Sewage bucket state recognition method and operation method of a cleaning machine

Abstract

An embodiment of the present invention provides a method for identifying the state of a sewage bucket and an operating method for a cleaning machine. The method includes: obtaining an electrical signal value in the cleaning machine; determining a change amount of the electrical signal value; and identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value. Thus, by using the change amount of the electrical signal value in the cleaning machine to identify the state of the sewage bucket, the accuracy of sewage bucket state detection can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent control, and in particular, to a method for identifying the state of a sewage bucket and a method for operating a cleaning machine. Background Art

[0002] Currently, the main motor of the cleaning machine uses a brushless DC motor, which has a high cost. To reduce the cost, a brushed DC motor solution is adopted. The brushless DC motor can detect the rotational speed. When the sewage bucket in the cleaning machine is full, the float jumps up and the rotational speed will increase. Whether the sewage bucket is full is judged by the rotational speed. However, the brushed DC motor cannot detect the rotational speed, so only the current of the brushed DC motor can be detected to judge whether the sewage bucket is full.

[0003] In the related art, there are differences in the current values of the brushed DC motor before and after the float jumps up. Therefore, when the current of the brushed DC motor drops to a certain value (i.e., less than a certain threshold), it can be determined that the sewage bucket in the cleaning machine is full. However, due to the differences in the individual motors and the operation of the cleaning machine, using the same set of thresholds for different brushed DC motors will result in inaccurate detection of whether the sewage bucket is full. Summary of the Invention

[0004] To solve the above technical problem that due to the differences in the individual motors and the operation of the cleaning machine, using the same set of thresholds for different brushed DC motors will result in inaccurate detection of whether the sewage bucket is full, the embodiments of the present invention provide a method for identifying the state of a sewage bucket and a method for operating a cleaning machine.

[0005] In the first aspect of the embodiments of the present invention, first, a method for identifying the state of a sewage bucket is provided, which is applied to a cleaning machine. The method includes: obtaining the electrical signal value in the cleaning machine; determining the change amount of the electrical signal value; and identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value.

[0006] In an optional embodiment, the obtaining the electrical signal value in the cleaning machine includes: obtaining the current value of the main motor in the cleaning machine; the determining the change amount of the electrical signal value includes: obtaining the first current value before the current value of the main motor decreases and the second current value after the decrease, and determining the decrease amount of the current value of the main motor according to the first current value and the second current value; the identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value includes: identifying the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value.

[0007] In an optional embodiment, the identifying the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value includes: when the decrease amount of the current value exceeds a preset threshold, determining that the float in the sewage bucket jumps up and identifying that the sewage bucket in the cleaning machine is full.

[0008] In an optional embodiment, obtaining the electrical signal value in the cleaning machine includes: obtaining the voltage value of the dirt sensor, determining the fluctuation range of the voltage value, and determining whether the fluctuation range is greater than a preset voltage threshold; if the fluctuation range is greater than the preset voltage threshold, it is determined that the sewage bucket in the cleaning machine is in the water absorption state; when it is determined that the sewage bucket in the cleaning machine is in the water absorption state, obtaining the current value of the main motor in the cleaning machine; determining the change amount of the electrical signal value includes: determining the change amount of the current value; identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value includes: identifying the state of the sewage bucket in the cleaning machine according to the change amount of the current value.

[0009] In the second aspect of the embodiments of the present invention, a method for operating a cleaning machine is provided, and the method includes:

[0010] The user presses the power-on button, tilts the body to start working, and stops moving after detecting that the sewage bucket is full of water through the sewage bucket state recognition method described in any item of the first aspect;

[0011] When it is detected that the sewage bucket is removed and after a preset time, and then it is detected that the sewage bucket is stably installed, and it is detected through the sewage bucket state recognition method described in any item of the first aspect that the sewage bucket is not full of water, the user tilts the body and the cleaning machine resumes working.

[0012] The technical solution provided by the embodiments of the present invention obtains the electrical signal value in the cleaning machine, determines the change amount of the electrical signal value, and identifies the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value. In this way, the state of the sewage bucket in the cleaning machine is identified through the change amount of the electrical signal value in the cleaning machine, which can improve the accuracy of detecting the state of the sewage bucket. Description of the Drawings

[0013] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 It is a schematic flowchart of the implementation process of a method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0016] Figure 2 It is a schematic flowchart of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0017] Figure 3 Schematic diagram of the implementation process of a method for obtaining the current value of the main motor shown in the embodiments of the present invention;

[0018] Figure 4 Schematic diagram of the structure of a hardware drive circuit for a DC motor shown in the embodiments of the present invention;

[0019] Figure 5 Schematic diagram of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0020] Figure 6 Line graph of the motor current values in two different cleaning machines shown in the embodiments of the present invention;

[0021] Figure 7 Schematic diagram of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0022] Figure 8 Schematic diagram of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0023] Figure 9 Schematic diagram of the structure of a hardware design shown in the embodiments of the present invention;

[0024] Figure 10 Schematic diagram showing the change of a first voltage value over time shown in the embodiments of the present invention;

[0025] Figure 11 Schematic diagram of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0026] Figure 12 Schematic diagram showing the change of a second voltage value over time shown in the embodiments of the present invention;

[0027] Figure 13 Schematic diagram of the implementation process of a method for monitoring the motor current in a cleaning machine shown in the embodiments of the present invention;

[0028] Figure 14 Schematic diagram of the structure of a high-voltage motor current monitoring circuit shown in the embodiments of the present invention;

[0029] Figure 15 Schematic diagram of the structure of a sewage bucket shown in the embodiments of the present invention;

[0030] Figure 16 Schematic diagram of the implementation process of another method for identifying the state of a sewage bucket shown in the embodiments of the present invention;

[0031] Figure 17Schematic structural diagram of a sewage bucket state recognition device shown in an embodiment of the present invention;

[0032] Figure 18 Schematic structural diagram of a cleaning machine shown in an embodiment of the present invention. Detailed implementation manners

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0035] As Figure 1 shown, it is a schematic diagram of the implementation process of a sewage bucket state recognition method provided by an embodiment of the present invention. This method is applied to a cleaning machine and specifically may include the following steps:

[0036] S101, Obtain the electrical signal value in the cleaning machine.

[0037] In the embodiment of the present invention, for the cleaning machine, obtain the electrical signal value in the cleaning machine. Here, the electrical signal value may be a voltage value or a current value.

[0038] S102, Determine the change amount of the electrical signal value.

[0039] In the embodiment of the present invention, for the electrical signal value in the cleaning machine, determine the change amount of the electrical signal value.

[0040] Among them, for the electrical signal value, it may be a voltage value or a current value. Thus, the change amount of the voltage value or the current value can be determined.

[0041] S103. Identify the state of the sewage bucket in the cleaning machine according to the change amount of the electric signal value.

[0042] In the embodiment of the present invention, for the change amount of the electric signal value, the state of the sewage bucket in the cleaning machine can be identified according to the change amount of the electric signal value.

[0043] Among them, the change amount of the electric signal value can be the change amount of the voltage value or the current value, so that the state of the sewage bucket in the cleaning machine can be identified according to the change amount of the voltage value or the current value.

[0044] Through the above description of the technical solution provided by the embodiment of the present invention, obtain the electric signal value in the cleaning machine, determine the change amount of the electric signal value, and identify the state of the sewage bucket in the cleaning machine according to the change amount of the electric signal value. In this way, by using the change amount of the electric signal value in the cleaning machine to identify the state of the sewage bucket in the cleaning machine, the accuracy of sewage bucket state detection can be improved.

[0045] As Figure 2 shown, it is a schematic diagram of the implementation process of another method for identifying the state of the sewage bucket provided by the embodiment of the present invention. This method is applied to the cleaning machine and specifically may include the following steps:

[0046] S201. Obtain the current value of the main motor in the cleaning machine.

[0047] In the embodiment of the present invention, for the cleaning machine, obtain the current value of the main motor in the cleaning machine. Here, the current value can be the AD value.

[0048] Among them, the current value of the main motor in the cleaning machine can be obtained periodically according to a preset current detection period.

[0049] For example, for the cleaning machine, the current detection period is preset to 100 ms, which means that the current value of the main motor in the cleaning machine is obtained every 100 ms.

[0050] In addition, as Figure 3 shown, it is a schematic diagram of the implementation process of a method for obtaining the current value of the main motor provided by the embodiment of the present invention. This method is applied to the cleaning machine and specifically may include the following steps:

[0051] S301. Obtain the voltage value of the dirt sensor, determine the fluctuation range of the voltage value, and judge whether the fluctuation range is greater than a preset voltage threshold.

[0052] In the embodiment of the present invention, introduce the hardware drive circuit of the DC motor. As Figure 4 shown, based on as Figure 4The hardware drive circuit of the DC motor shown samples the voltage of the dirt sensor in the cleaning machine to obtain the voltage value of the dirt sensor. Here, the voltage value can be the AD value, and the dirt sensor usually refers to a photoelectric sensor, which is not limited in the embodiments of the present invention.

[0053] In addition, in the embodiments of the present invention, the fluctuation range of the voltage value of the dirt sensor is determined, and it is judged whether the fluctuation range of the voltage value of the dirt sensor is greater than a preset voltage threshold. Thus, by judging the voltage value fluctuation, it is determined whether water is sucked into the sewage bucket in the cleaning machine.

[0054] For example, a voltage threshold of 20 (voltage 16 mV) is preset. When water is sucked into the sewage bucket in the cleaning machine, the voltage value of the dirt sensor will fluctuate. The fluctuation range of the voltage value of the dirt sensor is determined, and it is judged whether the fluctuation range is greater than 20 (voltage 16 mV).

[0055] It should be noted that for the method of determining the fluctuation range of the voltage value of the dirt sensor, specifically, the voltage values of the dirt sensor can be obtained separately before and after, and the difference is calculated to determine the fluctuation range, which is not limited in the embodiments of the present invention.

[0056] S302, if the fluctuation range is greater than the preset voltage threshold, it is determined that the sewage bucket in the cleaning machine is in the water absorption state.

[0057] In the embodiments of the present invention, if the fluctuation range of the voltage value of the dirt sensor is greater than the preset voltage threshold, it means that water is sucked into the sewage bucket in the cleaning machine, then it can be determined that the sewage bucket in the cleaning machine is in the water absorption state, otherwise it can be determined that the sewage bucket in the cleaning machine is not in the water absorption state.

[0058] S303, when it is determined that the sewage bucket in the cleaning machine is in the water absorption state, the current value of the main motor in the cleaning machine is obtained.

[0059] In the embodiments of the present invention, when it is determined that the sewage bucket in the cleaning machine is in the water absorption state, the judgment of the current change amount is triggered, and at this time, the current value of the main motor in the cleaning machine is obtained.

[0060] S202, obtain the first current value before the current value of the main motor decreases and the second current value after the decrease.

[0061] In the embodiments of the present invention, for the current value of the main motor in the cleaning machine, when the float jumps up and blocks, there is a change, that is, the current value of the main motor decreases, so that the first current value before the current value of the main motor decreases and the second current value after the decrease can be obtained.

[0062] For example, for the current value of the main motor in a cleaning machine, when the float jumps up and blocks, there is a change, that is, the current value of the main motor decreases. Thus, the first current value I1 before the decrease of the current value of the main motor and the second current value I2 after the decrease can be obtained.

[0063] S203. Determine the decrease amount of the current value of the main motor according to the first current value and the second current value.

[0064] In the embodiment of the present invention, for the first current value before the decrease of the current value of the main motor and the second current value after the decrease, the decrease amount of the current value of the main motor can be determined according to the first current value and the second current value. Among them, the difference between the first current value and the second current value can be used as the decrease amount of the current value of the main motor.

[0065] For example, for the first current value I1 before the decrease of the current value of the main motor and the second current value I2 after the decrease, subtract the second current value I2 from the first current value I1, that is, I1 - I2, and use the difference between the two as the decrease amount of the current value of the main motor.

[0066] S204. Identify the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value.

[0067] In the embodiment of the present invention, for the decrease amount of the current value of the main motor, the state of the sewage bucket in the cleaning machine can be identified according to the decrease amount of the current value.

[0068] Among them, when the decrease amount of the current value of the main motor exceeds a preset threshold, it is determined that the float in the sewage bucket jumps up, and it is identified that the sewage bucket in the cleaning machine is full of water.

[0069] For example, for the decrease amount of the current value of the main motor, when the decrease amount of the current value of the main motor exceeds 322 mA, it is determined that the float in the sewage bucket jumps up, and it is identified that the sewage bucket in the cleaning machine is full of water.

[0070] Through the above description of the technical solution provided by the embodiment of the present invention, obtain the current value of the main motor in the cleaning machine, obtain the first current value before the decrease of the current value of the main motor and the second current value after the decrease, determine the decrease amount of the current value of the main motor according to the first current value and the second current value, and identify the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value.

[0071] In this way, obtain the first current value before the decrease of the current value of the main motor and the second current value after the decrease, determine the decrease amount of the current value of the main motor according to the first current value and the second current value, and thus identify the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value, which can improve the accuracy of sewage bucket state detection.

[0072] In addition, it is also possible to calculate that the sewage bucket reaches the full state after the cleaning machine has run for a certain period of time based on the water pump flow rate of the cleaning machine and the capacity of the sewage bucket. This method can be used as an auxiliary judgment. When the cleaning machine is running, the water pump sprays water at a certain flow rate onto the rotary brush, and the sewage bucket receives the recovered dirt. When the predetermined running time is reached, the sewage bucket will reach the full state, and the cleaning machine will remind the user that the sewage bucket is about to be full. If there is no reminder that the sewage bucket is full within the preset running time of the cleaning machine, then when the preset running time is reached, the user can be reminded that the sewage bucket is full based on the running time.

[0073] Based on the hardware drive circuit of the DC motor, as Figure 5 shown, it is a schematic flowchart of the implementation process of another method for identifying the state of the sewage bucket provided by an embodiment of the present invention. This method is applied to a cleaning machine and specifically may include the following steps:

[0074] S501, obtain the current value of the main motor in the cleaning machine according to a preset current detection period, and store a preset number of the current values.

[0075] In the embodiment of the present invention, as Figure 6 shown, here is a line graph of the current values of the main motors in two different cleaning machines. The moment when it drops is when the float jumps up and blocks, and the longest drop time is 1 second. Therefore, in order to enclose this section where the current drops, obtain the current value of the main motor in the cleaning machine and store a preset number of current values. Among them, by saving the current value obtained each time and deleting the current value with the smallest acquisition time, a preset number of current values are stored.

[0076] For example, every 100 ms, obtain the current value of the main motor in the cleaning machine and store 30 current values. Among them, by saving the current value obtained each time and deleting the current value with the smallest acquisition time, 30 current values are stored, which means moving forward 1 bit each time a new data is stored, so that this section where the current drops can be enclosed.

[0077] S502, extract current value pairs from the preset number of the current values according to a preset value sampling rule.

[0078] In the embodiment of the present invention, current value pairs are extracted from the preset number of current values according to a preset value sampling rule. Specifically, among them, according to a preset value interval sampling rule, multiple current value pairs are extracted from the preset number of current values.

[0079] For example, for 30 current values, every 15 data are extracted to form multiple current value pairs. For example, the current value pairs can be a[0] and a

[15] , a[1] and a

[16] ,..., and in this way, every 15 data are extracted, that is, at an interval of 1.5 s, which is greater than the drop time.

[0080] S503. Determine the difference between the current value pairs and identify the state of the sewage bucket in the washing machine according to the difference.

[0081] In an embodiment of the present invention, for any pair of current values, determine the respective corresponding differences between the pair of current values, so that multiple differences can be obtained, and thus the state of the sewage bucket in the washing machine can be identified according to these differences.

[0082] Specifically, determine the difference between any pair of current values among multiple pairs of current values, and determine whether the difference is greater than a preset threshold. If a preset proportion of the differences is greater than the preset threshold, determine that the float in the sewage bucket has jumped up, and in the case of determining that the float in the sewage bucket has jumped up, identify that the sewage bucket in the washing machine is full of water.

[0083] For example, determine the difference between a[0] and a

[15] , determine whether the difference is greater than 5, determine the difference between a[1] and a

[16] , and determine whether the difference is greater than 5. In this way, determine the difference between any pair of current values among multiple pairs of current values, and determine whether the difference is greater than the preset threshold.

[0084] When a preset proportion of the differences is greater than 5 (the corresponding change in current exceeds 322 mA), that is, when more than 5 of the differences are greater than 5 among the differences of 30 data, it can be determined that the float in the sewage bucket has jumped up, and in the case of determining that the float in the sewage bucket has jumped up, identify that the sewage bucket in the washing machine is full of water.

[0085] Through the above description of the technical solution provided by the embodiment of the present invention, according to a preset current detection period, obtain the current value of the main motor in the washing machine, and store a preset number of current values. Among them, by saving the current value obtained each time and deleting the current value with the smallest acquisition time to store a preset number of current values, according to a preset value sampling rule, extract pairs of current values from the preset number of current values, determine the difference between the pairs of current values, and identify the state of the sewage bucket in the washing machine according to the difference. By judging the state of the sewage bucket at the moment when the current value drops, the accuracy of identifying the state of the sewage bucket is improved.

[0086] As Figure 7 shown, it is a schematic flowchart of the implementation process of another method for identifying the state of the sewage bucket provided by the embodiment of the present invention. This method is applied to a washing machine and specifically may include the following steps:

[0087] S701. Obtain the voltage value of the dirt sensor, determine the fluctuation range of the voltage value, and determine whether the fluctuation range is greater than a preset voltage threshold.

[0088] In an embodiment of the present invention, this step is similar to step S301 above, and the embodiment of the present invention will not elaborate here one by one.

[0089] S702, if the fluctuation range is greater than the preset voltage threshold, it is determined that the sewage bucket in the cleaning machine is in the water absorption state.

[0090] In the embodiment of the present invention, this step is similar to the above step S302, and the embodiments of the present invention will not be elaborated here one by one.

[0091] S703, when it is determined that the sewage bucket in the cleaning machine is in the water absorption state, obtain the current value of the main motor in the cleaning machine.

[0092] In the embodiment of the present invention, this step is similar to the above step S303, and the embodiments of the present invention will not be elaborated here one by one.

[0093] S704, determine the change amount of the current value.

[0094] In the embodiment of the present invention, when it is determined that the sewage bucket in the cleaning machine is in the water absorption state, trigger the judgment of the current change amount. At this time, obtain the current value of the main motor in the cleaning machine and determine the change amount of this current value.

[0095] Among them, determining the change amount of this current value can actually be to judge whether this current value is greater than the preset current threshold, so as to identify the state of the sewage bucket in the cleaning machine according to the judgment result.

[0096] S705, identify the state of the sewage bucket in the cleaning machine according to the change amount of the current value.

[0097] In the embodiment of the present invention, identify the state of the sewage bucket in the cleaning machine according to the change amount of the main motor current value.

[0098] Among them, if the current value is greater than the preset current threshold, it is determined that the float in the sewage bucket jumps up. When it is determined that the float in the sewage bucket jumps up, identify that the sewage bucket in the cleaning machine is full of water.

[0099] It should be noted that when it is determined that the float in the sewage bucket jumps up, the sewage bucket will not be able to absorb water, so it is identified that the sewage bucket in the cleaning machine is full of water, and the detection of the current value will not be triggered. The embodiments of the present invention do not make any limitations on this.

[0100] Through the description of the technical solution provided by the embodiments of the present invention above, obtain the voltage value of the dirt sensor, determine the fluctuation range of the voltage value, and judge whether the fluctuation range is greater than the preset voltage threshold. If the fluctuation range is greater than the preset voltage threshold, it is determined that the sewage bucket in the cleaning machine is in the water absorption state. When it is determined that the sewage bucket in the cleaning machine is in the water absorption state, obtain the current value of the motor in the cleaning machine, and judge whether the current value is greater than the preset current threshold. If the current value is greater than the preset current threshold, it is determined that the float in the sewage bucket jumps up, and when it is determined that the float in the sewage bucket jumps up, it is recognized that the sewage bucket in the cleaning machine is full of water. Judging the state of the sewage bucket through the characteristics of the dirt sensor improves the accuracy of recognizing the state of the sewage bucket.

[0101] As Figure 8 shown, it is a schematic flowchart of the implementation process of another method for recognizing the state of the sewage bucket provided by the embodiments of the present invention. This method is applied to a cleaning machine and specifically may include the following steps:

[0102] S801, obtain the first voltage value in the cleaning machine, where the first voltage value includes the voltage value after the electrode plate in the sewage bucket contacts the sewage in the sewage bucket and conducts electricity.

[0103] In the embodiments of the present invention, as Figure 9 shown, JP5: externally connect the sewage bucket and the (full water) electrode plate in a contact manner, and judge whether the sewage bucket reaches the full water line by the area of the electrode plate contacting the sewage (resulting in a change in voltage).

[0104] Based on this, the embodiments of the present invention obtain the first voltage value in the cleaning machine. The first voltage value can be an AD value and includes the voltage value after the electrode plate in the sewage bucket contacts the sewage in the sewage bucket and conducts electricity. According to this first voltage value, it can be judged whether the sewage bucket is full of water.

[0105] S802, determine the operating state of the cleaning machine at the current moment, and determine the sewage bucket full water threshold corresponding to the operating state.

[0106] In the embodiments of the present invention, for a cleaning machine, there are generally two operating states, namely normal operation with the body tilted and self-cleaning of the cleaning machine. For different operating states of the cleaning machine, different sewage bucket full water thresholds are preset.

[0107] Based on this, the embodiments of the present invention determine the operating state of the cleaning machine at the current moment and determine the sewage bucket full water threshold corresponding to the operating state. For example, if it is determined that the cleaning machine is in the self-cleaning stage at the current moment, the sewage bucket full water threshold D1 corresponding to the self-cleaning stage can be determined.

[0108] S803, judge whether the first voltage value is less than the sewage bucket full water threshold.

[0109] In an embodiment of the present invention, for the first voltage value, it is determined whether the first voltage value is less than the full water level threshold of the sewage bucket, so as to identify the state of the sewage bucket according to the determination result.

[0110] S804. If the first voltage value is less than the full water level threshold of the sewage bucket, determine the first full water level detection moment when the first voltage value is less than the full water level threshold of the sewage bucket.

[0111] S805. Starting from the first full water level detection moment, accumulate the first full water level detection duration until the second full water level detection moment when the first voltage value is not less than the full water level threshold of the sewage bucket, and the accumulation of the first full water level detection duration ends.

[0112] S806. If the first full water level detection duration is greater than the preset first full water level detection duration threshold, determine that the sewage bucket in the cleaning machine is full of water.

[0113] S807. If the first full water level detection duration is not greater than the preset first full water level detection duration threshold, starting from the second full water level detection moment, accumulate the second full water level detection duration until the third full water level detection moment when the first voltage value is not greater than the full water level threshold of the sewage bucket, and the accumulation of the second full water level detection duration ends.

[0114] S808. If the second full water level detection duration is greater than the preset second full water level detection duration threshold, determine that this detection is invalid and re-detect.

[0115] S809. If the second full water level detection duration is not greater than the preset second full water level detection duration threshold, starting from the third full water level detection moment, accumulate the third full water level detection duration until the fourth full water level detection moment when the first voltage value is not less than the full water level threshold of the sewage bucket, and the accumulation of the third full water level detection duration ends.

[0116] S810. If the sum of the first full water level detection duration and the third full water level detection duration is greater than the preset first full water level detection duration threshold, determine that the sewage bucket in the cleaning machine is full of water.

[0117] In an embodiment of the present invention, for the first voltage value, if the first voltage value is less than the full water level threshold of the sewage bucket, it can be determined that the sewage bucket in the cleaning machine is full of water. For example, if the first voltage value is less than the Y value, it can be determined that the sewage bucket in the cleaning machine is full of water.

[0118] However, in the actual use process, due to the continuous shaking of the cleaning machine, the first voltage value changes continuously, as Figure 10 shown, so a filtering method is needed to eliminate the influence of △x2 on the whole.

[0119] Specifically, if the first voltage value is less than the full water level threshold of the sewage bucket, the first full water level detection moment when the first voltage value is less than the full water level threshold of the sewage bucket can be determined. Starting from the first full water level detection moment, the first full water level detection duration is accumulated until the second full water level detection moment when the first voltage value is not less than the full water level threshold of the sewage bucket. The accumulation of the first full water level detection duration ends. If the first full water level detection duration is greater than the preset first full water level detection duration threshold, it is determined that the sewage bucket in the cleaning machine is full of water.

[0120] For example, if the first voltage value is less than the Y value, determine the first full water level detection moment when the first voltage value is less than the Y value. Starting from the first full water level detection moment, accumulate the duration of △x1 until the second full water level detection moment when the first voltage value is not less than the Y value. The accumulation of the △x1 duration ends. At this time, if the △x1 duration is greater than 1 s, it is considered that the sewage bucket in the cleaning machine is full of water, and the cleaning machine needs to stop immediately.

[0121] If the first full water level detection duration is not greater than the preset first full water level detection duration threshold, starting from the second full water level detection moment, accumulate the second full water level detection duration until the third full water level detection moment when the first voltage value is not greater than the full water level threshold of the sewage bucket. The accumulation of the second full water level detection duration ends. If the second full water level detection duration is greater than the preset second full water level detection duration threshold, it is determined that this detection is invalid and a re-detection is required.

[0122] For example, if the △x1 duration is not greater than 1 s, starting from the second full water level detection moment, accumulate the △x2 duration until the third full water level detection moment when the first voltage value is not greater than the Y value. The accumulation of the △x2 duration ends. At this time, if the △x2 duration is greater than 50 ms, it is considered that this detection is invalid and a re-detection is required.

[0123] If the second full water level detection duration is not greater than the preset second full water level detection duration threshold, starting from the third full water level detection moment, accumulate the third full water level detection duration until the fourth full water level detection moment when the first voltage value is not less than the full water level threshold of the sewage bucket. The accumulation of the third full water level detection duration ends. If the sum of the first full water level detection duration and the third full water level detection duration is greater than the preset first full water level detection duration threshold, it is determined that the sewage bucket in the cleaning machine is full of water.

[0124] For example, if the △x2 duration is not greater than 50 ms, starting from the third full water level detection moment, accumulate the △x3 duration until the fourth full water level detection moment when the first voltage value is not less than the Y value. The accumulation of the △x3 duration ends. At this time, if the sum of the △x1 duration and the △x3 duration is greater than 1 s, it can be considered that the sewage bucket in the cleaning machine is full of water. This method can effectively filter out the spike voltage during operation.

[0125] Through the description of the technical solution provided by the embodiments of the present invention above, a first voltage value is obtained, where the first voltage value includes the voltage value after the electrode plate in the sewage bucket contacts the sewage in the sewage bucket and conducts electricity. The operating state of the cleaning machine at the current moment is determined, and the sewage bucket full threshold corresponding to the operating state is determined. If the first voltage value is less than the sewage bucket full threshold, the first full water detection moment when the first voltage value is less than the sewage bucket full threshold is determined. Starting from the first full water detection moment, the first full water detection duration is accumulated until the second full water detection moment when the first voltage value is not less than the sewage bucket full threshold. The accumulation of the first full water detection duration ends. If the first full water detection duration is greater than the preset first full water detection duration threshold, it is determined that the sewage bucket in the cleaning machine is full. If the first full water detection duration is not greater than the preset first full water detection duration threshold, starting from the second full water detection moment, the second full water detection duration is accumulated until the third full water detection moment when the first voltage value is not greater than the sewage bucket full threshold. The accumulation of the second full water detection duration ends. If the second full water detection duration is greater than the preset second full water detection duration threshold, it is determined that this detection is invalid and a re-detection is performed. If the second full water detection duration is not greater than the preset second full water detection duration threshold, starting from the third full water detection moment, the third full water detection duration is accumulated until the fourth full water detection moment when the first voltage value is not less than the sewage bucket full threshold. The accumulation of the third full water detection duration ends. If the sum of the first full water detection duration and the third full water detection duration is greater than the preset first full water detection duration threshold, it is determined that the sewage bucket in the cleaning machine is full. By judging whether the sewage bucket reaches the full water line through the area of the electrode plate contacting the sewage (resulting in voltage changes), the accuracy of identifying the state of the sewage bucket is improved.

[0126] As Figure 11 shown, it is a schematic flowchart of the implementation process of another method for identifying the state of the sewage bucket provided by the embodiments of the present invention. This method is applied to a cleaning machine and specifically may include the following steps:

[0127] S1101, Obtain a second voltage value in the cleaning machine, where the second voltage value includes the voltage value of the target contact point among the terminals in contact with the sewage bucket.

[0128] In the embodiments of the present invention, as Figure 9 shown, JP5: Externally connect the sewage bucket and the (full water) electrode plate through the contact point method, and use the contact disconnection of the contact point to judge the installation of the sewage bucket.

[0129] Based on this, the embodiments of the present invention obtain a second voltage value, where the second voltage value includes the voltage value of the target contact point among the terminals in contact with the sewage bucket.

[0130] S1102, Determine the operating state of the cleaning machine at the current moment, and determine the sewage bucket installation threshold corresponding to the operating state.

[0131] In the embodiments of the present invention, for a cleaning machine, there are generally two operating states, namely normal operation with the body tilted and self-cleaning of the cleaning machine. For different operating states of the cleaning machine, different installation thresholds for the sewage bucket are preset.

[0132] Based on this, the embodiments of the present invention determine the operating state of the cleaning machine at the current moment and determine the installation threshold of the sewage bucket corresponding to the operating state. For example, if it is determined that the cleaning machine is in the self-cleaning stage at the current moment, the installation threshold D2 corresponding to the self-cleaning stage can be determined.

[0133] S1103, determine whether the second voltage value is less than the installation threshold of the sewage bucket.

[0134] In the embodiments of the present invention, for the second voltage value, determine whether the second voltage value is less than the installation threshold of the sewage bucket, so as to identify whether the sewage bucket is installed according to the judgment result.

[0135] S1104, if the second voltage value is greater than the installation threshold of the sewage bucket, determine the first installation detection moment when the second voltage value is greater than the non-installed threshold of the sewage bucket.

[0136] S1105, start accumulating the first installation detection duration from the first installation detection moment until the second installation detection moment when the second voltage value is not greater than the installation threshold of the sewage bucket, and the accumulation of the first installation detection duration ends.

[0137] S1106, if the first installation detection duration is greater than the preset first installation detection duration threshold, determine that the sewage bucket in the cleaning machine is not installed, and control the cleaning machine to stop.

[0138] S1107, if the first installation detection duration is not greater than the preset first installation detection duration threshold, start accumulating the second installation detection duration from the second installation detection moment until the third installation detection moment when the second voltage value is not less than the installation threshold of the sewage bucket, and the accumulation of the second installation detection duration ends.

[0139] S1108, if the second installation detection duration is greater than the preset second installation detection duration threshold, determine that this detection is invalid and re-detect.

[0140] S1109, if the second installation detection duration is not greater than the preset second installation detection duration threshold, start accumulating the third installation detection duration from the third installation detection moment until the fourth installation detection moment at the third installation detection moment when the second voltage value is not greater than the installation threshold of the sewage bucket, and the accumulation of the third installation detection duration ends.

[0141] S1110. If the sum of the first installation detection duration and the third installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the cleaning machine is not installed.

[0142] In an embodiment of the present invention, for the second voltage AD value, if the second voltage AD value is greater than the sewage bucket installation threshold, it can be determined that the sewage bucket in the cleaning machine is not installed. For example, if the second voltage AD value is greater than Y, it can be determined that the sewage bucket in the cleaning machine is not installed.

[0143] However, during actual use, due to the continuous shaking of the cleaning machine, the second voltage value continuously changes, as Figure 12 shown, so a filtering method is needed to eliminate the influence of △x2 on the whole.

[0144] Specifically, if the second voltage value is greater than the sewage bucket installation threshold, determine the first installation detection moment when the second voltage value is greater than the sewage bucket non-installation threshold. Start accumulating the first installation detection duration from the first installation detection moment until the second installation detection moment when the second voltage value is not greater than the sewage bucket installation threshold. The accumulation of the first installation detection duration ends. If the first installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the cleaning machine is not installed, and the cleaning machine is controlled to stop.

[0145] For example, if the second voltage value is greater than Y, determine the first installation detection moment when the second voltage value is greater than Y. Start accumulating the △x1 duration from the first installation detection moment until the second installation detection moment when the second voltage value is not greater than Y. The accumulation of the △x1 duration ends. At this time, if the △x1 duration is greater than 1 s, it is determined that the sewage bucket in the cleaning machine is not installed, and the cleaning machine is controlled to stop.

[0146] In addition, if the first installation detection duration is not greater than the preset first installation detection duration threshold, start accumulating the second installation detection duration from the second installation detection moment until the third installation detection moment when the second voltage value is not less than the sewage bucket installation threshold. The accumulation of the second installation detection duration ends. If the second installation detection duration is greater than the preset second installation detection duration threshold, it is determined that this detection is invalid and a re-detection is performed.

[0147] For example, if the △x1 duration is not greater than 1 s, start accumulating the △x2 duration from the second installation detection moment until the third installation detection moment when the second voltage value is not less than Y. The accumulation of the △x2 duration ends. At this time, if the △x2 duration is greater than 50 ms, it is determined that this detection is invalid and a re-detection is performed.

[0148] In addition, if the second installation detection duration is not greater than the preset second installation detection duration threshold, the third installation detection duration is accumulated starting from the third installation detection moment until the fourth installation detection moment at which the second voltage value is not greater than the sewage bucket installation threshold and the third installation detection moment, and the accumulation of the third installation detection duration ends. If the sum of the first installation detection duration and the third installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the cleaning machine is not installed.

[0149] For example, if the △x2 duration is not greater than 50 ms, the △x3 duration is accumulated starting from the third installation detection moment until the fourth installation detection moment at which the second voltage value is not greater than Y and the third installation detection moment, and the accumulation of the △x3 duration ends. At this time, if the sum of the △x1 duration and the △x3 duration is greater than 1 s, it is determined that the sewage bucket in the cleaning machine is not installed.

[0150] Through the description of the technical solution provided in the embodiment of the present invention above, the second voltage value is obtained, where the second voltage value includes the voltage value of the target contact in the terminal in contact with the sewage bucket, the operating state of the cleaning machine at the current moment is determined, and the sewage bucket installation threshold corresponding to the operating state is determined. If the second voltage value is greater than the sewage bucket installation threshold, the first installation detection moment when the second voltage value is greater than the sewage bucket uninstalled threshold is determined, and the first installation detection duration is accumulated starting from the first installation detection moment until the second installation detection moment when the second voltage value is not greater than the sewage bucket installation threshold, and the accumulation of the first installation detection duration ends. If the first installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the cleaning machine is not installed, and the cleaning machine is controlled to stop. If the first installation detection duration is not greater than the preset first installation detection duration threshold, the second installation detection duration is accumulated starting from the second installation detection moment until the third installation detection moment when the second voltage value is not less than the sewage bucket installation threshold, and the accumulation of the second installation detection duration ends. If the second installation detection duration is greater than the preset second installation detection duration threshold, it is determined that this detection is invalid and a re-detection is performed. If the second installation detection duration is not greater than the preset second installation detection duration threshold, the third installation detection duration is accumulated starting from the third installation detection moment until the fourth installation detection moment at which the second voltage value is not greater than the sewage bucket installation threshold and the third installation detection moment, and the accumulation of the third installation detection duration ends. If the sum of the first installation detection duration and the third installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the cleaning machine is not installed. Using the contact disconnection of the contact to judge the installation of the sewage tank improves the accuracy of sewage bucket state recognition.

[0151] In addition, when the current cleaning machine is powered by alternating current, a high-voltage and low-power DC motor is selected as the floor brush motor (or main motor). Due to safety regulations, the PCBA needs to perform strong and weak electricity isolation processing. At this time, the monitoring of the motor current can only use a current sensor, and the following problems are likely to occur:

[0152] 1. The operating current of a high-voltage low-power motor is at the mA level, and it is difficult for general current sensors to achieve mA accuracy. 2. There will still be voltage fluctuations when alternating current is converted to direct current, which will cause fluctuations in the motor current and lead to unstable sampling values. 3. Due to the existence of sensor errors, sensor supply voltage fluctuations, circuit load fluctuations, etc., the signal noise is large, and it is difficult to effectively monitor the mA-level operating current and its changes. 4. The constant system error caused by the differences in the whole machine system is likely to cause a large degree of deviation in the mA-level current signal. For example, if the constant error is 100 mA and the actual current signal is 100 mA, then the measured value is 200 mA, with a 100% deviation from the actual value. However, if the actual current is 1 A, then the measured value is 1100 mA, with only a 10% deviation. Therefore, it is difficult to set the current protection threshold for different whole machines for trial use.

[0153] Based on this, the embodiments of the present invention provide a method for monitoring the mA-level operating current of a high-voltage motor based on an ampere-level precision current sensor, which has low cost and accurate monitoring. Specifically, as Figure 13 shown, it is a schematic diagram of the implementation process of a method for monitoring the motor current in a washing machine provided by the embodiments of the present invention. This method is applied to a washing machine and specifically may include the following steps:

[0154] S1301, obtain the first original current signal of the motor in the washing machine output by the current sensor, and perform preprocessing on the first original current signal to obtain the first effective current signal.

[0155] In the embodiments of the present invention, a high-voltage motor current monitoring circuit is provided. As Figure 14 shown, the main components include a fuse, a thyristor, a rectifier bridge, and a current sensor. The single-chip microcomputer gives a control signal from the CTR_BRUSH pin to control the opening and closing of the thyristor. The strong electrical power supply of the circuit is 220V, 50Hz household electricity, and the weak electricity is supplied with a regulated 5V power supply. The rated voltage of the controlled motor is 310V, and the rated power is 35W. The current sensor outputs a signal through the SMCS pin for sampling by the single-chip microcomputer.

[0156] Based on this, in the embodiments of the present invention, sampling is performed by, for example, a single-chip microcomputer to obtain the first original current signal of the motor in the washing machine output by the current sensor, and the first original current signal is preprocessed to obtain the first effective current signal, aiming to control the current signal fluctuations caused by voltage (the DC voltage obtained after the alternating current passes through the full rectifier bridge).

[0157] Among them, the motor power supply is obtained through full-bridge rectification and is a half-sine wave with a frequency of 100 Hz, rather than a stable direct current. To be consistent with the results of other measuring devices (such as clamp meters), it is necessary to calculate its effective value. Therefore, the first original current signal is subjected to A / D conversion, and the first original current signal after A / D conversion is processed through mean filtering to obtain a preprocessed current signal; the preprocessed current signal is processed through a sine wave effective value calculation algorithm to obtain a first effective current signal, or the peak value of the preprocessed current signal is selected as the first effective current signal.

[0158] It should be noted that in the embodiment of the present invention, mean filtering + sine wave effective value calculation algorithm is used to preprocess the first original current signal. Mean filtering can suppress noise to a certain extent and enhance the accuracy of effective value calculation. The method of sine wave effective value calculation is but not limited to the root mean square method. In addition, the effective value calculation is not necessary. It is only for the purpose of unifying with the values of measuring devices, and the peak value can also be used as the result (that is, the first effective current signal). The embodiment of the present invention does not limit this.

[0159] In addition, in the embodiment of the present invention, the motor current anomaly monitoring is divided into two types, one is the short-term monitoring during motor startup, and the other is the monitoring during the motor operation process (including during motor startup). Therefore, the embodiment of the present invention can obtain the first original current signal of the motor during startup in the washing machine output by the current sensor according to the requirements of motor current anomaly monitoring, and / or obtain the first original current signal of the motor during operation in the washing machine output by the current sensor. The embodiment of the present invention does not limit this.

[0160] S1302, obtain the system error of the washing machine, and subtract the system error of the washing machine from the first effective current signal to obtain an effective current signal with the error eliminated.

[0161] In the embodiment of the present invention, the system errors of the circuit and the mechanical part have a great influence on the mA-level current signal. Therefore, it is necessary to eliminate the system error after calculating the effective value of the current signal. Among them, the system errors of the circuit and the mechanical part include circuit error and mechanical error. The circuit error mainly refers to the voltage error of the sensor peripheral circuit. For example, the stability of the sensor power supply voltage has a great influence on the signal. The mechanical error mainly refers to the transmission error. The resistance caused by the installation deviation of the transmission components themselves will also cause different motor current fluctuations.

[0162] Specifically, for the systematic errors of the circuit and mechanical systems, i.e., the systematic errors of the cleaning machine system are obtained in the following way: when the power-on signal of the cleaning machine is received, delay for the first time period to wait for the other loads of the cleaning machine except the motor to turn on; turn on the thyristor to supply power to the motor of the cleaning machine, delay for the second time period, and obtain N second original current signals of the motor in the cleaning machine output by the current sensor; preprocess the N second original current signals to obtain N second effective current signals, and determine the average value of the N second effective current signals as the systematic error of the cleaning machine.

[0163] For example, when the power-on signal of the cleaning machine is received, first delay for the first time period t1 to wait for the other loads of the cleaning machine except the motor to turn on, then turn on the thyristor to supply power to the motor of the cleaning machine, delay for the second time period t2, obtain N second original current signals of the motor in the cleaning machine output by the current sensor, preprocess the N second original current signals to obtain N second effective current signals, and determine the average value of the N second effective current signals as the systematic error of the cleaning machine. Subsequently, the effective current value obtained through the sensor needs to subtract this constant error to eliminate the difference in current monitoring between systems.

[0164] It should be noted that the preprocessing process for the N second original current signals is similar to the preprocessing process for the above first original current signals, and the embodiments of the present invention will not elaborate on them one by one here.

[0165] Through the above steps, the systematic error of the cleaning machine can be obtained. Thus, in the subsequent actual monitoring of the motor current, after obtaining the first effective current signal after preprocessing, obtain the systematic error of the cleaning machine, subtract the systematic error of the cleaning machine from the first effective current signal, so as to enhance the accuracy of the data, eliminate the difference between the whole machines, and obtain the effective data with the error eliminated, that is, obtain the effective current signal with the error eliminated.

[0166] S1303, filter the effective current signal with the error eliminated by using a preset filtering method to obtain a filtered current signal.

[0167] In the embodiments of the present invention, there will also be noise interference for the effective current signal with the error eliminated. Therefore, it is necessary to perform filtering again. Thus, filter the effective current signal with the error eliminated by using a preset filtering method to obtain a filtered current signal.

[0168] It should be noted that the filtering method can be selected as the Kalman filter or the low-pass filtering method, etc., which can suppress noise interference more accurately. The embodiments of the present invention do not limit this. In addition, considering that filtering has a certain lag, it is necessary to retain the original data together to monitor abnormal fluctuations and make timely responses (actions performed on equipment with abnormal fluctuations in current signals, such as performing a stall protection - the floor brush stops rotating when the current suddenly increases).

[0169] S1304. Monitor whether the motor current in the washing machine is abnormal according to the filtered current signal.

[0170] In an embodiment of the present invention, when obtaining the first original current signal when the motor in the washing machine starts up output by the current sensor, determine whether the filtered current signal is greater than a preset first current threshold. If the filtered current signal is greater than the preset first current threshold, count the duration for which the filtered current signal is greater than the preset first current threshold. If the duration is greater than a preset duration threshold, determine that the motor current in the washing machine is abnormal and issue an abnormal alarm.

[0171] For example, for short-term monitoring during motor startup, preset a duration threshold of 2 seconds. Determine whether the filtered current signal is greater than the preset first current threshold. If the filtered current signal is greater than the preset first current threshold, count the duration for which the filtered current signal is greater than the preset first current threshold. If the duration for which the filtered current signal is greater than the preset first current threshold is greater than the set duration threshold, determine that the motor current in the washing machine is abnormal and issue an abnormal alarm.

[0172] In an embodiment of the present invention, when obtaining the first original current signal when the motor in the washing machine is running output by the current sensor, obtain N preset second current thresholds, where the N preset second current thresholds are different from each other (and the N preset second current thresholds increase gradually). If the filtered current signal is greater than the i-th preset second current threshold, determine the cumulative value corresponding to the i-th preset second current threshold, and the counter accumulates the cumulative value. If the filtered current signal is less than the minimum value among the N preset second current thresholds, determine the decrement value, and the counter subtracts the decrement value. If the value counted by the counter is greater than a preset set value, determine that the motor current in the washing machine is abnormal and issue an abnormal alarm. The above steps can be executed periodically.

[0173] For example, during the operation of the motor, for abnormal current monitoring, a counter is set to count at equal intervals (e.g., count once every 1 ms). Two second current thresholds are set, which are 600 mA and 800 mA respectively. The accumulated value corresponding to 600 mA is 1, and the accumulated value corresponding to 800 mA is 2. The accumulated value corresponding to the second current threshold increases as the second current threshold increases. When the filtered current signal continuously exceeds 600 mA for more than 100 ms, protection is triggered. When the filtered current signal continuously exceeds 800 mA for more than 50 ms, protection is triggered. The counter is executed every 1 ms. Then, when the filtered current signal is greater than 600 mA, the counter accumulates 1 corresponding to 600 mA. When the filtered current signal is greater than 800 mA, the counter accumulates 2 corresponding to 800 mA. When the filtered current signal is less than the minimum value of the two second current thresholds (i.e., 600 mA), the determined accumulated value 1 is obtained, and the counter decrements by 1 until it reaches 0. In this way, each time the counter is executed through the following steps, and then if the value counted by the counter is greater than the preset value, it is determined that the current of the motor in the washing machine is abnormal, and an abnormal alarm is given.

[0174] Through the above description of the technical solutions provided by the embodiments of the present invention, the first original current signal of the motor in the washing machine output by the current sensor is obtained, the first original current signal is preprocessed to obtain the first effective current signal, the system error of the washing machine is obtained, the first effective current signal is subtracted from the system error of the washing machine to obtain the effective current signal with the error eliminated, and the preset filtering method is used to filter the effective current signal with the error eliminated to obtain the filtered current signal. According to the filtered current signal, it is monitored whether the current of the motor in the washing machine is abnormal. In this way, hardware filtering is not required, the cost is low, sensors with low precision (ampere level) can be used to effectively monitor milliamperage current, and the current anomaly can be quickly monitored and responded to when the motor starts. Different response speeds can be achieved for different degrees of motor blockage (i.e., different degrees of current anomaly) during the operation of the motor, and the adaptability is good.

[0175] In addition, in the embodiments of the present invention, the multi-sensors used for identifying the states such as the water level in the sewage bucket and installation in the washing machine refer to the (relative) air pressure sensor and the Hall sensor. The (relative) air pressure sensor is installed in the air duct of the sewage bucket of the washing machine, the Hall sensor is installed on the body in contact with the bottom of the sewage bucket, and the magnet is installed on the float of the sewage bucket, as Figure 15 shown.

[0176] When the air duct of the sewage bucket is blocked (the sewage in the sewage bucket causes the float to rise and block the air duct), a negative pressure is generated in the air duct, and the value of the (relative) air pressure sensor will drop rapidly. When the float rises, the magnet will move away from the Hall sensor, so that the Hall sensor outputs a high level. When the sewage in the sewage bucket is empty, the float contacts the bottom of the sewage bucket, the magnet approaches the Hall sensor, and the Hall sensor outputs a low level.

[0177] Based on this, when the user presses the power-on button of the cleaning machine and tilts the body to start working, the cleaning machine is powered on but the main motor is not working. At this time, the relative pressure sensor measures the air pressure value as the initial air pressure value. Subsequently, the main motor of the cleaning machine works, and then the relative pressure sensor measures the air pressure value as the target air pressure value. The level value output by the Hall sensor is obtained. According to the level value output by the Hall sensor, the difference between the initial air pressure value and the target air pressure value is determined. Finally, the difference between the initial air pressure value and the target air pressure value is compared with the preset water full threshold or the sewage bucket not installed threshold, so that whether the sewage bucket is full of water or not installed can be identified according to the comparison result, and the identification of the sewage bucket state is completed. By comprehensively judging the sewage bucket state through the characteristics of the relative pressure sensor and the Hall sensor, the accuracy of the sewage bucket state identification is improved, and the influence of different altitudes on the relative pressure sensor is eliminated.

[0178] Specifically, as Figure 16 shown, it is a schematic diagram of the implementation process of another sewage bucket state identification method provided by an embodiment of the present invention. This method is applied to a cleaning machine and specifically may include the following steps:

[0179] S1601, obtain the initial air pressure value, where the initial air pressure value includes the air pressure value measured by the relative pressure sensor when the cleaning machine is powered on but the main motor is not working.

[0180] In the embodiment of the present invention, when the cleaning machine is powered on but the main motor is not working, the measured value of the relative pressure sensor in any altitude area is approximate. The reason is that the difference between the pipeline air pressure measured by the relative pressure sensor and the external air pressure. The absolute pressure sensor measures the ambient air pressure. Therefore, when the cleaning machine is powered on but the main motor is not working (no negative pressure is generated), the measured value of the relative pressure sensor in any altitude area is basically the same.

[0181] Based on this, in the embodiment of the present invention, the initial air pressure value is obtained. Here, the initial air pressure value includes the air pressure value measured by the relative pressure sensor when the cleaning machine is powered on but the main motor is not working. For example, when the cleaning machine is powered on but the main motor is not working, the air pressure value measured by the relative pressure sensor is obtained as the initial air pressure value and this value is recorded

[0182] S1602, obtain the target air pressure value, where the target air pressure value includes the air pressure value measured by the relative pressure sensor when the main motor of the cleaning machine is working.

[0183] S1603, obtain the level value output by the Hall sensor, and determine the difference between the initial air pressure value and the target air pressure value according to the level value.

[0184] S1604, compare the difference with the preset water full threshold or the sewage bucket not installed threshold, and identify whether the sewage bucket is full of water or not installed according to the comparison result.

[0185] In an embodiment of the present invention, a target air pressure value is obtained. The target air pressure value includes the air pressure value measured by the relative air pressure sensor when the main motor of the cleaning machine is operating, which means that when the main motor of the cleaning machine starts to operate, the air pressure value measured by the relative air pressure sensor is obtained as the target air pressure value. For example, when the main motor of the cleaning machine is operating, the value measured by the relative air pressure sensor is f(t).

[0186] In addition, in an embodiment of the present invention, the level value output by the Hall sensor is obtained. According to the level value output by the Hall sensor, the difference between the initial air pressure value and the target air pressure value is determined, and the difference is compared with a preset water full threshold or a sewage bucket not installed threshold. According to the comparison result, it is identified whether the sewage bucket is full of water or not installed.

[0187] Specifically, according to a preset sewage bucket status identification period, the target air pressure value is obtained. In addition, similarly, according to the preset sewage bucket status identification period, the level value output by the Hall sensor is obtained, which means that two values are obtained in each sewage bucket status identification period, namely the air pressure value measured by the relative air pressure sensor as the target air pressure value and the level value output by the Hall sensor.

[0188] Immediately afterwards, the weight coefficient can be determined according to the level value output by the Hall sensor. The weight coefficient, the initial air pressure value, and the target air pressure value are input into a preset difference calculation model, and thus the difference between the initial air pressure value and the target air pressure value output by the preset difference calculation model is obtained. In this way, a difference between the initial air pressure value and the target air pressure value can be obtained every time a sewage bucket status identification period elapses. Here, the initial air pressure value participates in the calculation of each difference.

[0189] Among them, the preset difference calculation model includes:

[0190]

[0191] The Δ(t) includes the difference, and the includes the initial air pressure value, the δ(t) includes the weight coefficient, and the f(t) includes the target air pressure value.

[0192] It should be noted that for the above difference calculation model that combines the Hall sensor to construct the air pressure sensor, the basic principle can be understood as using the weight to weaken the influence of the negative pressure generated by the motor in different altitude air pressure environments (the measured value of the air pressure sensor), and to a certain extent, the environmental factors are eliminated. Because the Hall sensor has a shrinking effect on the numerical value of the air pressure sensor when the float floats, on the one hand, even if the air duct is blocked in different altitude areas, the data difference will become smaller, thus eliminating the influence of altitude on the air pressure sensor. On the other hand, the shrinking effect amplifies the difference of the air pressure sensor when the air duct is blocked, and has a good distinction from the pressure difference during normal operation.

[0193] For example, every 10 ms, the air pressure value measured by the relative air pressure sensor is obtained as the target air pressure value f(t). In addition, similarly, every 10 ms, the level value v output by the Hall sensor is obtained, which means that every 10 ms, two values are obtained, namely the air pressure value measured by the relative air pressure sensor as the target air pressure value and the level value output by the Hall sensor.

[0194] Immediately afterwards, for the target air pressure value and the level value obtained every 10 ms, the weight coefficient δ(t) can be determined according to the level value. The weight coefficient, the initial air pressure value, and the target air pressure value are input into the preset difference calculation model, and thus the difference between the initial air pressure value and the target air pressure value output by the preset difference calculation model is obtained. In this way, every 10 ms, a difference between the initial air pressure value and the target air pressure value can be obtained.

[0195] In addition, the level value is input into the preset weight coefficient calculation model, and the weight coefficient output by the preset weight coefficient calculation model is obtained. Thus, the weight coefficient is determined according to the level value, where the preset weight coefficient calculation model includes:

[0196]

[0197] The δ(t) includes the weight coefficient, the v includes the level value, where a is a constant and less than 1, and can be adjusted according to the actual situation.

[0198] After going through the above steps, every time a sewage bucket state recognition cycle is experienced, a difference between the initial air pressure value and the target air pressure value can be obtained. The difference is compared with the preset full water threshold or the sewage bucket not installed threshold. Within a preset time period, if the difference or a preset proportion of the differences is greater than the preset full water threshold, it is recognized that the sewage bucket is full of water. Or, within a preset time period, if the difference or a preset proportion of the differences is greater than the sewage bucket not installed threshold, it is recognized that the sewage bucket is not installed.

[0199] For example, every 10 ms, a difference between the initial air pressure value and the target air pressure value can be obtained. The difference is compared with the preset full water threshold Δ1 or the sewage bucket not installed threshold Δ2. Within 3 seconds or 5 seconds, if all or most of the differences in this time period are greater than the preset full water threshold, it is recognized that the sewage bucket is full of water. Or, within 3 seconds or 5 seconds, if all or most of the differences in this time period are greater than the sewage bucket not installed threshold, it is recognized that the sewage bucket is not installed.

[0200] Through the description of the technical solutions provided in the embodiments of the present invention above, the relative pressure sensor is installed in the sewage bucket air duct of the washing machine, and the Hall sensor is installed on the body in contact with the bottom of the sewage bucket to obtain the initial air pressure value. Among them, the initial air pressure value includes the air pressure value measured by the relative pressure sensor when the washing machine is powered on but the main motor is not working. The target air pressure value is obtained, where the target air pressure value includes the air pressure value measured by the relative pressure sensor when the main motor of the washing machine is working. The level value output by the Hall sensor is obtained, and the difference between the initial air pressure value and the target air pressure value is determined according to the level value. The difference is compared with a preset water full threshold or a sewage bucket uninstalled threshold, and whether the sewage bucket is full of water or uninstalled is identified according to the comparison result. By comprehensively judging the state of the sewage bucket based on the characteristics of the relative pressure sensor and the Hall sensor, the accuracy of identifying the state of the sewage bucket is improved, and the influence of different altitude regions on the relative pressure sensor is eliminated.

[0201] In addition, an embodiment of the present invention provides an operation method for a washing machine: the user presses the power-on button, tilts the body to start working. After detecting that the sewage bucket is full of water through the above sewage bucket state identification method, the movement is stopped (the washing machine is in a standby state). When it is detected that the sewage bucket is removed and after a preset time, and then it is detected that the sewage bucket is stably installed (the installation time reaches the first time value), and it is detected that the sewage bucket is not full of water through the above sewage bucket state identification method, the user can tilt the body to run again. In this process, the machine is in a standby state instead of a shutdown state. After the sewage bucket is reinstalled, the user does not need to press the power-on button, and only needs to tilt the body to start working. In this way, it is possible to restore the normal operation of the machine without shutting down when detecting that the water is full.

[0202] Corresponding to the above method embodiment, an embodiment of the present invention further provides a sewage bucket state identification device, as Figure 17 shown, which is applied to a washing machine. The device may include: an electrical signal value acquisition module 1710, a change amount determination module 1720, and a state identification module 1730.

[0203] The electrical signal value acquisition module 1710 is used to acquire the electrical signal value in the washing machine;

[0204] The change amount determination module 1720 is used to determine the change amount of the electrical signal value;

[0205] The state identification module 1730 is used to identify the state of the sewage bucket in the washing machine according to the change amount of the electrical signal value.

[0206] An embodiment of the present invention further provides a washing machine, as Figure 18 shown, including a processor 181, a communication interface 182, a memory 183, and a communication bus 184. Among them, the processor 181, the communication interface 182, and the memory 183 communicate with each other through the communication bus 184.

[0207] A memory 183 for storing a computer program;

[0208] A processor 181, when executing the program stored in the memory 183, implements the following steps:

[0209] Obtain the electrical signal value in the cleaning machine; determine the change amount of the electrical signal value; identify the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value.

[0210] The communication bus mentioned in the above cleaning machine may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0211] The communication interface is used for communication between the above cleaning machine and other devices.

[0212] The memory may include a Random Access Memory (RAM), or may also include a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0213] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0214] In another embodiment provided by the present invention, a storage medium is further provided. Instructions are stored in this storage medium. When it runs on a computer, it causes the computer to execute the sewage bucket state recognition method described in any one of the above embodiments.

[0215] In another embodiment provided by the present invention, there is also provided a computer program product including instructions, which when running on a computer, causes the computer to execute the sewage bucket state recognition method described in any one of the above embodiments.

[0216] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a storage medium or transmitted from one storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0217] It should be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device including the element.

[0218] Each embodiment in this specification is described in a related manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0219] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A method for identifying the state of a sewage bucket, characterized in that, Applied to a cleaning machine, the method includes: Obtaining the electrical signal value in the cleaning machine, including: obtaining the voltage value of a dirt sensor, determining the fluctuation range of the voltage value, and judging whether the fluctuation range is greater than a preset voltage threshold. If the fluctuation range is greater than the preset voltage threshold, it is determined that the sewage bucket in the cleaning machine is in the water absorption state. In the case of determining that the sewage bucket in the cleaning machine is in the water absorption state, obtain the current value of the main motor in the cleaning machine; the dirt sensor is a photoelectric sensor; Determining the change amount of the electrical signal value, including: obtaining a first current value before the current value of the main motor decreases and a second current value after the decrease; determining the decrease amount of the current value of the main motor according to the first current value and the second current value; Identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value, including: identifying the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value; The identifying the state of the sewage bucket in the cleaning machine according to the decrease amount of the current value includes: when the decrease amount of the current value exceeds a preset threshold, it is determined that the float in the sewage bucket jumps up, and it is identified that the sewage bucket in the cleaning machine is full of water; Obtaining a first original current signal of the motor in the cleaning machine output by a current sensor, preprocessing the first original current signal to obtain a first effective current signal; obtaining the system error of the cleaning machine, subtracting the system error of the cleaning machine from the first effective current signal to obtain an effective current signal with the error eliminated; filtering the effective current signal with the error eliminated by a preset filtering method to obtain a filtered current signal; monitoring whether the current of the motor in the cleaning machine is abnormal according to the filtered current signal; The preprocessing the first original current signal to obtain a first effective current signal includes: converting the first original current signal through A / D conversion, and processing the first original current signal after A / D conversion through mean filtering to obtain a preprocessed current signal; processing the preprocessed current signal through a sine wave effective value calculation algorithm to obtain a first effective current signal, or selecting the peak value of the preprocessed current signal as the first effective current signal.

2. The method according to claim 1, wherein The obtaining the electrical signal value in the cleaning machine includes: Obtaining a second voltage value in the cleaning machine, where the second voltage value includes the voltage value of a target contact in a terminal in contact with the sewage bucket; The determining the change amount of the electrical signal value includes: Determining the operating state of the cleaning machine at the current moment, and determining a sewage bucket installation threshold corresponding to the operating state; Judging whether the second voltage value is less than the sewage bucket installation threshold; The identifying the state of the sewage bucket in the cleaning machine according to the change amount of the electrical signal value includes: If the second voltage value is greater than the sewage bucket installation threshold, determining a first installation detection moment when the second voltage value is greater than the sewage bucket uninstalled threshold; Accumulating a first installation detection duration starting from the first installation detection moment until a second installation detection moment when the second voltage value is not greater than the sewage bucket installation threshold, and the accumulation of the first installation detection duration ends; If the first installation detection duration is greater than a preset first installation detection duration threshold, it is determined that the sewage bucket in the washing machine is not installed, and the washing machine is controlled to stop; If the first installation detection duration is not greater than the preset first installation detection duration threshold, the second installation detection duration is accumulated starting from the second installation detection moment until the third installation detection moment when the second voltage value is not less than the sewage bucket installation threshold, and the accumulation of the second installation detection duration ends; If the second installation detection duration is greater than a preset second installation detection duration threshold, it is determined that this detection is invalid and a re-detection is performed; If the second installation detection duration is not greater than the preset second installation detection duration threshold, the third installation detection duration is accumulated starting from the third installation detection moment until the fourth installation detection moment at the third installation detection moment when the second voltage value is not greater than the sewage bucket installation threshold, and the accumulation of the third installation detection duration ends; If the sum of the first installation detection duration and the third installation detection duration is greater than the preset first installation detection duration threshold, it is determined that the sewage bucket in the washing machine is not installed.

3. The method according to claim 1, characterized in that The obtaining of the first original current signal of the motor in the washing machine output by the current sensor includes: Obtaining the first original current signal of the motor in the washing machine when starting up output by the current sensor; The monitoring of whether the motor current in the washing machine is abnormal according to the filtered current signal includes: If the filtered current signal is greater than a preset first current threshold, and the duration for which the filtered current signal is greater than the preset first current threshold is counted; If the duration is greater than a preset duration threshold, it is determined that the motor current in the washing machine is abnormal and an abnormal alarm is given.

4. The method according to claim 1, characterized in that, The obtaining of the first original current signal of the motor in the washing machine output by the current sensor includes: Obtaining the first original current signal of the motor in the washing machine when running output by the current sensor; The monitoring of whether the motor current in the washing machine is abnormal according to the filtered current signal includes: Obtaining N preset second current thresholds, where the N preset second current thresholds are different from each other; If the filtered current signal is greater than the i-th preset second current threshold, determining the accumulated value corresponding to the i-th preset second current threshold, and the counter accumulates the accumulated value; If the filtered current signal is less than the minimum value among the N preset second current thresholds, determining a decrement value, and the counter subtracts the decrement value; If the value counted by the counter is greater than a preset set value, it is determined that the motor current in the washing machine is abnormal and an abnormal alarm is given.

5. A running method of a cleaning machine, characterized in that, The method includes: The user presses the power-on button, tilts the body to start working, and stops moving after detecting that the sewage bucket is full of water by the sewage bucket state recognition method according to any one of claims 1 to 4; When it is detected that the sewage bucket is removed and after a preset time, and then it is detected that the sewage bucket is stably installed, and it is detected that the sewage bucket is not full of water by the sewage bucket state recognition method according to any one of claims 1 to 4, the user tilts the body and the washing machine resumes working.

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