based on multiple coverage rates, and the variance of the variance is used as the uniformity index.

9. The test method according to claim 3, characterized in that, The method further includes: Receive emergency stop signal; Drive the spraying actuator to a preset safe state, wherein driving to the preset safe state includes: shutting down all drive signals used to drive the spraying actuator through a hardware-level interrupt response.

10. A cleaning device, characterized in that, include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the test method according to any one of claims 1-9.

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