Liquid level detection method, system, device and storage medium

Abstract

The present application discloses a liquid level detection method, system, device and storage medium. The method includes: obtaining the air pressure detection result of a pressure sensor regarding a sealed gas, a deformation film for sealing the sealed gas is provided below a target container of a cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film; obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value. In the present application, the liquid pressure of the solution in the target container is converted into the gas pressure of the sealed gas, and the air pressure detection result is corrected based on the current air pressure reference value to obtain the true pressure value of the sealed gas. When the solution density and the gravitational acceleration are determined, the solution height can be determined according to the true pressure value, that is, the current liquid level information of the solution in the target container is obtained, improving the accuracy of the liquid level detection result and ensuring the reliability of the cleaning device.

Description

Technical Field

[0001] This application relates to the technical field of smart home, and particularly to a liquid level detection method, system, device and storage medium. Background Art

[0002] A floor washer is a common cleaning product in modern life, which can mainly be used to replace traditional vacuum cleaners, brooms and mops. It converts electrical energy into mechanical energy to achieve the functions of washing the floor and vacuuming. Its working principle can be summarized as spraying the clean water in the clean water bucket onto the ground, cleaning the ground through a rotary brush, and sucking the sewage into the sewage bucket for storage during the cleaning process, so as to complete the cleaning of the ground.

[0003] Regarding the detection of the clean water in the clean water bucket of the floor washer, most of the current detections are for identifying whether there is water or not. That is, when there is water in the clean water bucket, the user can normally use the floor washer. When there is no water in the clean water bucket, the user is prompted to add water. Therefore, the user cannot know the remaining amount of water in the clean water bucket during the use process.

[0004] In the prior art, there is a solution to identify the water level in the clean water bucket through devices such as a float. However, since the water in the clean water bucket fluctuates when the floor washer is working, the float will also float up and down with the fluctuation of the water, resulting in a large error in the identification of the water level. Summary of the Invention

[0005] This application provides a liquid level detection method, system, device and storage medium, aiming to solve the problem of large error in identifying the water level through a float in the prior art.

[0006] In a first aspect, this application provides a liquid level detection method, which is used for detecting the liquid level of a target container in a cleaning device. The liquid level detection method includes:

[0007] Obtain the air pressure detection result of the pressure sensor for the sealed gas. A deformation film for sealing the sealed gas is arranged below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0008] Obtain the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value.

[0009] In a possible implementation manner of this application, obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value includes:

[0010] Obtain a pressure difference according to the difference between the air pressure detection result and the current air pressure reference value;

[0011] Obtain the current liquid level information of the solution in the target container according to the pressure difference.

[0012] In a possible implementation manner of the present application, the liquid level information of the solution in the target container includes liquid level percentage data. Based on the pressure difference, the current liquid level information of the solution in the target container is obtained, including:

[0013] When the target container is in an upright state, based on the ratio of the pressure difference to the preset upright hydraulic threshold, the current liquid level percentage data of the solution in the target container is obtained. The upright hydraulic threshold is the liquid pressure of the solution when the target container is full of the solution in the upright state;

[0014] When the target container is in an inclined state, based on the ratio of the pressure difference to the preset inclined hydraulic threshold, the current liquid level percentage data of the solution in the target container is obtained. The inclined hydraulic threshold is associated with the inclination angle of the target container, and the inclined hydraulic threshold is the liquid pressure of the solution when the target container is full of the solution at the inclination angle.

[0015] In a possible implementation manner of the present application, the liquid level information of the solution in the target container includes liquid level height data. Based on the pressure difference, the current liquid level information of the solution in the target container is obtained, including:

[0016] When the target container is in an upright state, based on the pressure difference, the liquid density of the solution in the target container, and the preset acceleration due to gravity, the current liquid level height data of the solution in the target container is obtained;

[0017] When the target container is in an inclined state, based on the pressure difference, the inclination angle of the target container, the liquid density of the solution in the target container, and the preset acceleration due to gravity, the current liquid level height data of the solution in the target container is obtained.

[0018] In a possible implementation manner of the present application, the liquid level information of the solution in the target container includes liquid level height data. Based on the pressure difference, the current liquid level height of the solution in the target container is obtained, including:

[0019] When the target container is in an upright state, based on the pressure difference and the preset corresponding relationship between the upright pressure and the liquid level, the current liquid level height data of the solution in the target container is obtained;

[0020] When the target container is in an inclined state, based on the pressure difference and the preset corresponding relationship between the inclined pressure and the liquid level, the current liquid level height data of the solution in the target container is obtained.

[0021] In a possible implementation manner of the present application, before obtaining the air pressure detection result of the pressure sensor regarding the sealed gas, the method includes:

[0022] Based on the container height of the target container, the liquid density of the solution in the target container, and the preset acceleration due to gravity, the upright hydraulic threshold of the solution when the target container is full of the solution in the upright state is obtained;

[0023] Obtain the corresponding relationship between the upright pressure and the liquid level according to the container height of the target container and the upright hydraulic threshold value;

[0024] According to the upright hydraulic threshold value and the tilt angle of the target container, obtain the tilt hydraulic threshold value of the solution when the target container is full of solution at the tilt angle;

[0025] According to the container height of the target container, the tilt angle of the target container and the tilt hydraulic threshold value, obtain the corresponding relationship between the tilt pressure and the liquid level.

[0026] In a possible implementation manner of the present application, before obtaining the air pressure detection result of the pressure sensor for the sealed gas, the method further includes:

[0027] When the cleaning device is not running, obtain the first output signal of the first detection sensor provided on the base of the cleaning device;

[0028] According to the first output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value; or,

[0029] When the cleaning device is running, obtain the second output signal of the second detection sensor provided at the solution circulation port of the target container;

[0030] According to the second output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value.

[0031] In a possible implementation manner of the present application, determining whether to obtain the detection value of the pressure sensor as the current air pressure reference value according to the first output signal includes:

[0032] If the first output signal indicates that the target container is not set on the base of the cleaning device, obtain the detection value of the pressure sensor as the current air pressure reference value.

[0033] In a possible implementation manner of the present application, determining whether to obtain the detection value of the pressure sensor as the current air pressure reference value according to the second output signal includes:

[0034] If the second output signal indicates that there is no solution in the target container, obtain the detection value of the pressure sensor as the current air pressure reference value.

[0035] In a possible implementation manner of the present application, after obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value, the method further includes:

[0036] According to the preset display form, display the current liquid level information of the solution in the target container in real time, and when the cleaning device is shut down, record the shutdown air pressure detection result of the pressure sensor for the sealed gas and the air pressure reference value at the time of shutdown;

[0037] Based on the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, a shutdown pressure value and shutdown liquid level information are obtained. The shutdown pressure value and shutdown liquid level information are used to determine the liquid level information of the target container when the cleaning device is powered on next time.

[0038] In a possible implementation manner of the present application, based on the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, a shutdown pressure value and shutdown liquid level information are obtained. After that, the method further includes:

[0039] When the cleaning device is powered on, record the startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup;

[0040] Based on the difference between the startup air pressure detection result and the air pressure reference value at startup, a startup pressure value and startup liquid level information are obtained;

[0041] Based on the startup pressure value, startup liquid level information, shutdown pressure value, and shutdown liquid level information, determine the current liquid level information of the solution in the target container when starting up.

[0042] In a possible implementation manner of the present application, based on the startup pressure value, startup liquid level information, shutdown pressure value, and shutdown liquid level information, determining the current liquid level information of the solution in the target container when starting up includes:

[0043] If the startup pressure value is greater than the shutdown pressure value, then determine that the current liquid level information of the solution in the target container when starting up is the startup liquid level information;

[0044] If the startup pressure value is less than the shutdown pressure value, and the difference between the startup pressure value and the air pressure reference value at shutdown is less than a preset first threshold value, then determine that there is no solution in the target container when starting up;

[0045] If the startup pressure value is less than the shutdown pressure value, and the difference between the shutdown pressure value and the startup pressure value is less than a preset second threshold value, then determine that the current liquid level information of the solution in the target container when starting up is the shutdown liquid level information.

[0046] In a possible implementation manner of the present application, based on the air pressure detection result and the current air pressure reference value, the current liquid level information of the solution in the target container is obtained. After that, the method further includes:

[0047] Obtain the working parameters of the solution delivery device associated with the target container in the cleaning device;

[0048] Obtain the delivery volume of the solution in the target container according to the working parameters;

[0049] Based on the initial volume of the solution in the target container and the delivery volume of the solution in the target container, obtain the remaining volume of the solution in the target container;

[0050] Obtain the auxiliary liquid level information of the solution in the target container according to the initial volume of the solution in the target container and the remaining volume of the solution in the target container;

[0051] Correct the current liquid level information of the solution in the target container according to the auxiliary liquid level information.

[0052] In a second aspect, the present application further provides a liquid level detection system for detecting the liquid level of a target container in a cleaning device. The liquid level detection system includes:

[0053] An acquisition unit for acquiring the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0054] A processing unit for obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value.

[0055] In a third aspect, the present application further provides a liquid level detection device, which includes a memory and a processor. The memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the following functions:

[0056] Acquire the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0057] Obtain the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value.

[0058] In a fourth aspect, the present application further provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the steps in the liquid level detection method in the first aspect are implemented.

[0059] From the above content, the following beneficial effects of the present application can be obtained:

[0060] In this application, by arranging a deformation film sealed with a sealed gas below the target container of the cleaning device, the liquid pressure of the solution in the target container can act on the deformation film, and the deformation of the deformation film can change the gas pressure of the sealed gas, that is, it can realize the conversion of the liquid pressure of the solution in the target container into the gas pressure of the sealed gas. Therefore, by obtaining the air pressure detection result of the pressure sensor regarding the sealed gas, the current air pressure of the sealed gas can be obtained, and then based on the current air pressure reference value, the air pressure detection result can be corrected to obtain the true pressure value of the sealed gas. Since the liquid pressure is related to the solution density, gravitational acceleration, and solution height, when the solution density and gravitational acceleration are determined, the solution height can be determined according to the true pressure value, that is, the current liquid level information of the solution in the target container can be obtained. Compared with the prior art solution of marking the water level with a float, it avoids the interference of solution fluctuations on liquid level detection, improves the accuracy of the liquid level detection result, that is, the liquid level information, and ensures the reliability of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in this application, the following will briefly introduce the drawings required for the description of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0062] Figure 1 is a flowchart of a liquid level detection method provided in an embodiment of this application;

[0063] Figure 2 is a structural diagram of a target container and the base of a cleaning device provided in an embodiment of this application;

[0064] Figure 3 is an exploded structural diagram of the base of a cleaning device provided in an embodiment of this application;

[0065] Figure 4 is a relationship diagram of the solution hydraulic pressure and the tilt angle when the target container is in a tilted state provided in an embodiment of this application;

[0066] Figure 5 is a functional module diagram of a liquid level detection system provided in an embodiment of this application;

[0067] Figure 6 is a structural diagram of a liquid level detection device provided in an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0068] The technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in the present application. Apparently, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0069] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0070] In the present application, the term "exemplary" is used to mean "serving as an example, illustration, or description". Any embodiment described as "exemplary" in the present application is not necessarily to be construed as being more preferred or having more advantages than other embodiments. In order for any person skilled in the art to implement and use the present application, the following description is provided. In the following description, details are set forth for the purpose of explanation. It should be understood that those of ordinary skill in the art can recognize that the present application can be implemented without these specific details. In other instances, well-known structures and processes are not elaborated in detail to avoid unnecessary details from obscuring the description of the present application. Therefore, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in the present application.

[0071] The present application provides a liquid level detection method, system, device, and storage medium, which will be described in detail below respectively.

[0072] First, the present application provides a liquid level detection method. The execution subject of this liquid level detection method can be a liquid level detection system, or different types of liquid level detection devices such as a cleaning device, a server device, a physical host, or a user equipment (UE) that integrates this liquid level detection system. Among them, the liquid level detection system can be implemented in a hardware or software manner. The UE can specifically be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palmtop computer, or a desktop computer. In addition, the liquid level detection devices can also be configured in the form of a device cluster.

[0073] This liquid level detection method can be applied to intelligent cleaning devices with cleaning functions such as a floor washer to detect the liquid level of the solution stored in the target container of the intelligent cleaning device. For example, if the intelligent cleaning device is a floor washer, then the target container can be the clean water bucket or the sewage bucket of the floor washer. The cleaning device in the embodiments of the present application can be used to clean the floor or floors of different materials. This liquid level detection method includes:

[0074] Obtain the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing this sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film; according to the air pressure detection result and the current air pressure reference value, obtain the current liquid level information of the solution in the target container.

[0075] As Figure 1 shown, Figure 1 is a flow schematic diagram of the liquid level detection method provided in the embodiments of the present application. It should be noted that although the logical order is shown in the flow schematic diagram, in some cases, the steps shown or described can be executed in a different order from here. This working liquid level detection method can include the following multiple steps.

[0076] Step S101, obtain the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing this sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film.

[0077] It can be understood that the liquid level detection system can start liquid level detection after receiving a liquid level detection instruction, and the liquid level detection instruction can be an instruction sent by the user to the liquid level detection system, or an instruction automatically sent by the cleaning device to the liquid level detection system after being powered on.

[0078] In the embodiments of the present application, the user can control the operation of the cleaning device and the liquid level detection system through a terminal device communicatively connected to the cleaning device, or can also control the operation of the cleaning device and the liquid level detection system through an interaction interface or buttons provided on the cleaning device. Specifically, the terminal device can be a mobile phone terminal, a computer terminal, a dedicated remote control, a universal remote control, etc. Network communication can be achieved between the terminal device and the cleaning device, between the terminal device and the liquid level detection system, and between the cleaning device and the liquid level detection system through any communication method, including but not limited to mobile communications based on the 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), and Worldwide Interoperability for Microwave Access (WiMAX).

[0079] If the liquid level detection system is integrated on the cleaning device, the cleaning device and the liquid level detection system can also be communicatively connected through computer network communications such as the Inter-Integrated Circuit (I 2 C), Controller Area Network (CAN), and Serial Peripheral Interface (SPI).

[0080] In the embodiments of the present application, the user can turn on or off the power of the cleaning device and set the working parameters of the cleaning device, such as the working mode, cleaning intensity, motor speed, water spraying speed, etc., through the interaction interface or buttons of the terminal device or the cleaning device.

[0081] Similarly, the user can also send a liquid level detection instruction to the liquid level detection system through the interaction interface or buttons of the terminal device or the cleaning device, so that the liquid level detection system can perform a liquid level detection on the solution in the target container in response to the liquid level detection instruction.

[0082] In some other application scenarios, an instruction sending period can also be pre-configured for the cleaning device, so that the cleaning device can periodically send a liquid level detection instruction to the liquid level detection system according to the instruction sending period after being powered on.

[0083] In addition, a detection period can be pre-configured for the liquid level detection system. After the liquid level detection system is powered on, the liquid level detection system can also automatically perform a liquid level detection on the solution in the target container according to the detection period.

[0084] Please refer to Figure 2 ,Figure 2 This is a schematic structural diagram of the target container and the cleaning device base provided in the embodiments of the present application. In the embodiments of the present application, the target container 100 of the cleaning device can be detachably arranged on the cleaning device base. The bottom of the target container 100 is provided with a first liquid outlet and a second liquid outlet. Among them, the first liquid outlet can supply solution to the roller brush of the cleaning device through the target container solution circulation port 500 on the cleaning device base for the normal cleaning work of the cleaning device. The second liquid outlet can be used for liquid level detection. Specifically, a pressure sensor 400 is arranged on the cleaning device base, and the pressure sensor 400 is located below the second liquid outlet. When the target container 100 is installed on the cleaning device base, the first liquid outlet and the second liquid outlet are opened, so that the solution in the target container 100 can flow from the first liquid outlet to the roller brush and flow out from the second liquid outlet to act on the pressure sensor 400.

[0085] Specifically, a pressing structure member 300 is arranged on the cleaning device base, and the pressing structure member 300 is located below the second liquid outlet. A deformation film 200 is arranged on the pressing structure member 300. The deformation film 200 and the side wall and bottom of the pressing structure member 300 can jointly enclose a sealed cavity. A section of sealed gas is sealed in the sealed cavity. The air inlet hole of the pressure sensor 400 passes through the bottom of the pressing structure member 300 and communicates with the sealed cavity, that is, the sealed gas can enter the air inlet hole of the pressure sensor 400 and thus be introduced into the positive pressure cavity of the pressure sensor. Furthermore, the pressure sensor 400 can detect the pressure of the sealed gas in the sealed cavity.

[0086] When the target container 100 is installed on the cleaning device base, the deformation film 200 is located below the target container 100, and a channel for the solution in the target container 100 to flow through is arranged between the second liquid outlet and the deformation film 200. The setting direction of the deformation film 200 is the same as the cross section of the channel. When the target container 100 stores solution and is placed on the cleaning device base, the second liquid outlet is opened, so that the solution in the target container 100 can flow through the second liquid outlet to the channel and then flow through the channel to the deformation film 200.

[0087] The deformation film 200 will deform under the pressure of the solution. Since the sealed gas is sealed in the deformation film 200, the deformation of the deformation film 200 will change the pressure of the sealed gas in the sealed cavity. Thus, through the pressure sensor 400 communicated with the sealed cavity, the gas pressure of the sealed gas can be detected, that is, the air pressure detection result can be obtained.

[0088] Please refer to Figure 3 , Figure 3 This is an exploded structural diagram of the cleaning device base provided in the embodiments of the present application. As shown in Figure 3As shown in the figure, the pressure sensor 400 may have two holes. One is the air inlet hole 401 in contact with the sealed gas, and the other is the reference air inlet hole 402 in contact with the outside air. The sealed gas is introduced into the positive pressure chamber of the pressure sensor 400 through the air inlet hole 401, and the outside air is connected to the negative pressure chamber of the pressure sensor 400. Then, the output value of the pressure sensor 400 may be the difference between the inlet air pressure in the positive pressure chamber and the reference atmospheric pressure in the negative pressure chamber. When the inlet air pressure is greater than the reference atmospheric pressure, the pressure sensor outputs the difference between the inlet air pressure and the reference atmospheric pressure as the air pressure detection result. That is, in the embodiments of the present application, the air pressure detection result is the pressure difference between the gas pressure of the sealed gas and the air pressure of the outside air.

[0089] Step S102: Obtain the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value.

[0090] According to step S101, it can be known that in the embodiments of the present application, the liquid pressure of the solution in the target container 100 acts on the deformation film 200, and the gas pressure of the sealed gas in the sealed chamber is changed by the deformation of the deformation film 200. That is, the liquid pressure of the solution in the target container is converted into the gas pressure of the sealed gas, so as to perform air pressure detection through the pressure sensor 400.

[0091] According to the calculation formula of liquid pressure: P = ρgh, where P is the liquid pressure, ρ is the solution density, g is the acceleration due to gravity, and h is the liquid level height. It can be known that when the solution density and the acceleration due to gravity are determined, the liquid pressure is determined by the liquid level height.

[0092] However, since the sealed gas in the sealed chamber is an independent section of air sealed during the production of the cleaning device, the sealed gas is relatively independent. The outside air in contact with the reference air inlet hole 402 of the pressure sensor 400 is the external real-time atmosphere. If the air pressure at the place where the cleaning device is used is lower than the air pressure at the production place, for example, the gas pressure of the sealed gas is the standard atmospheric pressure, and the gas pressure of the outside air is a low air pressure. At this time, even if there is no solution stored in the target container 100, there will be a certain pressure difference between the positive pressure chamber and the negative pressure chamber of the pressure sensor 400, so as to output the air pressure detection result. It can be understood that this air pressure detection result is not caused by the liquid pressure of the solution in the target container 100. Therefore, there will be a detection error.

[0093] To avoid the liquid level detection error caused by different atmospheric pressures, in the embodiments of the present application, after the air pressure detection result is obtained in step S101, the air pressure detection result can be corrected based on the current air pressure reference value to eliminate the detection error caused by different atmospheric pressures. Then, the liquid level height can be calculated according to the corrected air pressure detection result, and the current liquid level information of the solution in the target container can be obtained.

[0094] For example, if the cleaning device is a floor washer and the target container is a fresh water bucket with a maximum water level height of 280 mm. In the application scenario of the floor washer, the solution in the target container is water, and the density of water is 1×10 3 kg / m 3 . Taking the acceleration due to gravity as 9.8 N / kg, the liquid pressure corresponding to the maximum water level height of the fresh water bucket is 1×10 3 kg / m 3 ×9.8 N / kg×280 mm = 2744 Pa. Therefore, it can be known that the liquid pressure range is 0 - 2744 Pa, and the corresponding water level height is 0 - 280 mm. If the corrected air pressure detection result is 2450 Pa, the corresponding water level height can be calculated to be 250 mm according to the corresponding relationship between the liquid pressure and the water level height.

[0095] In addition, in some application scenarios, to enable users to more intuitively see the amount of fresh water in the fresh water bucket, the liquid level height can also be displayed in the form of a water level percentage. For example, if the water level height is 0 - 280 mm and the corresponding water level percentage is 0 - 100%, then when the water level height is 250 mm, the corresponding water level percentage of 89% can be displayed on the display screen of the cleaning device or the display interface of the terminal device.

[0096] It should be noted that displaying the amount of fresh water or the liquid level in the fresh water bucket in the form of a water level percentage is only an example provided in the embodiments of the present application. Other display forms that can characterize the amount of water or the liquid level, such as directly displaying the numerical value of the water level height or identifying different liquid level heights through indicator lights of different colors, are also applicable to the present application. The way in which the calculated liquid level information is presented can be selected according to the actual application scenario or by the user according to their own needs or preferences, and specific limitations are not made here.

[0097] It can be understood that when the cleaning device is working, the fresh water in the fresh water bucket is supplied to the rotary brush, and the fresh water in the fresh water bucket is continuously decreasing, while the sewage on the ground is recycled to the sewage bucket, and the sewage in the sewage bucket is continuously increasing. Therefore, in the embodiments of the present application, the target container can also be a sewage bucket, and the liquid level detection method involved in the embodiments of the present application can also be used to detect the liquid level of the sewage in the sewage bucket.

[0098] When detecting the liquid level of the sewage in the sewage bucket through the liquid level detection method in the embodiments of the present application, in order to make the detection result more accurate, the solid waste mixed in the sewage can be filtered through the filtering component. At the same time, since the density of the sewage will be affected by the dust, unfiltered impurities, etc. mixed in the sewage, before detecting the liquid level of the sewage in the sewage bucket, different degrees of dirty environments composed of dust, impurities, etc. can be simulated through multiple experiments. Then, after the sewage is recycled through the sewage bucket of the floor washer, the density of the sewage in different dirty environments is measured, so that a density range or the average value, median value, etc. of the obtained multiple densities can be obtained as the sewage density for calculating the liquid level information of the sewage during liquid level detection. It should be noted that obtaining the sewage density through experiments is only an example provided by the embodiments of the present application, and other methods that can determine the sewage density can also be applied to the present application, which is not specifically limited here.

[0099] In the embodiments of the present application, by arranging a deformation film 200 sealed with a sealed gas below the target container of the cleaning device, the liquid pressure of the solution in the target container can act on the deformation film 200. The deformation of the deformation film 200 can change the gas pressure of the sealed gas, that is, the liquid pressure of the solution in the target container can be converted into the gas pressure of the sealed gas. Therefore, by obtaining the air pressure detection result of the pressure sensor 400 regarding the sealed gas, the current air pressure of the sealed gas can be obtained. Then, based on the current air pressure reference value, the air pressure detection result is corrected, and the true pressure value of the sealed gas can be obtained. Since the liquid pressure is related to the solution density, gravitational acceleration, and solution height, when the solution density and gravitational acceleration are determined, the solution height can be determined according to the true pressure value, that is, the current liquid level information of the solution in the target container is obtained. Compared with the prior art solution of marking the water level through a float, it avoids the interference caused by solution fluctuations to liquid level detection, improves the accuracy of the liquid level detection result, that is, the liquid level information, and ensures the reliability of the cleaning device.

[0100] Next, continue to Figure 1 elaborate in detail on the steps shown and the specific implementation manners that may be adopted in actual applications.

[0101] In some embodiments of the present application, obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value may further include:

[0102] Obtaining a pressure difference according to the difference between the air pressure detection result and the current air pressure reference value; obtaining the current liquid level information of the solution in the target container according to the pressure difference.

[0103] It can be understood that to avoid interference from different atmospheric pressures on the detection results, the air pressure detection results can be corrected using the current air pressure reference value. This current air pressure reference value should be the pressure difference between the sealed gas and the outside air when the deformation film is not under external extrusion, that is, when there is no solution in the target container, i.e., the liquid level is 0, it is the output value of the pressure sensor.

[0104] Since the output value of the pressure sensor when the liquid level is 0 varies in different regions or environments, the air pressure reference value is not fixed, and the correction of the air pressure detection results should be based on the current air pressure reference value.

[0105] Since the air pressure reference value is the pressure difference between the sealed gas and the outside air caused by external factors, in the embodiments of the present application, subtracting the current air pressure reference value from the air pressure detection results can remove the part of the pressure difference caused by external factors, and the pressure difference obtained after the subtraction operation is the pressure difference between the sealed gas and the outside air caused by the liquid pressure of the solution in the target container. Thus, the current liquid level information of the solution in the target container can be deduced based on this pressure difference.

[0106] It can be understood that the liquid level information of the solution can be liquid level percentage data presented in the form of a percentage, or specific liquid level height data. Specifically, after obtaining the pressure difference, the corresponding liquid level height data can be calculated according to the pre-set solution density, gravitational acceleration, and liquid pressure calculation formula; or the liquid level height data or liquid level percentage data corresponding to the pressure difference can be deduced proportionally based on the pre-stored liquid level height and its corresponding maximum pressure when the target container is full of solution.

[0107] Furthermore, since the liquid pressure generated by the solution in the target container is different when the target container is in an upright state and an inclined state under the same amount of solution, in some embodiments of the present application, if the liquid level information is liquid level percentage data, obtaining the current liquid level information of the solution in the target container based on the pressure difference can further include:

[0108] When the target container is in an upright state, the current liquid level percentage data of the solution in the target container is obtained according to the ratio of the pressure difference to the pre-set upright hydraulic threshold, and the upright hydraulic threshold is the liquid pressure of the solution when the target container is full of solution in the upright state;

[0109] When the target container is in an inclined state, the current liquid level percentage data of the solution in the target container is obtained according to the ratio of the pressure difference to the pre-set inclined hydraulic threshold, and the inclined hydraulic threshold is associated with the inclination angle of the target container, and the inclined hydraulic threshold is the liquid pressure of the solution when the target container is full of solution at the inclination angle.

[0110] In the embodiments of the present application, when the target container is full of solution in the upright state, it can be understood that the liquid level height of the solution is the same as the container height of the target container. In this case, according to the liquid pressure calculation formula P = ρgh, the maximum liquid pressure of the target container in the upright state can be calculated, and this maximum liquid pressure is the upright hydraulic threshold.

[0111] Since the upright hydraulic threshold is the liquid pressure obtained when the target container is full of solution, therefore, the liquid level percentage data corresponding to the upright hydraulic threshold should be 100%. After obtaining the pressure difference based on the air pressure detection result of the pressure sensor and the current air pressure reference value, the ratio obtained by comparing this pressure difference with the upright hydraulic threshold is the liquid level percentage data corresponding to this pressure difference.

[0112] For example, the upright hydraulic threshold when the target container is full of solution is 2500 pa, and the obtained pressure difference is 2000 pa. Then at this time, according to the ratio of the pressure difference to the upright hydraulic threshold, the current liquid level percentage data of the solution in the target container can be obtained as 80%.

[0113] It can be understood that in some application scenarios, to avoid the situation of solution overflow when the target container is full of solution, usually a highest safe liquid level will be configured for the target container. Therefore, the present application can also calculate the upright hydraulic threshold according to the height of the highest safe liquid level of the target container, the liquid density of the solution in the target container, and the preset gravitational acceleration. At this time, the liquid level percentage data corresponding to this upright hydraulic threshold is also 100%.

[0114] Please refer to Figure 4 , Figure 4 which is a schematic diagram showing the relationship between the solution hydraulic pressure and the tilt angle when the target container is in the tilted state in the embodiments of the present application. Figure 4 When the target container is in the upright state and stores a solution with a height of h, the corresponding liquid pressure can be obtained according to the liquid pressure calculation formula P = ρgh.

[0115] If the target container is tilted by a certain angle so that the angle with the horizontal plane is θ, then the liquid level height of the solution changes from h to h*sinθ. Therefore, when the target container is in the tilted state, the liquid pressure calculation formula is P = ρgh*sinθ, and the corresponding liquid pressure in the tilted state can be calculated through this formula.

[0116] It can be understood that there is a coefficient relationship of sinθ between the liquid pressures of the target container in the upright state and the inclined state. Therefore, based on the upright hydraulic threshold and combined with the sine value of the inclination angle, the inclined hydraulic threshold corresponding to the inclination angle can be obtained. Similarly, according to the ratio of the calculated pressure difference to the inclined hydraulic threshold corresponding to the inclination angle, the current liquid level percentage data of the solution in the target container in the inclined state can be obtained.

[0117] For example, the upright hydraulic threshold when the target container is full of solution is 2500 pa, the inclination angle is 60°, then the corresponding inclined hydraulic threshold is 2165 pa, and the obtained pressure difference is 1500 pa. At this time, the current liquid level percentage data of the solution in the target container can be obtained according to the ratio of the pressure difference to the inclined hydraulic threshold, which is 69%.

[0118] In some other application scenarios, if the liquid level information of the solution is the liquid level height data, then, based on the pressure difference, obtaining the current liquid level information of the solution in the target container can further include:

[0119] When the target container is in the upright state, based on the pressure difference, the liquid density of the solution in the target container, and the preset acceleration due to gravity, obtain the current liquid level height data of the solution in the target container;

[0120] When the target container is in the inclined state, based on the pressure difference, the inclination angle of the target container, the liquid density of the solution in the target container, and the preset acceleration due to gravity, obtain the current liquid level height data of the solution in the target container.

[0121] According to the calculation formula of liquid pressure: P = ρgh, where P is the liquid pressure, ρ is the solution density, g is the acceleration due to gravity, and h is the liquid surface height. It can be known that when the solution density and the acceleration due to gravity are determined, the liquid pressure is determined by the liquid surface height. Therefore, when the liquid pressure is known, the liquid surface height data can be deduced backward, that is, according to the calculation formula h = P / ρg, calculate the current liquid level height data of the solution in the target container.

[0122] Similarly, when the target container is in the inclined state, the liquid pressure calculation formula is P = ρgh*sinθ. Therefore, when the liquid pressure is known, the liquid surface height data can also be deduced backward, that is, according to the calculation formula h = P / ρgsinθ, calculate the current liquid level height data of the solution in the target container.

[0123] In some other application scenarios, based on the pressure difference, obtaining the current liquid level height of the solution in the target container can further include:

[0124] When the target container is in the upright state, based on the pressure difference and the preset corresponding relationship between the upright pressure and the liquid level, obtain the current liquid level height data of the solution in the target container;

[0125] When the target container is in an inclined state, based on the pressure difference and the preset corresponding relationship between the inclined pressure and the liquid level, the current liquid level height data of the solution in the target container is obtained.

[0126] According to the foregoing description, it can be known that based on the container height of the target container, the liquid density of the solution in the target container, and the preset gravitational acceleration, the upright hydraulic pressure threshold of the solution in the target container when the target container is full of solution in the upright state can be obtained; and since the liquid level height is related to the liquid pressure, therefore, based on the container height of the target container and the upright hydraulic pressure threshold, the corresponding relationship between the upright pressure and the liquid level can be obtained.

[0127] It can be understood that the corresponding relationship between the upright pressure and the liquid level can be stored in the form of an association table, that is, the association table can associate and record the upright pressure and the liquid level height data corresponding to the upright pressure. Thus, after obtaining the pressure difference based on the difference between the air pressure detection result and the current air pressure reference value, the liquid level height data corresponding to it can be found in the association table according to the pressure difference, and then the current liquid level height data of the solution in the target container can be obtained.

[0128] It should be noted that in some application scenarios, to avoid the situation of solution overflow when the target container is full of solution, a maximum safe liquid level is usually configured for the target container. Therefore, in this application, when calculating the upright hydraulic pressure threshold, it can also be based on the height of the maximum safe liquid level of the target container, the liquid density of the solution in the target container, and the preset gravitational acceleration, and then the corresponding relationship between the upright pressure and the liquid level can be obtained based on the height of the maximum safe liquid level of the target container and the corresponding upright hydraulic pressure threshold.

[0129] Suppose in the application scenario of a floor washer, the target container is a clean water bucket, its maximum safe liquid level is 280 mm, the density of water in the clean water bucket is 1*10 3 kg / m 3 , and the gravitational acceleration is taken as 9.8 N / kg, then the liquid pressure corresponding to the maximum safe liquid level of the clean water bucket is 1*10 3 kg / m 3*9.8N / kg*280mm = 2744pa. Therefore, the vertical hydraulic threshold is 2744pa, the vertical pressure range is 0 - 2744pa, and the corresponding water level height is 0 - 280mm. In the association table of the corresponding relationship between the vertical pressure and the liquid level, associated records can be as follows: vertical pressure 0 - water level height 0, vertical pressure 490pa - water level height 50mm, vertical pressure 980pa - water level height 100mm, vertical pressure 1470pa - water level height 150mm, vertical pressure 1960pa - water level height 200mm, vertical pressure 2450pa - water level height 250mm, vertical pressure 2744pa - water level height 280mm, etc. If 1mm is used as the step size, 281 pairs of associated data can be recorded in the association table.

[0130] It can be understood that in addition to recording the corresponding relationship between the vertical pressure and the liquid level in the association table, the conversion formula between the vertical pressure and the liquid level can also be recorded, such as the current liquid level height = the highest safe liquid level * pressure difference / vertical hydraulic threshold. Substituting the pressure difference into this conversion formula, the corresponding liquid level height can also be calculated. It can be understood that the associated data is the data obtained by performing operations in advance according to the conversion formula. In actual applications, the storage form of the corresponding relationship between the vertical pressure and the liquid level can be determined according to the specific application scenario and the system configuration of the cleaning equipment, and specific limitations are not made here.

[0131] Similarly, in the embodiments of the present application, the inclined hydraulic threshold of the solution in the target container when it is full of solution in the inclined state can also be obtained according to the container height of the target container, the liquid density of the solution in the target container, the preset gravitational acceleration, and the inclination angle of the target container; according to the container height of the target container, the inclination angle of the target container, and the inclined hydraulic threshold, the corresponding relationship between the inclined pressure and the liquid level can be obtained.

[0132] According to the foregoing description, it can be known that when the target container is in the inclined state, the liquid pressure calculation formula is P = ρgh*sinθ. It can be understood that there is a coefficient relationship of sinθ between the liquid pressures of the target container in the vertical state and the inclined state. Therefore, the method and principle for obtaining the corresponding relationship between the inclined pressure and the liquid level can refer to the description of the corresponding relationship between the vertical pressure and the liquid level in the above embodiments, and will not be elaborated here.

[0133] Since the air pressure reference value will vary with the environment or region, timely updating of the air pressure reference value is the key to ensuring the accuracy of the liquid level detection result. In some embodiments of the present application, before obtaining the air pressure detection result of the pressure sensor for the sealed gas, the method may further include:

[0134] When the cleaning device is not running, obtain the first output signal of the first detection sensor provided on the base of the cleaning device; according to the first output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value.

[0135] Alternatively, when the cleaning device is running, obtain the second output signal of the second detection sensor provided at the solution circulation port of the target container; according to the second output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value.

[0136] Since the air pressure reference value is the pressure difference between the sealed gas output by the pressure sensor and the outside air when there is no solution in the target container, therefore, when the target container is not placed on the base of the cleaning device or when there is no solution in the target container, the current air pressure reference value can be updated according to the output value of the pressure sensor.

[0137] Specifically, a first detection sensor can be provided on the base of the cleaning device, and the target container can be detected through the first detection sensor. Then, according to the first output signal output by the first detection sensor, it can be determined whether the target container is located on the base of the cleaning device, so as to determine whether to obtain the detection value of the pressure sensor to update the current air pressure reference value.

[0138] In the embodiments of the present application, the first detection sensor can be existing devices such as a Hall sensor, an infrared sensor, an ultrasonic sensor, etc. Taking the Hall sensor as an example, the Hall sensor can be installed on the base of the cleaning device, and a magnetic part adapted to the Hall sensor can be correspondingly provided at the bottom of the target container. Through the cooperation of the magnetic part and the Hall sensor, the first output signal of the Hall sensor can be adjusted.

[0139] It can be understood that the Hall sensor is a magnetic field sensor made according to the Hall effect, and the Hall effect is a kind of magnetoelectric effect. When the cleaning device is not working and the target container is not installed on the base of the cleaning device, since the magnetic part is far from the Hall sensor, the first output signal of the Hall sensor at this time can be a low-level signal. And when the target container is installed on the base of the cleaning device, since the magnetic part is close to the Hall sensor, the first output signal of the Hall sensor at this time can be a high-level signal. Therefore, it can be determined whether the target container is set on the base of the cleaning device through the level of the first output signal of the Hall sensor, and then it can be determined whether to obtain the detection value of the current pressure sensor to update the current air pressure reference value.

[0140] That is, when the first output signal is a low-level signal, it means that the magnetic part is far from the Hall sensor, that is, the target container is not installed on the base of the cleaning device. At this time, the detection value of the pressure sensor can be obtained as the current air pressure reference value.

[0141] When the first output signal is a high-level signal, it means that the magnetic component is close to the Hall sensor, that is, the target container is set on the base of the cleaning device at this time. Since the target container may affect the gas pressure of the sealed gas, the detection value of the pressure sensor may be affected by the target container at this time. Therefore, the detection value of the pressure sensor is not obtained as the current air pressure reference value. At this time, when high precision is not required, the air pressure reference value updated last time can be used as the current air pressure reference value, or the user can also be prompted to remove the target container to obtain the detection value of the pressure sensor as the current air pressure reference value.

[0142] It can be understood that the cleaning device not working can mean that the cleaning device is powered on and in standby state, or the cleaning device is placed at the supporting charging base. That is, when ensuring that the cleaning device is powered, the position relationship between the target container and the base of the cleaning device can be judged according to the first output signal of the Hall sensor, so as to judge whether to obtain the detection value of the pressure sensor to update the current air pressure reference value.

[0143] When the cleaning device is running, that is, working, it can be judged whether to obtain the detection value of the pressure sensor to update the current air pressure reference value according to whether there is solution in the target container.

[0144] Specifically, a second detection sensor can be set at the solution flow port of the target container. The solution in the target container is detected by the second detection sensor. Then, according to the second output signal output by the second detection sensor, it can be judged whether there is solution in the target container. Taking the clean water bucket of a floor washer as an example, during the working process of the floor washer, it is judged whether there is still clean water in the clean water bucket through the second detection sensor, so that the detection value of the pressure sensor can be obtained to update the current air pressure reference value when there is no clean water.

[0145] In the embodiment of the present application, the second detection sensor can be existing devices such as a photoelectric sensor and a liquid flow meter. Taking the photoelectric sensor as an example, the photoelectric sensor can be installed at the solution flow port of the target container on the base of the cleaning device. Please refer to Figure 2 and Figure 3 the solution flow port 500 of the target container in. When the cleaning device is running, the solution in the target container can flow through the solution flow port 500 of the target container to cleaning components such as a roller brush. By detecting whether there is solution flow through the photoelectric sensor set at the solution flow port 500 of the target container, it can be judged whether there is solution in the target container according to the second output signal of the photoelectric sensor.

[0146] It can be understood that a photoelectric sensor is a device that converts optical signals into electrical signals. Its working principle is based on the photoelectric effect, which refers to the phenomenon that when light irradiates on certain substances, the electrons of the substances absorb the energy of photons and corresponding electrical effects occur. Continuing with the example of the clean water tank of a floor washer, when the floor washer is running, the clean water in the clean water tank will flow through the target container solution circulation port to the roller brush to clean the floor. At this time, since there is clean water flowing through the target container solution circulation port, the second output signal of the photoelectric sensor can be a low-level signal. When the clean water in the clean water tank is exhausted and there is no clean water flowing through the target container solution circulation port, the second output signal of the photoelectric sensor can be a high-level signal. Therefore, by the level of the second output signal of the photoelectric sensor, it can be determined whether there is solution flowing through the target container solution circulation port, and thus it can be determined whether there is solution in the target container, and further it can be determined whether to obtain the detection value of the current pressure sensor to update the current air pressure reference value.

[0147] That is, when the second output signal is a low-level signal, it means that there is solution flowing through the target container solution circulation port, that is, there is solution in the target container. Since the liquid pressure of the solution in the target container will change the gas pressure of the sealed gas, the detection value of the pressure sensor will be affected by the liquid pressure of the solution in the target container at this time. Therefore, the detection value of the pressure sensor is not obtained as the current air pressure reference value, and when high precision is not required, the air pressure reference value updated last time can be used as the current air pressure reference value.

[0148] When the first output signal is a high-level signal, it means that there is no solution flowing through the target container solution circulation port, that is, there is no solution in the target container. At this time, the detection value of the pressure sensor is the pressure difference between the independent sealed gas and the outside air, and the detection value of the pressure sensor can be obtained as the current air pressure reference value.

[0149] In some embodiments of the present application, according to the air pressure detection result and the current air pressure reference value, the current liquid level information of the solution in the target container is obtained. After that, the method may further include:

[0150] According to the preset display form, the current liquid level information of the solution in the target container is displayed in real time, and when the cleaning device is shut down, the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown are recorded;

[0151] According to the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, the shutdown pressure value and the shutdown liquid level information are obtained. The shutdown pressure value and the shutdown liquid level information are used to determine the liquid level information of the target container when the cleaning device is powered on next time.

[0152] In the embodiments of the present application, the preset display form can display the current liquid level information in the form of liquid level percentage, liquid level height value, or indicator light. In some application scenarios, the display form can preferably be the liquid level percentage to enable users to more intuitively understand the amount of solution stored in the target container.

[0153] Since the solution in the target container can still be stored in the target container when the cleaning device is not in use, and in the case of power-off of the cleaning device, the liquid level detection system cannot know what processing operations the user has performed on the cleaning device or the solution in the target container. Therefore, when the cleaning device is shut down, the shutdown liquid level information of the solution in the target container at the shutdown moment and its corresponding pressure difference can be recorded. The pressure difference is the shutdown pressure value obtained based on the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, so that it can be utilized by the liquid level detection system when the device is powered on again. It can be understood that the shutdown liquid level information and the shutdown pressure value here can be the corresponding detection values when the target container is in the upright state and / or the inclined state.

[0154] Specifically, when the cleaning device is powered on, record the startup air pressure detection result of the pressure sensor for the sealed gas and the air pressure reference value at startup. Based on the difference between the startup air pressure detection result and the air pressure reference value at startup, obtain the startup pressure value and the corresponding startup liquid level information; according to the startup pressure value, startup liquid level information, shutdown pressure value, and shutdown liquid level information, determine the current liquid level information of the solution in the target container at startup.

[0155] When the cleaning device is powered on again, the current liquid level information of the solution in the target container, that is, the startup liquid level information, can be displayed. However, during the power-off process of the cleaning device, the liquid level detection system cannot know what processing operations the user has performed on the cleaning device or the solution in the target container. Therefore, it is necessary to judge the situation of the solution in the target container by combining the startup pressure value at the time of the next startup with the shutdown pressure value at the previous shutdown.

[0156] Specifically, in the first case, if the startup pressure value is greater than the shutdown pressure value, that is, the shutdown pressure value at the previous shutdown is less than the startup pressure value at the next startup, it can be determined that the user added solution to the target container when the cleaning device was powered off. Then, the current liquid level information of the solution in the target container can be determined as the startup liquid level information, and thus this liquid level information can be displayed in the preset display form, such as in the form of liquid level percentage.

[0157] In the second case, if the startup pressure value is less than the shutdown pressure value, and the difference between the startup pressure value and the air pressure reference value at shutdown is less than a preset first threshold. Here, the preset first threshold can be a relatively small value close to 0, such as 4, 7, 10, etc. Since the difference between the startup pressure value and the air pressure reference value at shutdown is less than the preset first threshold, it can be considered that the startup pressure value is close to the air pressure reference value at shutdown. That is, when the cleaning device is powered off, the user may have emptied the solution in the target container. Therefore, it can be determined that there is no solution in the target container, and thus the state of no solution can be displayed through a preset display form.

[0158] In the third case, if the startup pressure value is less than the shutdown pressure value, and the difference between the shutdown pressure value and the startup pressure value is less than a preset second threshold. Here, the preset second threshold can be 100, 300, or other values greater than 0, and can be specifically set according to actual situations and empirical values. Since the difference between the shutdown pressure value and the startup pressure value is less than the preset second threshold, it can be considered that when the cleaning device is powered off, the user has not emptied the solution in the target container, but there may be a slow air leakage in the sealed gas. For example, insufficient sealing between the deformation film and the press-fitting structural member or insufficient sealing of the pressure sensor sealing ring, etc., will cause slow air leakage of the sealed gas, resulting in the startup pressure value being less than the shutdown pressure value, but the difference between the shutdown pressure value and the startup pressure value being less than the preset second threshold. At this time, the current liquid level information of the solution in the target container can be determined as the shutdown liquid level information, and thus the liquid level information can be displayed through a preset display form.

[0159] In some embodiments of the present application, in order to more accurately determine the liquid level, based on the air pressure detection result and the current air pressure reference value, the current liquid level height of the solution in the target container is obtained. Then, the method may further include:

[0160] Obtain the working parameters of the solution delivery device associated with the target container in the cleaning device; obtain the delivery volume of the solution in the target container according to the working parameters; obtain the remaining volume of the solution in the target container according to the initial volume of the solution in the target container and the delivery volume of the solution in the target container; obtain the auxiliary liquid level information of the solution in the target container according to the initial volume of the solution in the target container and the remaining volume of the solution in the target container; correct the current liquid level information of the solution in the target container according to the auxiliary liquid level information.

[0161] It is understandable that a solution delivery device associated with a target container can be configured in a cleaning device. For example, for the clean water bucket of a floor washer, the solution delivery device can be a water pump. During the operation of the floor washer, the water pump is always in a water spraying state. According to the working parameters of the water pump, such as the unit water spraying volume and the water spraying time, the current water spraying volume, that is, the delivery volume of the solution, can be calculated. For example, if the unit water spraying volume is 30 mL / min and the water spraying time is t, the current water spraying volume is 30 mL / min * t. And based on the initial volume of the clean water in the clean water bucket, such as the clean water bucket being full initially with an initial volume of 900 mL, the current remaining amount A of the clean water can be obtained as A = 900 mL - 30 mL / min * t. Since the clean water bucket was full initially and is shown as 100% through the liquid level percentage display, the current auxiliary liquid level information, that is, the current liquid level percentage, can be obtained according to A / 900. Then, by comparing and calibrating the current auxiliary liquid level information with the current liquid level information obtained based on the pressure sensor, the accuracy of the liquid level detection can be ensured.

[0162] Specifically, if the current auxiliary liquid level information is relatively close to the current liquid level information, for example, the difference between the two is within a preset certain range, it can be determined that the current liquid level information is accurate, and the current liquid level information can be directly displayed, or both the current auxiliary liquid level information and the current liquid level information can be displayed for the user's reference; while if the difference between the two exceeds the preset range, it can be determined that one of them has an abnormal detection. At this time, the larger value can be displayed as the current liquid level information.

[0163] In an application scenario, due to the different atmospheric pressures between the production place and the usage place of the cleaning device. For example, the production place is in a low altitude area and the usage place is in a high altitude area. When the user first uses the cleaning device, even if there is no solution in the target container, the gas pressure of the sealed gas is already greater than the atmospheric pressure of the outside air. At this time, it can be considered that the pressure sensor has a zero point drift.

[0164] Therefore, after the user turns on the cleaning device, the status of the target container can be displayed with a preset specific icon, such as "--". Because after the user purchases the cleaning device, they usually fill the solution in the target container and then turn on the cleaning device for cleaning operations. Since the condition for obtaining the current air pressure reference value is not met at this time and the status of the target container is inaccurate, the "--" icon is displayed to prompt the user to perform calibration.

[0165] When the user removes the target container from the cleaning device base, the liquid level detection system can obtain the detection value of the pressure sensor as the current air pressure reference value. After the user installs the target container on the cleaning device base, the air pressure detection result of the pressure sensor is corrected by this current air pressure reference value to obtain the current liquid level information, and the current liquid level information is displayed in a preset display form such as the form of liquid level percentage. In this way, the solution volume can be accurately displayed.

[0166] Taking the floor washer as an example, the highest safe liquid level of the clean water bucket is 280 ml. If the pressure difference between the air pressure detection result of the pressure sensor after the floor washer is turned on and the current air pressure reference value is greater than 2744 Pa when the clean water bucket is in an upright state, it can be considered that the clean water bucket is full of water.

[0167] If the clean water bucket is in an inclined state, usually, the inclination angle is 45° - 60°, then if the pressure difference between the air pressure detection result of the pressure sensor after the floor washer is turned on and the current air pressure reference value is greater than 2376 Pa, that is, greater than 2744 Pa * sin60°, it can be considered that the clean water bucket is full of water.

[0168] In another application scenario, when the floor washer is in use and the clean water in the clean water bucket is continuously ejected, the air pressure detection result of the pressure sensor continuously decreases. The current air pressure reference value for calculating the liquid level height is the air pressure reference obtained when the machine is turned on. When there is no clean water in the clean water bucket, the photoelectric sensor outputs a high-level second output signal to enable the liquid level detection system to re-obtain the detection value of the pressure sensor as the new current air pressure reference value, and then after the user adds water, the current liquid level height is judged based on this new current air pressure reference value to ensure the accuracy of the liquid level detection result.

[0169] To better implement the liquid level detection method in the present application, on the basis of the liquid level detection method, the present application also provides a liquid level detection system, as Figure 5 shown, Figure 5 is a schematic diagram of a functional module of the liquid level detection system provided in the embodiment of the present application. The liquid level detection system 600 includes:

[0170] An acquisition unit 601, configured to acquire the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is arranged below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0171] A processing unit 602, configured to obtain the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value.

[0172] In the embodiments of the present application, by arranging a deformation film sealed with a sealed gas below the target container of the cleaning device, the liquid pressure of the solution in the target container can act on the deformation film, and the deformation of the deformation film can change the gas pressure of the sealed gas, that is, it can realize the conversion of the liquid pressure of the solution in the target container into the gas pressure of the sealed gas. Therefore, the acquisition unit 601 can obtain the current gas pressure of the sealed gas by acquiring the air pressure detection result of the pressure sensor regarding the sealed gas, and then the processing unit 602 corrects the air pressure detection result based on the current air pressure reference value to obtain the true pressure value of the sealed gas. Since the liquid pressure is related to the solution density, gravitational acceleration, and solution height, when the solution density and gravitational acceleration are determined, the solution height can be determined according to the true pressure value, that is, the current liquid level information of the solution in the target container can be obtained. Compared with the prior art solution of marking the water level with a float, it avoids the interference caused by solution fluctuations to liquid level detection, improves the accuracy of the liquid level detection result, that is, the liquid level information, and ensures the reliability of the cleaning device.

[0173] In some embodiments of the present application, the processing unit 602 may specifically be used for:

[0174] Obtain a pressure difference according to the difference between the air pressure detection result and the current air pressure reference value;

[0175] Obtain the current liquid level information of the solution in the target container according to the pressure difference.

[0176] In some embodiments of the present application, the liquid level information of the solution in the target container includes liquid level percentage data, and the processing unit 602 is further used for:

[0177] When the target container is in an upright state, obtain the current liquid level percentage data of the solution in the target container according to the ratio of the pressure difference to the preset upright hydraulic threshold, and the upright hydraulic threshold is the liquid pressure of the solution when the target container is full of solution in the upright state;

[0178] When the target container is in an inclined state, obtain the current liquid level percentage data of the solution in the target container according to the ratio of the pressure difference to the preset inclined hydraulic threshold, and the inclined hydraulic threshold is associated with the inclination angle of the target container, and the inclined hydraulic threshold is the liquid pressure of the solution when the target container is full of solution at the inclination angle.

[0179] In some embodiments of the present application, the liquid level information of the solution in the target container includes liquid level height data, and the processing unit 602 is further used for:

[0180] When the target container is in an upright state, obtain the current liquid level height data of the solution in the target container according to the pressure difference, the liquid density of the solution in the target container, and the preset gravitational acceleration;

[0181] When the target container is in an inclined state, based on the pressure difference, the inclination angle of the target container, the liquid density of the solution in the target container, and the preset gravitational acceleration, the current liquid level height data of the solution in the target container is obtained.

[0182] In some embodiments of the present application, the liquid level information of the solution in the target container includes liquid level height data, and the processing unit 602 is further configured to:

[0183] When the target container is in an upright state, based on the pressure difference and the preset correspondence between the upright pressure and the liquid level, the current liquid level height data of the solution in the target container is obtained;

[0184] When the target container is in an inclined state, based on the pressure difference and the preset correspondence between the inclined pressure and the liquid level, the current liquid level height data of the solution in the target container is obtained.

[0185] In some embodiments of the present application, before obtaining the air pressure detection result of the pressure sensor regarding the sealed gas, the processing unit 602 may specifically be configured to:

[0186] Based on the container height of the target container, the liquid density of the solution in the target container, and the preset gravitational acceleration, the upright hydraulic threshold of the solution when the target container is full of solution in the upright state is obtained;

[0187] Based on the container height of the target container and the upright hydraulic threshold, the correspondence between the upright pressure and the liquid level is obtained;

[0188] Based on the upright hydraulic threshold and the inclination angle of the target container, the inclined hydraulic threshold of the solution when the target container is full of solution at the inclination angle is obtained;

[0189] Based on the container height of the target container, the inclination angle of the target container, and the inclined hydraulic threshold, the correspondence between the inclined pressure and the liquid level is obtained.

[0190] In some embodiments of the present application, before obtaining the air pressure detection result of the pressure sensor regarding the sealed gas, the acquisition unit 601 may specifically be configured to:

[0191] When the cleaning device is not running, obtain the first output signal of the first detection sensor provided on the base of the cleaning device;

[0192] Based on the first output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value; or,

[0193] When the cleaning device is running, obtain the second output signal of the second detection sensor provided at the solution circulation port of the target container;

[0194] Based on the second output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value.

[0195] In some embodiments of the present application, the acquisition unit 601 may specifically be further configured to:

[0196] If the first output signal indicates that the target container is not set on the base of the cleaning device, obtain the detection value of the pressure sensor as the current air pressure reference value.

[0197] In some embodiments of the present application, the acquisition unit 601 may specifically be further configured to:

[0198] If the second output signal indicates that there is no solution in the target container, obtain the detection value of the pressure sensor as the current air pressure reference value.

[0199] In some embodiments of the present application, according to the air pressure detection result and the current air pressure reference value, obtain the current liquid level information of the solution in the target container. Then, the processing unit 602 may specifically be further configured to:

[0200] According to the preset display form, display the current liquid level information of the solution in the target container in real time, and when the cleaning device is shut down, record the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown;

[0201] According to the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, obtain the shutdown pressure value and the shutdown liquid level information, and the shutdown pressure value and the shutdown liquid level information are used to determine the liquid level information of the target container when the cleaning device is powered on next time.

[0202] In some embodiments of the present application, according to the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown, obtain the shutdown pressure value and the shutdown liquid level information. Then, the processing unit 602 may specifically be further configured to:

[0203] When the cleaning device is powered on, record the startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup;

[0204] According to the difference between the startup air pressure detection result and the air pressure reference value at startup, obtain the startup pressure value and the startup liquid level information;

[0205] According to the startup pressure value, the startup liquid level information, the shutdown pressure value, and the shutdown liquid level information, determine the current liquid level information of the solution in the target container.

[0206] In some embodiments of the present application, the processing unit 602 may specifically be further configured to:

[0207] If the startup pressure value is greater than the shutdown pressure value, determine that the current liquid level information of the solution in the target container is the startup liquid level information;

[0208] If the startup pressure value is less than the shutdown pressure value, and the difference between the startup pressure value and the air pressure reference value at shutdown is less than a preset first threshold, it is determined that there is no solution in the target container;

[0209] If the startup pressure value is less than the shutdown pressure value, and the difference between the shutdown pressure value and the startup pressure value is less than a preset second threshold, it is determined that the current liquid level information of the solution in the target container is the shutdown liquid level information.

[0210] In some embodiments of the present application, according to the air pressure detection result and the current air pressure reference value, the current liquid level information of the solution in the target container is obtained. After that, the processing unit 602 can specifically be used for:

[0211] Obtain the working parameters of the solution delivery device associated with the target container in the cleaning device;

[0212] Obtain the delivery volume of the solution in the target container according to the working parameters;

[0213] Obtain the remaining volume of the solution in the target container according to the initial volume of the solution in the target container and the delivery volume of the solution in the target container;

[0214] Obtain the auxiliary liquid level information of the solution in the target container according to the initial volume of the solution in the target container and the remaining volume of the solution in the target container;

[0215] Correct the current liquid level information of the solution in the target container according to the auxiliary liquid level information.

[0216] It should be noted that in the present application, the relevant content of the acquisition unit 601 and the processing unit 602 corresponds one by one to the above. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described liquid level detection system and its corresponding unit modules can refer to, for example, Figures 1 to 4 the description of the liquid level detection method in any embodiment, and will not be elaborated here specifically.

[0217] To better implement the liquid level detection method of the present application, the present application also provides a liquid level detection device, which integrates any liquid level detection system 600 provided by the present application. The liquid level detection device may include a processor 701 and a memory 702. The memory 702 can be used to store a computer program. When the computer program is executed by the processor 701, it can be used to implement the following functions:

[0218] Obtain the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0219] Based on the air pressure detection result and the current air pressure reference value, the current liquid level information of the solution in the target container is obtained.

[0220] As Figure 6 shown, it shows a structural schematic diagram of the liquid level detection device involved in the present application. Specifically:

[0221] The liquid level detection device may include components such as a processor 701 with one or more processing cores, a memory 702 of one or more computer-readable storage media, a power supply 703, and an input unit 704. Those skilled in the art can understand that Figure 6 the device structure shown in

[0222] does not constitute a limitation on the device. The liquid level detection device may also include more or fewer components than those shown, or combine certain components, or have different component arrangements. Among them:

[0223] The processor 701 is the control center of the device, connecting various parts of the entire device through various interfaces and lines. By running or executing software programs and / or unit modules stored in the memory 702, and calling data stored in the memory 702, it executes various functions of the device and processes data, thereby monitoring the liquid level detection device as a whole. Optionally, the processor 701 may include one or more processing cores; the processor 701 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Preferably, the processor 701 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above modem processor may not be integrated into the processor 701 either.

[0223] The memory 702 can be used to store software programs and modules. The processor 701 executes various functional applications and data processing by running the software programs and modules stored in the memory 702. The memory 702 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc.; the data storage area can store data created according to the use of the liquid level detection device, etc. In addition, the memory 702 can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 702 can also include a memory controller to provide the processor 701 with access to the memory 702.

[0224] The liquid level detection device can also include a power supply 703 for powering each component. Preferably, the power supply 703 can be logically connected to the processor 701 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 703 can also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0225] The liquid level detection device can also include an input unit 704 and an output unit 705. The input unit 704 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0226] Although not shown, the liquid level detection device can also include a display unit, etc., which will not be elaborated here. Specifically in this application, the processor 701 in the liquid level detection device will load the executable files corresponding to the processes of one or more application programs into the memory 702 according to the following instructions, and the processor 701 will run the application programs stored in the memory 702 to achieve various functions as follows:

[0227] Obtain the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0228] According to the air pressure detection result and the current air pressure reference value, obtain the current liquid level information of the solution in the target container.

[0229] Those of ordinary skill in the art can understand that all or part of the steps in the above various methods can be completed by instructions, or by controlling related hardware through instructions. The instructions can be stored in a computer-readable storage medium and loaded and executed by the processor 701.

[0230] To this end, the present application provides a computer-readable storage medium, which may include: Read Only Memory (ROM), Random Access Memory (RAM), a magnetic disk, an optical disc, etc. Computer instructions are stored thereon, and the computer instructions are loaded by the processor 701 to execute the steps in any of the liquid level detection methods provided by the present application. For example, when the computer instructions are executed by the processor 701, the following functions are implemented:

[0231] Obtain the air pressure detection result of the pressure sensor regarding the sealed gas. A deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film;

[0232] According to the air pressure detection result and the current air pressure reference value, obtain the current liquid level information of the solution in the target container.

[0233] The computer instructions stored in the computer-readable storage medium can execute the steps in the liquid level detection method in any corresponding embodiment of the present application. Therefore, the beneficial effects achievable by the liquid level detection method in any corresponding embodiment of the present application can be realized. For details, see the previous description and will not be elaborated here. Figures 1 to 4 Figures 1 to 4 Figures 1 to 4 In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the detailed descriptions of other embodiments above and will not be elaborated here.

[0234] In specific implementation, the above units or structures can be implemented as independent entities, or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation of the above units or structures, reference can be made to the previous embodiments and will not be elaborated here.

[0235]

[0236] The above has introduced in detail a liquid level detection method, system, device and storage medium provided by the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The above description is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.​

Claims

1. A liquid level detection method, characterized in that, for liquid level detection of a target container in a cleaning device, the method includes: Obtaining the air pressure detection result of a pressure sensor regarding a sealed gas, a deformation film for sealing the sealed gas is provided below the target container of the cleaning device, and the liquid pressure of the solution in the target container acts on the deformation film; Obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value; And the method further includes: Determining a shutdown pressure value and shutdown liquid level information according to the shutdown air pressure detection result of the pressure sensor regarding the sealed gas recorded when the cleaning device is shut down and the air pressure reference value at shutdown, for: when the cleaning device is powered on next time, according to the power-on pressure value and power-on liquid level information determined according to the power-on air pressure detection result of the pressure sensor regarding the sealed gas recorded and the air pressure reference value at power-on, and the corresponding shutdown pressure value and shutdown liquid level information, determining the processing operation performed by the user on the solution in the target container during the power-off period from shutdown to power-on, so as to determine the current liquid level information of the solution in the target container at power-on; wherein, if it is detected that there is solution in the target container at power-on, then record the latest updated air pressure reference value as the air pressure reference at power-on or prompt the user to remove the target container to obtain the detection value of the pressure sensor and record it as the air pressure reference value at power-on.

2. The method according to claim 1, characterized in that, The obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value includes: Obtaining a pressure difference according to the difference between the air pressure detection result and the current air pressure reference value; Obtaining the current liquid level information of the solution in the target container according to the pressure difference.

3. The method according to claim 2, characterized in that, The liquid level information of the solution in the target container includes liquid level percentage data, and the obtaining the current liquid level information of the solution in the target container according to the pressure difference includes: When the target container is in an upright state, obtaining the current liquid level percentage data of the solution in the target container according to the ratio of the pressure difference to a preset upright hydraulic threshold value, and the upright hydraulic threshold value is the liquid pressure of the solution when the target container is full of solution in the upright state; When the target container is in an inclined state, obtaining the current liquid level percentage data of the solution in the target container according to the ratio of the pressure difference to a preset inclined hydraulic threshold value, and the inclined hydraulic threshold value is associated with the inclination angle of the target container, and the inclined hydraulic threshold value is the liquid pressure of the solution when the target container is full of solution at the inclination angle.

4. The method according to claim 2, characterized in that, The liquid level information of the solution in the target container includes liquid level height data, and the obtaining the current liquid level information of the solution in the target container according to the pressure difference includes: When the target container is in an upright state, based on the pressure difference, the liquid density of the solution in the target container, and a preset gravitational acceleration, obtain the current liquid level height data of the solution in the target container; When the target container is in an inclined state, based on the pressure difference, the inclination angle of the target container, the liquid density of the solution in the target container, and a preset gravitational acceleration, obtain the current liquid level height data of the solution in the target container.

5. The method according to claim 2, wherein, the liquid level information of the solution in the target container includes liquid level height data, and obtaining the current liquid level information of the solution in the target container based on the pressure difference includes: When the target container is in an upright state, based on the pressure difference and a preset corresponding relationship between the upright pressure and the liquid level, obtain the current liquid level height data of the solution in the target container; When the target container is in an inclined state, based on the pressure difference and a preset corresponding relationship between the inclined pressure and the liquid level, obtain the current liquid level height data of the solution in the target container.

6. The method according to claim 5, wherein, before obtaining the air pressure detection result of the pressure sensor for the sealed gas, the method includes: Based on the container height of the target container, the liquid density of the solution in the target container, and a preset gravitational acceleration, obtain the upright hydraulic threshold of the solution when the target container is full of solution in an upright state; Based on the container height of the target container and the upright hydraulic threshold, obtain the corresponding relationship between the upright pressure and the liquid level; Based on the upright hydraulic threshold and the inclination angle of the target container, obtain the inclined hydraulic threshold of the solution when the target container is full of solution at the inclination angle; Based on the container height of the target container, the inclination angle of the target container, and the inclined hydraulic threshold, obtain the corresponding relationship between the inclined pressure and the liquid level.

7. The method according to claim 1, wherein, before obtaining the air pressure detection result of the pressure sensor for the sealed gas, the method further includes: When the cleaning device is not operating, obtain the first output signal of the first detection sensor provided on the base of the cleaning device; based on the first output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value; or, When the cleaning device is operating, obtain the second output signal of the second detection sensor provided at the solution circulation port of the target container; based on the second output signal, determine whether to obtain the detection value of the pressure sensor as the current air pressure reference value.

8. The method according to claim 7, wherein, determining whether to obtain the detection value of the pressure sensor as the current air pressure reference value based on the first output signal includes: If the first output signal indicates that the target container is not provided on the base of the cleaning device, obtain the detection value of the pressure sensor as the current air pressure reference value.

9. The method according to claim 7, wherein, Determining whether to obtain the detection value of the pressure sensor as the current air pressure reference value according to the second output signal includes: If the second output signal indicates that there is no solution in the target container, obtain the detection value of the pressure sensor as the current air pressure reference value.

10. The method according to claim 1, wherein, Determining the shutdown pressure value and the shutdown liquid level information according to the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown recorded when the cleaning device is shut down includes: According to a preset display form, the current liquid level information of the solution in the target container is displayed in real time, and when the cleaning device is shut down, the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown are recorded; Obtain the shutdown pressure value and the shutdown liquid level information according to the difference between the shutdown air pressure detection result and the air pressure reference value at shutdown.

11. The method according to claim 1, wherein, When the cleaning device is powered on next time, determining the startup pressure value and the startup liquid level information according to the recorded startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup includes: When the cleaning device is powered on, record the startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup; Obtain the startup pressure value and the startup liquid level information according to the difference between the startup air pressure detection result and the air pressure reference value at startup.

12. The method according to claim 1, wherein, Determining the processing operation performed by the user on the solution in the target container during the power-off period from shutdown to startup according to the startup pressure value, the startup liquid level information, and the corresponding shutdown pressure value and the shutdown liquid level information, so as to determine the current liquid level information of the solution in the target container at startup includes: If the startup pressure value is greater than the shutdown pressure value, it is determined that the user added solution to the target container when the cleaning device was powered off, and thus the current liquid level information of the solution in the target container at startup is determined to be the startup liquid level information; If the startup pressure value is less than the shutdown pressure value, and the difference between the startup pressure value and the air pressure reference value at shutdown is less than a preset first threshold, it is determined that the user emptied the solution in the target container when the cleaning device was powered off, and thus there is no solution in the target container at startup; If the startup pressure value is less than the shutdown pressure value, and the difference between the shutdown pressure value and the startup pressure value is less than a preset second threshold, it is determined that the user did not empty the solution in the target container and there is slow air leakage in the sealed gas when the cleaning device was powered off, and thus the current liquid level information of the solution in the target container at startup is determined to be the shutdown liquid level information.

13. The method according to claim 1, wherein, Based on the air pressure detection result and the current air pressure reference value, the current liquid level information of the solution in the target container is obtained. After that, the method further includes: Obtaining the working parameters of the solution delivery device associated with the target container in the cleaning device; Obtaining the delivery volume of the solution in the target container according to the working parameters; Obtaining the remaining volume of the solution in the target container according to the initial volume of the solution in the target container and the delivery volume of the solution in the target container; Obtaining the auxiliary liquid level information of the solution in the target container according to the initial volume of the solution in the target container and the remaining volume of the solution in the target container; Correcting the current liquid level information of the solution in the target container according to the auxiliary liquid level information.

14. A liquid level detection system Characterized in that For liquid level detection of a target container in a cleaning device, the system includes: An acquisition unit for acquiring the air pressure detection result of the pressure sensor regarding the sealed gas. The target container of the cleaning device is arranged on a deformation film for sealing the sealed gas, and the liquid pressure of the solution in the target container acts on the deformation film; A processing unit for obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value; And the processing unit is further configured to determine the shutdown pressure value and the shutdown liquid level information according to the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown recorded when the cleaning device is shut down, for: when the cleaning device is powered on next time, according to the startup pressure value and the startup liquid level information determined according to the startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup recorded, and the corresponding shutdown pressure value and the shutdown liquid level information, determining the processing operation of the user on the solution in the target container during the power-off period from shutdown to startup, so as to determine the current liquid level information of the solution in the target container at startup according to the processing operation; wherein, if it is detected that there is solution in the target container at startup, the latest updated air pressure reference value is recorded as the air pressure reference at startup or the user is prompted to remove the target container to obtain the detection value of the pressure sensor and record it as the air pressure reference value at startup.

15. A liquid level detection device Characterized in that The liquid level detection device includes a memory and a processor. The memory is used to store a computer program, and when the computer program is executed by the processor, it is used to implement the following functions: Obtaining the air pressure detection result of the pressure sensor regarding the sealed gas. The target container of the cleaning device is provided with a deformation film for sealing the sealed gas, and the liquid pressure of the solution in the target container acts on the deformation film; Obtaining the current liquid level information of the solution in the target container according to the air pressure detection result and the current air pressure reference value; And, based on the shutdown air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at shutdown recorded when the cleaning device is shut down, determine the shutdown pressure value and the shutdown liquid level information for use in: when the cleaning device is powered on next time, based on the startup pressure value and the startup liquid level information determined according to the startup air pressure detection result of the pressure sensor regarding the sealed gas and the air pressure reference value at startup recorded, as well as the corresponding shutdown pressure value and the shutdown liquid level information, determine the processing operation performed by the user on the solution in the target container during the power-off period from shutdown to startup, so as to determine the current liquid level information of the solution in the target container at startup according to the processing operation; wherein, if it is detected that there is solution in the target container at startup, record the latest updated air pressure reference value as the air pressure reference at startup or prompt the user to remove the target container to obtain the detection value recorded by the pressure sensor as the air pressure reference value at startup.

16. A computer-readable storage medium, characterized in that, computer instructions are stored on the computer-readable storage medium, and when the computer instructions are executed by a processor, the steps of the liquid level detection method according to any one of claims 1-13 are implemented.

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