Clogging detection method and device, cleaning apparatus

Abstract

The application discloses a blockage detection method and device and a cleaning device, and can realize accurate and timely blockage detection. The method comprises the following steps: determining an immersion time length of an immersion time period according to a detection result of a sensor arranged in a sewage device of the cleaning device, wherein the detection result of the sensor is used to indicate whether the sensor is immersed by liquid, and the immersion time period comprises at least one target time period, and in the target time period, the detection result of the sensor indicates that the sensor is immersed; in the case that the immersion time length is greater than or equal to a second target threshold value, outputting abnormal indication information, wherein the abnormal indication information is used to indicate that the sewage device is blocked, and the time length required for the cleaning device to perform a drainage-related process is less than the second target threshold value.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of daily cleaning, in particular to a blockage detection method and device, and a cleaning device. BACKGROUND

[0002] With the development of social productivity, people's living standards are constantly improving, and cleaning devices have been widely used in daily life. The cleaning device includes a base station and a cleaning component, which can be a floor cleaning machine or a surface cleaning device. During the movement of the cleaning component in the dirty area to be cleaned, the rolling brush in the cleaning component can use the water flowing out of the water tank of the cleaning component to clean the dirty area to be cleaned. The cleaning component can also suck the sewage in the dirty area to be cleaned into the sewage tank of the cleaning component.

[0003] After cleaning, when the cleaning component is located in the base station. The base station can be used to replenish the water tank with clean water, and to discharge the sewage in the sewage tank. The sewage discharge device in the base station is provided with a sewage discharge port, and the sewage in the sewage tank of the cleaning component is discharged through the sewage discharge device in the base station.

[0004] During the flow of sewage in the sewage tank through the sewage discharge device, solid waste carried by the sewage may be left in the sewage discharge device, causing the sewage discharge device to be blocked. SUMMARY

[0005] The present application provides a blockage detection method and device, a cleaning device and a storage medium, which can accurately and timely detect the blockage of the sewage device of the cleaning device.

[0006] The present application provides a blockage detection method, comprising:

[0007] According to the detection result of the sensor provided in the sewage device of the cleaning device, the immersion time length of the immersion time period is determined, wherein the detection result of the sensor is used to indicate whether the sensor is immersed by liquid, and the immersion time period includes a target time period, in which the detection result of the sensor indicates that the sensor is immersed.

[0008] In the case where the immersion time length is greater than or equal to a second target threshold, an abnormal indication information is output, the abnormal indication information is used to indicate that the sewage device is blocked, and the time length required for the cleaning device to perform the water discharge related processing is less than the second target threshold.

[0009] Optionally, in the case where the number of target time periods in the immersion time period is multiple, the length of the time interval between adjacent two target time periods is less than a first target threshold, and in the time interval, the detection result of the sensor indicates that the sensor is not immersed.

[0010] Optionally, the sewage device comprises a sewage tank in a cleaning component of the cleaning device and a sewage discharging device in a base station of the cleaning device, the sewage discharging device being configured to discharge liquid in the sewage tank.

[0011] The method is applied to the base station, and the sensor is located in the sewage discharging device.

[0012] Optionally, a sewage discharging groove is arranged horizontally at the bottom of the sewage device, and the sensor is located at the bottom of the sewage discharging groove and has a predetermined distance from the side wall of the sewage discharging groove.

[0013] Optionally, a sewage discharging groove is arranged horizontally at the bottom of the sewage device, and the sensor is located at the bottom of the sewage discharging groove and has a predetermined distance from the side wall of the sewage discharging groove.

[0014] Optionally, the immersion duration is a cumulative duration of the at least one target time period.

[0015] Optionally, the abnormality indication information is configured to indicate that an ongoing water drainage related process is stopped.

[0016] Embodiments of the present application provide a cleaning device comprising a sewage device, a sensor and a blockage detection device.

[0017] The sensor is arranged in the sewage device, and the sensor is configured to detect whether the sensor is immersed by liquid.

[0018] The blockage detection device is configured to determine an immersion duration of an immersion time period according to a detection result of the sensor, wherein the immersion time period comprises a target time period in which the detection result of the sensor indicates that the sensor is immersed.

[0019] The blockage detection device is further configured to output abnormality indication information in a case where the immersion duration is greater than or equal to a second target threshold, the abnormality indication information being configured to indicate that the sewage device is blocked, and a duration required for the cleaning device to perform a water drainage related process being less than the second target threshold.

[0020] Optionally, in a case where the number of the at least one target time period is multiple, a length of a time interval between two adjacent target time periods is less than a first target threshold, and in the time interval, the detection result of the sensor indicates that the sensor is not immersed.

[0021] Optionally, the sewage device comprises a sewage tank in a cleaning component of the cleaning device and a sewage discharging device in a base station of the cleaning device, the sewage discharging device being configured to discharge liquid in the sewage tank.

[0022] The blockage detection device is located at the base station, and the sensor is located at the sewage device.

[0023] Optionally, the sewage device is provided with a sewage groove in the horizontal direction at the bottom thereof, and the sensor is located at the bottom of the sewage groove and has a predetermined distance from the side wall of the sewage groove.

[0024] Optionally, the sewage device is provided with a sewage groove in the horizontal direction at the bottom thereof, and the sensor is located at one end of the sewage groove opposite the sewage outlet for discharging liquid in the sewage device.

[0025] Optionally, the immersion duration is a cumulative duration of the at least one target time period.

[0026] Optionally, the abnormality indication information is used to indicate that an ongoing water drainage related process is stopped.

[0027] Embodiments of the present application provide a blockage detection method, comprising:

[0028] Obtaining a detection result of a sensor provided in a sewage device of a cleaning device at a detection time point, the detection result of the sensor being used to indicate whether the sensor is immersed by liquid, and the detection time point being after a predicted end time point of a water drainage related process of the cleaning device;

[0029] In a case where the detection result indicates that the sensor is immersed, outputting abnormality indication information, the abnormality indication information being used to indicate that the sewage device is blocked.

[0030] Embodiments of the present application provide a blockage detection device, comprising a processing unit and an output unit;

[0031] The processing unit is configured to determine an immersion duration of an immersion time period according to a detection result of a sensor provided in a sewage device of a cleaning device, the detection result of the sensor being used to indicate whether the sensor is immersed by liquid, and the immersion time period including a target time period in which the detection result of the sensor indicates that the sensor is immersed.

[0032] The output unit is configured to output abnormality indication information in a case where the immersion duration is greater than or equal to a second target threshold value, the abnormality indication information being used to indicate that the sewage device is blocked, and a time duration required by the cleaning device to perform a water drainage related process being less than the second target threshold value.

[0033] Embodiments of the present application provide a blockage detection device, comprising an obtaining unit and an output unit;

[0034] The acquisition unit is configured to acquire a detection result of a sensor arranged in a sewage device of a cleaning device at a detection time point, the detection result of the sensor being used to indicate whether the sensor is submerged by liquid, and the detection time point being after the cleaning device completes a process related to drainage;

[0035] The output unit is configured to output abnormality indication information in a case where the detection result indicates that the sensor is submerged, the abnormality indication information being used to indicate that the sewage device is blocked.

[0036] Embodiments of the present application provide a blocking detection device, comprising a processor and a memory.

[0037] The memory is configured to store a program, and the processor is configured to invoke the program stored in the memory to execute the blocking detection method described above.

[0038] Embodiments of the present application provide a storage medium, characterized in that the storage medium stores a program and data, and the program is executed by a processor to implement the blocking detection method described above.

[0039] Compared with the prior art, a sensor is arranged in a sewage device of a cleaning device, a second target threshold is set according to a time length required for the cleaning device to perform a process related to drainage, so that the second target threshold is greater than the time length required for the process related to drainage. Thus, in the blocking detection process, the characteristics of the cleaning device performing the process related to drainage are fully considered, the length of time during which the sensor is submerged is greater than or equal to the second target threshold, which exceeds the time length required for the cleaning device to perform the process related to drainage, and it can be determined that the sewage device is blocked, so that the blocking detection is more timely and accurate. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a schematic diagram of a cleaning device;

[0041] Figure 2 is Figure 1 is a schematic diagram of a base station in the cleaning device shown in FIG. 1;

[0042] Figure 3 is a schematic flowchart of a blocking detection method provided by embodiments of the present application;

[0043] Figure 4 is a schematic flowchart of a blocking detection method provided by embodiments of the present application;

[0044] Figure 5 is a schematic structural diagram of a water-submerged sensor provided by embodiments of the present application;

[0045] Figure 6 is Figure 5 is a schematic diagram of a peripheral circuit of the water-submerged sensor shown in FIG. 3.

[0046] Figure 7 FIG. 1 is a schematic diagram of a position of a water immersion sensor in a sewage device according to an embodiment of the present application;

[0047] Figure 8 FIG. 2 is a schematic diagram of a detection result of the water immersion sensor according to an embodiment of the present application;

[0048] Figure 9 FIG. 3 is a schematic diagram of an output waveform of the water immersion sensor according to an embodiment of the present application;

[0049] Figure 10 FIG. 4 is a schematic flowchart of a clogging detection method according to an embodiment of the present application;

[0050] Figure 11 FIG. 5 is a schematic structural diagram of a cleaning device according to an embodiment of the present application;

[0051] Figure 12 FIG. 6 is a schematic structural diagram of a clogging detection device according to an embodiment of the present application;

[0052] Figure 13 FIG. 7 is a schematic structural diagram of another clogging detection device according to an embodiment of the present application;

[0053] Figure 14 FIG. 8 is a schematic structural diagram of still another clogging detection device according to an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the objects, advantages and features of the present application clearer, the technical solutions in the present application will be further described in detail below with reference to the drawings and specific embodiments. In the following description, a lot of specific details are set forth in order to facilitate a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar generalizations without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0055] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance, or a specific order or sequence. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, the term "multiple" refers to two or more. The term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The terms "comprising" and "having," 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 is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0056] In this application, the terms "upper," "lower," "inner," "middle," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0057] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0058] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0059] With the development of social productivity and the continuous improvement of people's living standards, cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete corresponding cleaning tasks, such as using washing machines to wash clothes, using eyeglass cleaning machines to clean eyeglasses, and using floor scrubbers to clean floors.

[0060] As the floor scrubber moves across the dirty area, its roller brush works in conjunction with the clean water tank. After the clean water is sprayed from the tank, the roller brush cleans the dirty area. Wastewater generated during cleaning is then sucked into the scrubber's wastewater tank.

[0061] To further enhance the intelligence of floor scrubbers and lower the user barrier, base stations can be installed. After cleaning, users can place the scrubber on a base station, or the scrubber can automatically move to a base station. The base station can be used to replenish the clean water tank and drain wastewater from the wastewater tank. Users can also activate the scrubber's self-cleaning function to systematically clean internal components such as drainage pipes and roller brushes.

[0062] Figure 1 This is a schematic structural diagram of a cleaning device. Figure 2 for Figure 1 A cross-sectional schematic diagram of base station 120 in the cleaning equipment shown.

[0063] The cleaning device 100 includes a cleaning component 110 and a base station 120. The base station 120 is used to house the cleaning component 110. The cleaning component 110 and the base station 120 can be detachable.

[0064] The cleaning component 110 is used to clean the area to be cleaned, and can be a handheld vacuum cleaner, a handheld cleaning machine, a robot vacuum cleaner, a floor scrubber, or a surface cleaning device, etc.

[0065] Base station 120 is used to clean cleaning component 110. Base station 120 can be a fixed base station, for example, base station 120 can be fixed to a wall by screws or other connectors. Base station 120 can also be a mobile base station. For example, base station 120 can be equipped with wheels at the bottom, so that base station 120 can be passively moved by the user. Base station 120 can also include a self-moving device, which can move itself according to instructions issued by the user or cleaning component 110.

[0066] In practical applications, base station 120 can be connected to an external water source to clean cleaning component 110. Base station 120 may include a water inlet 1232, which is connected to an external water source. When base station 120 is a fixed base station, a user can introduce a tap water pipe at the location of the fixed base station 120, and the water inlet 1232 on base station 120 can be connected to the tap water pipe, allowing water to flow into base station 120. When base station 120 is a mobile base station, a user can move base station 120 to an external water source (e.g., a tap water pipe), and then connect the water inlet 1232 of base station 120 to the external water source via a flexible hose, allowing water to flow into base station 120.

[0067] When the base station 120 includes a self-moving device, the user can set up a signal marker at an external water source. This signal marker can periodically send signals. When the base station 120 receives the signal, it can determine the specific location of the signal marker and move to the external water source on its own. For example, using infrared positioning, Bluetooth positioning, or radio positioning technologies, the base station 120 can move to the external water source independently. After the base station 120 moves to the external water source, the user can connect the water inlet 1232 of the base station 120 to the external water source, allowing water to flow into the base station 120. Optionally, a matching docking device is provided between the external water source and the water inlet 1232 of the base station 120, so that the water inlet 1232 of the base station 120 can automatically dock with the external water source after the base station 120 moves to the external water source.

[0068] In some other application scenarios, a signal identification device can be installed in the cleaning component 110. This device can periodically send signals. When the base station 120 receives these signals, it can determine the exact location of the cleaning component 110 and move to a nearby location. Thus, the base station 120 can move along with the cleaning component 110, ensuring it remains in its vicinity. When a user needs to clean the cleaning component 110, they can quickly locate the base station 120, improving cleaning efficiency.

[0069] After the water flow injected into the mobile base station 120 cleans the cleaning component 110, the base station 120 can discharge the water. Therefore, the base station 120 can also be equipped with a sewage outlet 1242, which can be connected to the sewer pipes installed in a household, allowing sewage to be introduced into the municipal sewage system. Similar to the water inlet 1232 of the base station 120, the sewage outlet 1242 of the base station 120 is connected to the sewer pipes. In some application scenarios, if the base station 120 is a fixed base station, the sewage outlet 1242 is directly connected to the sewer pipes, discharging sewage into the sewer pipes through the sewage outlet 1242. In other application scenarios, if the base station 120 is a mobile base station, a connecting pipe can be installed between the sewage outlet 1242 and the sewer pipes, discharging sewage into the sewer pipes through the sewage outlet 1242 and the connecting pipes. In some other application scenarios, if the base station 120 is a mobile base station, the user can move the base station 120 to the sewer pipe, or the mobile base station 120 can move itself to the sewer pipe so that the sewage outlet 1242 is connected to the sewer pipe and sewage is discharged into the sewer pipe through the sewage outlet 1242.

[0070] Optionally, the cleaning component 110 and the base station 120 may include mutually fitting structural components (not shown), such as limiting components, snap-fit ​​components, elastic components, etc. When the cleaning component 110 is placed on the base station 120, the base station 120 can fix the cleaning component 110 through the above-mentioned structural components to prevent the cleaning component 110 from detaching from the base station 120.

[0071] The cleaning component 110 includes a clean water tank 111, a wastewater tank 112, and a roller brush assembly 113.

[0072] The clean water tank 111 and the roller brush assembly 113 can be connected via a clean water pipe (not shown).

[0073] During the cleaning process of the cleaning components, clean water from the clean water tank 111 flows through the clean water pipe to the roller brush assembly 113, which rotates to clean the area to be cleaned. Afterwards, the wastewater from the area to be cleaned can be pumped into the wastewater tank 112.

[0074] The base station 120 may include a base 121 and a body 122. The body 122 is provided with a water inlet device 123 and a sewage discharge device 124 that are isolated from each other.

[0075] When the cleaning component 110 is placed on the base 121 of the base station 120, the roller brush assembly 113 is at least partially located within the recess 125 formed on the upper surface of the base 121.

[0076] The base station 120 can charge the cleaning component 110 via wired or wireless means. For example, a wireless charging transmitter (TX) 126 can be provided in the recess 125, and a wireless charging receiver (RX) can be provided at the bottom of the cleaning component 110.

[0077] The water inlet device 123 may be equipped with a water inlet valve at its outlet 1231. When the cleaning component 110 is placed on the base 121 of the base station 120, the water inlet valve at the outlet 1231 of the water inlet device 123 may be opened so that the water inlet device 123 is connected to the clean water tank 111 and the water from the water inlet device is injected into the clean water tank 111.

[0078] The water inlet device 123 may also include a clean water container 1233. The water inlet 1232 is connected to an external water source. The water flowing into the water inlet 1232 can be stored in the clean water container 1233. When the cleaning component 110 is placed on the base 121 of the base station 120 and the water inlet valve at the outlet 1231 of the water inlet device 123 is open, the water contained in the clean water container 1233 can be injected into the clean water tank 111.

[0079] The sewage discharge device 124 may be equipped with an inlet valve at its inlet end 1241. The sewage discharge device 124 may also include a sewage container 1243 and a sewage trough 1244. When the cleaning component 110 is placed on the base 121 of the base station 120, the inlet valve at the inlet end 1241 of the sewage discharge device 124 can be opened, allowing the sewage tank 112 to communicate with the sewage discharge device 124. Sewage in the sewage tank 112 can flow out of the cleaning equipment 100 through the inlet end 1241 of the sewage discharge device 124, the sewage container 1243, the sewage trough 1244, and the sewage outlet 1242.

[0080] The sewage trough 1244 can be set horizontally or approximately horizontally.

[0081] As sewage flows out through the discharge outlet 1242, it may carry solid waste, which may accumulate in the discharge trough 1244, causing blockage and affecting the normal operation of the cleaning device.

[0082] To address the aforementioned problems, embodiments of this application provide a blockage detection method and a base station for a cleaning device. The following is in conjunction with… Figure 3 The blockage detection method provided in the embodiments of this application will be described.

[0083] Figure 3 This is a schematic flowchart of a blockage detection method provided in an embodiment of this application. Figure 3 The blockage detection method shown can be specifically applied to electronic devices with blockage detection functions.

[0084] In S301, the immersion duration of the immersion period is determined based on the detection results of the sensors installed in the wastewater device of the cleaning equipment. The detection results of the sensors are used to indicate whether the sensors are immersed in liquid. The immersion period includes a target time period in which the detection results of the sensors indicate that the sensors are immersed.

[0085] The sensor can be a water immersion sensor. The sensor may include an optical element and a light emitter and a light receiver disposed within the optical element. The optical element reflects light emitted by the light emitter to the light receiver. The reflectivity of the optical element for light emitted by the light emitter differs depending on whether the optical element is submerged in liquid or not.

[0086] The sensor's detection result can be determined based on the relationship between the voltage signal output by the sensor and the preset voltage. The voltage signal output by the sensor can be positively or negatively correlated with the light intensity received by the light receiver.

[0087] Specifically, the principle of the sensor can be found in [reference needed]. Figure 5The light emitter can be a light-emitting diode (LED).

[0088] In S302, if the immersion time is greater than or equal to the second target threshold, an abnormality indication message is output, which indicates that the sewage device is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold.

[0089] The time required for drainage-related treatment can be understood as the time required to complete the drainage-related treatment under normal circumstances, i.e., without blockage.

[0090] Anomaly warning messages can also be used to alert users to address blockages in the wastewater system. They can also be used to instruct users to stop ongoing drainage-related processes.

[0091] Through S301 to S302, a sensor is installed in the sewage device of the cleaning equipment. A second target threshold is set according to the time required for the cleaning equipment to perform drainage-related treatment. The second target threshold is greater than the time required for drainage-related treatment. Therefore, the length of time the sensor is immersed is greater than or equal to the second target threshold, which is greater than the time required for the cleaning equipment to perform drainage-related treatment. This can determine that the sewage device is blocked, making the blockage detection more timely and accurate.

[0092] The number of target time periods in the immersion period can be one or more.

[0093] When there is only one target time period in the immersion period, the immersion duration of the immersion period can be understood as the duration of the target time period.

[0094] When there are multiple target time periods, the length of the time interval between two adjacent target time periods is less than a first target threshold, and during the time interval, the detection result of the sensor indicates that the sensor is not submerged.

[0095] If there are multiple target time periods in the immersion period, that is, if there is one or more time intervals between target time periods where the detection results indicate that the sensor is not immersed, then the immersion duration can be calculated in one of the following two ways: 1) The immersion duration includes the time intervals between the target time periods; 2) The immersion duration does not include the time intervals between the target time periods.

[0096] In actual testing, when blockage occurs, the time intervals during the testing process are usually pulse-like and have little impact on the timing results. Therefore, the actual immersion time will not differ significantly due to the adoption of the two methods mentioned above, and the judgment of the blockage results will not differ much either.

[0097] When adopting Option 1), i.e., when the immersion duration includes the time interval between the target time periods, the immersion duration is the sum of each target time period and the time interval. In other words, the immersion duration can be expressed as the duration from the start time of the first target time period to the end time of the last target time period among the multiple target time periods.

[0098] When this scheme is adopted, timing can begin when the detection result indicates that the sensor is submerged. If the detection result indicates that the sensor is not submerged during the timing process, timing does not stop immediately. It continues until the time length set by the first target threshold is reached. If the detection result indicates that the sensor is not submerged during this period, the timing is reset to zero. If the detection result subsequently indicates that the sensor is submerged again, the timing restarts from zero. In other words, the above timing process begins when the detection result indicates that the sensor is submerged, and the timing result can be used as the submersion duration. After the detection result indicates that the sensor is not submerged during the timing process, timing does not stop until a detection period of non-submersion exceeding the first target threshold is reached. At this point, the timing result is reset to zero, and timing restarts from the next time a submersion state is detected.

[0099] When using scheme 2) above, i.e., when the immersion period does not include time intervals, the immersion duration is the cumulative duration of the target time period. In other words, the time intervals between target time periods can be deducted when calculating the immersion duration.

[0100] When using the above scheme, the immersion time can be determined by accumulating the timing duration of each target time period. Specifically, timing can begin when the detection result first indicates that the sensor is immersed. If the detection result indicates that the sensor is not immersed during the timing process, timing can be stopped. If, within the first target threshold after timing is stopped, the detection result indicates that the sensor is immersed, timing can continue based on the previous timing data. If, after timing is stopped, the time length set by the first target threshold has elapsed, and the detection result consistently indicates that the sensor is not immersed, the timing result is reset to zero, and timing restarts from 0 when the detection result indicates that the sensor is immersed again.

[0101] Regardless of whether method 1) or method 2) is used, the actual timing is to combine adjacent consecutive time periods when immersion occurs. The reason for using the above method is to avoid detection punctures caused by unstable water flow in the case of blockage, so as to detect blockage in a timely manner.

[0102] Based on the detection results of sensors installed in the wastewater treatment unit of the cleaning equipment, the immersion duration is determined. The detection results of the sensors indicate whether the sensors are submerged in liquid. The immersion duration includes at least one target time period. During this target time period, the detection results of the sensors indicate that the sensors are submerged. If there are multiple target time periods, and the time interval between two adjacent target time periods is less than a first target threshold, the detection results of the sensors indicate that the sensors are not submerged during this time interval. If the immersion duration is greater than or equal to a second target threshold, an anomaly indication is output, indicating that the wastewater treatment unit is clogged. The above-mentioned blockage detection method has the following advantages: a second target threshold is set, and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold; and, considering that during the drainage-related treatment, water flows through the sensor, and the flow rate and stability of the water flow will affect the sensor's detection results, the characteristics of the cleaning equipment performing drainage-related treatment are fully considered during the blockage detection process. If the length of time during which the sensor is not continuously submerged in liquid is less than the first target threshold, the time period is timed to determine the immersion duration; under the above premise, a blockage is only determined after the immersion duration is detected to exceed the second target threshold, thereby making the judgment on whether the sewage device in the cleaning equipment is blocked more timely and accurate.

[0103] Figure 8 A specific detection process is shown below, in conjunction with... Figure 8 The specific testing process will be explained.

[0104] For example Figure 8 The sensor's detection results shown represent the magnitude of its output voltage at various time points. If the sensor's output voltage is greater than the preset voltage V1, it indicates that the sensor is not submerged; conversely, if the sensor's output voltage is less than or equal to the preset voltage V1, it indicates that the sensor is submerged.

[0105] During time period T1, the water surface covers the water immersion sensor. Therefore, during time period T1, the water immersion sensor outputs a small voltage value, which is less than or equal to the preset voltage V1.

[0106] During time periods T2 and T3, water flows through the immersion sensor. Due to the unstable water flow, the immersion sensor outputs a voltage value V0 that is sometimes larger and sometimes smaller during time periods T2 and T3. The voltage value V0 is greater than the preset voltage V1, while the smaller voltage value can refer to a voltage value that is less than or equal to the preset voltage V1.

[0107] During time intervals T2 and T3, the sensor's output voltage may jump from voltage value V0 to a voltage value lower than the preset voltage V1, and then jump back to voltage value V0. If the time interval between these two jumps is less than the first target threshold, the immersion time is not reset after this time interval. This effectively filters out glitches in the sensor's detection results, eliminates errors, and makes the obtained immersion time more accurate.

[0108] like Figure 9 As shown, the time lengths of the two time periods when the voltage value output by the water immersion sensor is less than the preset voltage value are Δx1 and Δx3. Between the time periods of Δx1 and Δx3, the voltage value output by the water immersion sensor is greater than the preset voltage value, and the time length of the period when the voltage value output by the water immersion sensor is greater than the preset voltage value is Δx2.

[0109] If the voltage value output by the water immersion sensor is less than the preset voltage value for a period of time greater than 100ms before the time period of time Δx1 and after the time period of time Δx3, and Δx2 is less than the first target threshold of 100ms, then the immersion duration can be expressed as Δx1+Δx3, or the immersion duration can be expressed as Δx1+Δx2+Δx3.

[0110] During drainage-related processes, water may flow over the sensor, and the flow rate and stability of the water can affect the sensor's detection results. Within the target immersion period, the detection result indicates that the sensor is submerged. However, the immersion period may only include one target period, or the time interval between adjacent target periods within the immersion period may be less than a first target threshold, and the sensor's detection result within that time interval may indicate that the sensor is not submerged. In other words, the sensor may be continuously or intermittently submerged during the corresponding immersion period.

[0111] The time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold. Therefore, under normal circumstances, the immersion time is less than the second target threshold. If the immersion time exceeds the second target threshold, the wastewater treatment unit of the cleaning equipment will become clogged.

[0112] By timing the period when the sensor is not submerged in liquid for less than a first target threshold, the submersion time is determined. If the submersion time exceeds a second target threshold, a blockage is determined. The second target threshold is greater than the time required for the cleaning equipment to perform drainage-related treatments. This makes the judgment of whether the sewage device in the cleaning equipment is blocked more timely and accurate.

[0113] The wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge the liquid in the wastewater tank.

[0114] Figure 3 The blockage detection method shown can be applied to base stations, and the sensor can be located in the sewage discharge device. Alternatively, Figure 3 The described blockage detection method can be applied to cleaning components, and the sensor can be located in the wastewater tank.

[0115] Therefore, execution Figure 3 The apparatus and sensors of the method shown are both located at the base station or cleaning component, thereby performing... Figure 3 The apparatus and sensor described in the method can communicate via a bus or other wired means to perform [the task]. Figure 3 The device and sensor communicate in the method shown have high timeliness and stability, which improves the accuracy of the detection results.

[0116] When the sensor is located at the sewage discharge device, the abnormal indication information can be used to control the inlet valve of the sewage discharge device to close, thereby stopping the flow of liquid from the sewage tank to the sewage discharge device.

[0117] If the sensor is located in the drain device, the blockage may be in the drain device. If a blockage is confirmed, close the inlet valve of the drain device to stop the flow of liquid from the sewage tank to the drain device, preventing further accumulation of liquid and potential overflow.

[0118] The location of the sensor also affects the accuracy of blockage detection. The following explains the appropriate sensor placement.

[0119] A sewage discharge trough can be installed at the bottom of the sewage treatment plant in a horizontal direction.

[0120] The sensor can be located at the bottom of the drain tank and at a predetermined distance from the side wall of the drain tank.

[0121] The sensor is installed at the bottom of the sewage tank to detect the presence of water in the tank in a timely manner. Positioning the sensor at a predetermined distance from the side wall of the sewage tank reduces the impact of residual water on the sensor's detection results.

[0122] The sensor is located at the end of the drain tank opposite the drain outlet. The drain outlet is used to discharge liquid from the wastewater treatment system.

[0123] Solid waste tends to accumulate near the drain outlet. Placing the sensor away from the drain outlet can improve the accuracy of the detection results.

[0124] Step S301 can be initiated while the cleaning equipment is performing drainage-related treatments.

[0125] Prior to S301, drainage indication information can be obtained, which is used to indicate the progress of drainage-related treatments.

[0126] The drainage instruction information can be obtained by either receiving the drainage instruction information or by generating the drainage instruction information.

[0127] S301 can be performed in response to drainage instruction information. That is, S301 can be performed when drainage instruction information is obtained.

[0128] The first target threshold can be preset or determined based on drainage instruction information.

[0129] There can be various types of drainage-related treatments. Different types of drainage-related treatments can correspond to different first preset thresholds. Drainage indication information can be used to indicate the type of drainage-related treatment being performed. Based on the type indicated by the drainage indication information, the first preset threshold corresponding to that type can be used as the first target threshold.

[0130] The second target threshold can be preset or determined based on drainage instruction information.

[0131] Different types of drainage-related treatments can correspond to different second preset thresholds. Drainage indication information can be used to indicate the type of drainage-related treatment being performed. Based on the type indicated by the drainage indication information, the second preset threshold corresponding to that type can be used as the second target threshold.

[0132] After acquiring drainage indication information and passing the third preset threshold, the determination of immersion time can be discontinued. In other words, the sensor can stop detecting after acquiring drainage indication information and passing the third preset threshold. The third preset threshold can be greater than each of the second preset thresholds.

[0133] The following is combined with Figure 4 The following example illustrates the use of a water immersion sensor installed in a sewage discharge device within a base station.

[0134] Figure 4 This is a schematic flowchart of a blockage detection method provided in an embodiment of this application. Figure 4 The blockage detection method shown can be specifically applied to electronic devices with blockage detection capabilities. This electronic device can be located in the base station of a cleaning device.

[0135] The cleaning equipment may include a base station and a cleaning component. The cleaning component includes a wastewater tank, and the base station includes a wastewater discharge device. The wastewater discharge device has a discharge port for discharging liquid from the device. The discharge port may be connected to a sewer pipe.

[0136] When the cleaning components are placed on the base station, the inlet valve of the sewage discharge device can be opened to allow the liquid in the sewage tank to flow through the sewage discharge device and be discharged.

[0137] The sewage discharge device is equipped with a water immersion sensor.

[0138] like Figure 5 As shown, the water immersion sensor includes an optical element 501 and a light emitter 502 and a light receiver 503 located within the optical element 501. The optical element 501 may be a light cone.

[0139] When the sensor is not submerged in liquid, the light emitter 502 emits light, which is reflected by the optical element 501 and transmitted to the light receiver 503.

[0140] When the liquid submerges the sensor, the light emitted by the light emitter 502 strikes the surface of the optical element 501, where it is refracted and reflected. This reduces the amount of light transmitted to the receiver 503, resulting in a decrease in the amount of light energy received by the receiver 503.

[0141] The water immersion sensor converts optical signals into electrical signals. When the liquid does not submerge the sensor, the optical signal received by the light receiver 503 is stronger, and the output voltage is higher. When the liquid submerges the sensor, the amount of light transmitted to the light receiver 503 decreases, the light energy received by the light receiver 503 decreases, and the output voltage of the light receiver 503 is lower.

[0142] Furthermore, when the water immersion sensor is submerged in water, the clearer the water, the higher the output voltage of the water immersion sensor; conversely, the dirtier the water, the lower the output voltage of the water immersion sensor.

[0143] The voltage output of a water immersion sensor can be an analog signal. An analog-to-digital converter (AD) can be connected to the output of the water immersion sensor to convert the analog signal into a digital signal.

[0144] like Figure 6As shown, the water immersion sensor 610 is provided with a power port 601, a ground port 602, and an output port 603. The power port 601 is used to connect to a DC power supply VD, and the ground port 602 is used to connect to ground potential. The voltage of the DC power supply VD can be, for example, 3.3 volts (V). The output port 603 can be understood as an open circuit. Exemplarily, the output port 603 can be connected to ground potential through a resistor R and a capacitor C connected in series; the resistor R can be 1 kiloohm (kΩ), and the capacitor C can be 0.1 microfarads (µF).

[0145] The connection point between resistor R and capacitor C can be connected to an analog-to-digital (AD) converter 620. The AD converter 620 is used to convert the voltage value between resistor R and capacitor C into a digital output.

[0146] A water immersion sensor is installed in the sewage discharge device. The presence of liquid immersion in the sensor can be determined when its output voltage is less than or equal to a preset voltage. The preset voltage can be greater than or equal to the sensor's output voltage when the sensor is submerged in clean water. For example, if the sensor outputs 0.8 volts (V) when submerged in clean water and 0.4V when submerged in sewage, the preset voltage can be set to 0.8V, 0.9V, or 1V.

[0147] The location of the water immersion sensor in the sewage discharge device can be found in [reference]. Figure 7 The bottom of the sewage discharge device 700 may be provided with a sewage discharge trough 710, which may be horizontally set. Horizontal setting can also be understood as setting approximately along the horizontal direction, that is, the angle between the sewage discharge trough and the horizontal direction is small, for example, less than a preset angle.

[0148] The water immersion sensor 720 can be disposed at the bottom of the drain tank. Exemplarily, the light cone of the water immersion sensor 720 can protrude from the bottom of the drain tank.

[0149] The drain outlet is used to discharge liquids from the sewage system. It can be connected to sewer pipes to direct wastewater from the base station into the municipal sewage system. Solid waste in the sewage system tends to accumulate on the side closest to the drain outlet, causing blockages.

[0150] If the water immersion sensor 720 is positioned near the drain outlet 730, and a small amount of solid waste covers its surface, the sensor may detect that it is submerged. However, the drainage system may not be obstructed at this time, leading to inaccurate judgments based on the sensor's detection results.

[0151] The water immersion sensor 720 can be installed at the end of the drain tank away from the drain outlet, thereby making the judgment on whether the drain device is blocked based on the detection results of the water immersion sensor 720 more accurate.

[0152] With the light cone of the water immersion sensor 720 protruding from the bottom of the sewage tank, placing the water immersion sensor 720 at the end of the sewage tank away from the sewage outlet can reduce the possibility of solid waste in the sewage being blocked by the water immersion sensor.

[0153] The water immersion sensor 720 can be positioned away from the side wall of the drain tank. Water may remain on the side wall of the drain tank. To avoid this residual water affecting the judgment result, the water immersion sensor 720 can be placed away from the side wall of the drain tank. In other words, there is a certain gap between the water immersion sensor 720 and the side wall of the drain tank.

[0154] Figure 4 The blockage detection method 400 shown includes S401 to S407.

[0155] In S401, the detection results of the water immersion sensor are continuously acquired.

[0156] The water immersion sensor can perform detection periodically or non-periodically and send the detection results. Therefore, the apparatus performing method 400 can continuously receive the detection results from the water immersion sensor.

[0157] The detection result of the water immersion sensor can be expressed as a voltage value. If the voltage value is less than or equal to a preset voltage, it can be determined that the water immersion sensor is submerged in liquid. If the voltage value is greater than the preset voltage, it can be determined that the water immersion sensor is not submerged in liquid.

[0158] Therefore, the detection result can indicate whether the water immersion sensor is submerged in liquid. If the current detection result indicates that the water immersion sensor is not submerged in liquid, the detection result acquired at the next moment can be used to determine whether the water immersion sensor is submerged in liquid.

[0159] If the test results indicate that the water immersion sensor is submerged in liquid, S402 can be performed.

[0160] In S402, start the timer to begin recording the immersion duration.

[0161] For example, if the detection result indicates that the water immersion sensor is submerged in liquid, a timer is started to record the immersion duration.

[0162] If the detection result continues to indicate that the water immersion sensor is submerged in liquid, the timer remains on.

[0163] If the detection result indicates that the water immersion sensor is not submerged in liquid after S402, then S403 can be performed.

[0164] In S403, the timer is turned off, and the recording of immersion duration is stopped.

[0165] For example, if the detection result indicates that the water immersion sensor is not submerged in liquid, the timer is turned off to stop recording the immersion duration.

[0166] In S404, if the current detection result indicates that the water immersion sensor is submerged in liquid again, determine whether the time interval between the current time and the time when the previous detection result indicated that the water immersion sensor was submerged in liquid is less than a preset time interval.

[0167] The preset time interval can be a preset first target threshold, such as 100 milliseconds (ms).

[0168] If the time interval is less than the preset time interval, proceed to S405.

[0169] In S405, the timer is restarted to continue recording the immersion duration.

[0170] If the time interval is greater than or equal to the preset time interval, proceed to S406.

[0171] In S406, the timer is restarted to re-record the immersion duration.

[0172] During the process of draining liquid from the drainage device, the liquid flows through the water immersion sensor, and the detection result indicates that the water immersion sensor is submerged. However, due to factors such as the unstable flow rate of the liquid through the water immersion sensor, there may be times when the detection result of the water immersion sensor indicates that the water immersion sensor is not submerged.

[0173] If the time interval between two target time periods indicating that the water immersion sensor is submerged in liquid is less than the preset time interval, the immersion time is calculated cumulatively within the two target time periods. This can effectively filter out glitch in the water immersion sensor's detection results, eliminate errors, and make the obtained immersion time more accurate.

[0174] During S402, S405 or S406, the immersion time can be compared with the preset time, and then S407 can be performed.

[0175] In S407, if the immersion time is greater than or equal to the preset time, an abnormal indication message is output.

[0176] A rear inlet valve can be installed at the inlet of the sewage discharge device. An abnormality indication can be used to control the closure of the inlet valve of the sewage discharge device, thereby stopping the flow of liquid from the sewage tank to the sewage discharge device.

[0177] Alternatively, a drain valve can be installed at the drain outlet of the wastewater tank of the cleaning component. An abnormality indication message can be used to control the drain valve of the wastewater tank to close, thereby stopping the flow of liquid from the wastewater tank to the sewage discharge device.

[0178] The preset duration can be a preset second target threshold. The preset duration can be determined based on the time required for the drainage-related processing. Drainage-related processing includes wastewater tank drainage and self-cleaning of the drainage device. The preset duration can be greater than the time required for the drainage-related processing. For example, when a cleaning component is placed on a base station, the liquid in the wastewater tank of the cleaning component is discharged through the drainage device, requiring a maximum of 8 seconds (s). That is, the maximum time for wastewater tank drainage is 8 seconds. The time required for water in the base station's water tank to flush the drainage device and achieve self-cleaning of the drainage device is 12 seconds. The preset duration should be greater than the time required for wastewater tank drainage and also greater than the time required for self-cleaning of the drainage device. Therefore, the preset duration should be greater than 12 seconds. For example, the preset duration can be 15 seconds. Thus, if the immersion time is less than or equal to 15 seconds, it can be determined that the drainage device is not blocked; while if the immersion time is greater than 15 seconds, it can be determined that the drainage device is blocked.

[0179] Through S401 to S407, for the time period when the output voltage value of the water immersion sensor is less than the preset voltage for two consecutive water immersion time intervals that are less than the preset time interval, the immersion time is accumulated and calculated. If the immersion time exceeds the preset time, it is determined that the sewage discharge device is blocked and an abnormal indication message is output.

[0180] For example, if the preset voltage is 0.8V and the preset time interval is 100ms, then the detection result of the water immersion sensor indicates that the output voltage value of the water immersion sensor is less than 0.8V in each target time period during which the sensor is continuously submerged, and the time interval between two adjacent target time periods is less than 100ms.

[0181] The cleaning equipment performs two different processes related to drainage, and there may be a time interval between these two processes, which may be greater than or equal to a preset time interval. For example, the time interval between the end of the sewage tank drainage of the cleaning equipment and the start of the sewage discharge device's cleaning process may be greater than or equal to a preset time interval.

[0182] After the cleaning equipment completes the first drainage-related process, a second drainage-related process begins after a time interval greater than or equal to a preset time interval. If the drainage device is not clogged, and the time interval between the two drainage-related processes is greater than the preset time interval, the water immersion sensor in the drainage device will detect that the time not submerged after the first drainage-related process is greater than the preset time interval. This allows the timer to be restarted and the immersion time to be recorded again. Therefore, the immersion time can be recorded again after the second drainage-related process begins. Setting a time interval greater than or equal to the preset time interval between the two drainage-related processes makes the recorded immersion time more accurate.

[0183] In other embodiments, if S404 determines that the time interval between the current moment and the moment when the previous detection result indicated that the water immersion sensor was submerged in liquid is less than a preset time interval, the timer can be adjusted to the sum of the immersion duration recorded by the timer and the time interval. That is, the sum of the immersion duration recorded by the timer and the time interval can be used as the new immersion duration, and the immersion duration can continue to be recorded.

[0184] Figure 10 This is a schematic flowchart of a blockage detection method provided in an embodiment of this application. Figure 10 The blockage detection method shown can be specifically applied to electronic devices with blockage detection functions.

[0185] In S1001, the detection results of the sensors installed in the wastewater device of the cleaning equipment at the detection time point are obtained. The detection results of the sensors are used to indicate whether the sensors are submerged in liquid. The detection time point is after the predicted end time point, which is the expected result of the time point when the cleaning equipment completes the drainage-related treatment.

[0186] The predicted end time can be understood as the point in time when the cleaning equipment will be able to complete the drainage-related treatments assuming no blockages occur in the wastewater treatment system. The cleaning equipment is expected to complete the drainage-related treatments at the predicted end time.

[0187] Before proceeding to S1001, drainage treatment instruction information can be obtained. This information indicates the start time at which the cleaning equipment begins drainage-related treatment. Based on the predicted treatment duration of the drainage-related treatment and the start time, the predicted end time is determined.

[0188] Under normal circumstances, the processing time required for different types of drainage-related treatments by cleaning equipment can be the same or different.

[0189] The predicted treatment time can be the maximum value of the treatment time required for each type of wastewater-related treatment.

[0190] Alternatively, there may be a correspondence between the types of wastewater-related treatments and their durations. Wastewater treatment instruction information may also indicate the types of wastewater-related treatments and the start time for each type. Based on this correspondence, the predicted treatment duration can be determined as the treatment duration corresponding to the type of wastewater-related treatment indicated in the wastewater treatment instruction information.

[0191] Therefore, the predicted end time is the point in time after the start time indicated by the drainage treatment instruction information and the elapsed time of the predicted treatment duration.

[0192] Based on the predicted end time, the detection time can be determined, and the detection time is after the predicted end time. For example, the length of the time interval between the predicted end time and the detection time can be a preset value. When the predicted processing time is the processing time corresponding to the type of drainage-related treatment indicated in the drainage treatment instruction information, the length of the time interval between the predicted end time and the detection time can also be positively correlated with the processing time corresponding to the type of drainage-related treatment indicated in the drainage treatment instruction information. For example, for a certain type of drainage-related treatment, the length of the time interval between the predicted end time and the detection time can be a preset proportion of the processing time for that type.

[0193] After determining the detection time point, execute Figure 10 The apparatus of the method can control the sensor to perform detection at a specific time point, thereby acquiring the detection result of the sensor at that time point. Alternatively, the sensor can perform detection periodically or non-periodically and transmit the results to the execution unit. Figure 10 The apparatus of the method sends the detection result. Execution Figure 10 The apparatus of the method can determine the detection result at each detection time point from the detection results at various time points of the sensor.

[0194] In S1002, if the detection result indicates that the sensor is submerged, an abnormality indication message is output, which is used to indicate that the sewage treatment device is blocked.

[0195] Anomaly indication messages can be used to stop ongoing drainage-related processes. They can also be used to alert users to blockages in their wastewater treatment systems.

[0196] The wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge liquid from the wastewater tank.

[0197] The sensor can be located in the sewage discharge device or in the sewage tank. The sensor can be a water immersion sensor. For its location within the sewage treatment plant, please refer to [link / reference needed]. Figure 3 and Figure 7 Explanation. The working principle and peripheral circuitry of the sensor are as follows: Figure 5 and Figure 6 As shown.

[0198] By using S1001 to S1002, at the detection time point after the predicted end time point of the wastewater-related treatment, if the detection result of the sensor in the wastewater treatment device indicates that the sensor is submerged, it can be determined that there is a blockage in the wastewater treatment device, making the blockage detection more timely and accurate.

[0199] Figure 11 This is a schematic structural diagram of a cleaning device provided in an embodiment of this application.

[0200] The cleaning equipment 1100 includes a wastewater device 1101, a sensor 1102, and a blockage detection device 1103. The blockage detection device 1103 can be used to perform... Figure 3 , Figure 4 or Figure 10 The method described.

[0201] Sensor 1102 is installed in the sewage treatment device 1101 and is used to detect whether sensor 1102 is submerged in liquid.

[0202] The blockage detection device 1103 is used to detect blockages in the sewage treatment device 1101 based on the detection results of the sensor 1102.

[0203] Optionally, the bottom of the sewage device 1101 is provided with a sewage discharge trough in a horizontal direction, and the sensor 1102 is located at the bottom of the sewage discharge trough and at a predetermined distance from the side wall of the sewage discharge trough.

[0204] Optionally, a sewage discharge trough is provided at the bottom of the sewage device 1101 in a horizontal direction, and the sensor 1102 is located at the end of the sewage discharge trough opposite to the sewage outlet, which is used to discharge the liquid in the sewage device 1101.

[0205] Optionally, the blockage detection device 1103 is specifically used to determine the immersion duration of the immersion period based on the detection result of the sensor 1102, wherein the immersion period includes a target time period, during which the detection result of the sensor 1102 indicates that the sensor 1102 is immersed.

[0206] The blockage detection device 1103 is also configured to output an abnormality indication message when the immersion time is greater than or equal to a second target threshold, the abnormality indication message being used to indicate that the sewage device 1101 is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold.

[0207] Optionally, when there are multiple target time periods, the length of the time interval between two adjacent target time periods is less than a first target threshold, and during the time interval, the detection result of sensor 1102 indicates that sensor 1102 is not submerged.

[0208] Optionally, the immersion duration is the cumulative duration of the at least one target time period.

[0209] Optionally, the blockage detection device 1103 is specifically used to obtain the detection results of the sensor installed in the sewage device of the cleaning equipment at a detection time point. The detection results of the sensor are used to indicate whether the sensor is submerged in liquid. The detection time point is after the predicted end time point, which is the expected result of the time point when the cleaning equipment completes the drainage-related treatment.

[0210] The blockage detection device 1103 is also configured to output an abnormality indication message when the detection result indicates that the sensor is submerged, the abnormality indication message being used to indicate that the sewage device is blocked.

[0211] Optionally, the wastewater device 1101 includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge liquid from the wastewater tank;

[0212] The method is applied to the base station, and sensor 1102 is located in the sewage discharge device.

[0213] Optionally, the anomaly indication information is used to indicate that ongoing drainage-related processes should be stopped.

[0214] The above text combined Figures 1 to 11 The blockage detection method and cleaning equipment provided in the embodiments of this application are described below. Figures 12 to 14 This application describes a blockage detection apparatus according to an embodiment of the present application. It should be understood that the description of the blockage detection method corresponds to the description of the blockage detection apparatus; therefore, any parts not described in detail can be referred to in the above description.

[0215] Figure 12 This is a schematic structural diagram of a blockage detection device provided in an embodiment of this application. Figure 12 The blockage detection device shown can be used for Figure 3 or Figure 4 Blockage detection method.

[0216] like Figure 12 As shown, the blockage detection device includes a processing unit 1201 and an output unit 1202.

[0217] The processing unit 1201 is used to determine the immersion duration of the immersion period based on the detection results of the sensors installed in the wastewater device of the cleaning equipment. The detection results of the sensors are used to indicate whether the sensors are immersed in liquid. The immersion period includes a target time period in which the detection results of the sensors indicate that the sensors are immersed.

[0218] The processing unit 1202 is configured to output an abnormality indication information when the immersion time is greater than or equal to a second target threshold, the abnormality indication information being used to indicate that the sewage device is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold.

[0219] Optionally, when there are multiple target time periods in the immersion period, the length of the time interval between two adjacent target time periods is less than a first target threshold, and the detection result of the sensor indicates that the sensor is not immersed during the time interval.

[0220] Optionally, the wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge the liquid in the wastewater tank;

[0221] The blockage detection device is located at the base station, and the sensor is located at the sewage discharge device.

[0222] Optionally, the bottom of the sewage device is provided with a sewage discharge trough in a horizontal direction, and the sensor is located at the bottom of the sewage discharge trough and at a predetermined distance from the side wall of the sewage discharge trough.

[0223] Optionally, the bottom of the wastewater device is provided with a drain trough in a horizontal direction, and the sensor is located at the end of the drain trough opposite to the drain outlet, which is used to discharge the liquid in the wastewater device.

[0224] Optionally, the immersion duration is the cumulative duration of the at least one target time period.

[0225] Optionally, the anomaly indication information is used to indicate that ongoing drainage-related processes should be stopped.

[0226] Figure 13 This is a schematic structural diagram of a blockage detection device provided in an embodiment of this application. Schematic structural diagram. Figure 11 The aforementioned blockage detection method.

[0227] Figure 13 The blockage detection device shown includes: an acquisition unit 1301 and an output unit 1302.

[0228] The acquisition unit 1301 is used to acquire the detection results of the sensors installed in the sewage device of the cleaning equipment at the detection time point. The detection results of the sensors are used to indicate whether the sensors are submerged in liquid. The detection time point is after the predicted end time point, which is the expected result of the time point when the cleaning equipment completes the drainage-related treatment.

[0229] The output unit 1302 is configured to output an abnormality indication message when the detection result indicates that the sensor is submerged, the abnormality indication message being used to indicate that the sewage treatment device is blocked.

[0230] Optionally, the acquisition unit 1301 is further configured to acquire drainage treatment indication information, the drainage treatment indication information being used to indicate the start time point at which the cleaning equipment begins the drainage-related treatment.

[0231] The blockage detection device may further include a processing unit for determining the predicted end time based on the predicted processing time of the drainage-related treatment and the start time.

[0232] Optionally, the wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge the liquid in the wastewater tank;

[0233] The blockage detection device is located at the base station, and the sensor is located at the sewage discharge device.

[0234] Optionally, the bottom of the sewage device is provided with a sewage discharge trough in a horizontal direction, and the sensor is located at the bottom of the sewage discharge trough and at a predetermined distance from the side wall of the sewage discharge trough.

[0235] Optionally, the bottom of the wastewater device is provided with a drain trough in a horizontal direction, and the sensor is located at the end of the drain trough opposite to the drain outlet, which is used to discharge the liquid in the wastewater device.

[0236] Figure 14 This is a schematic structural diagram of a blockage detection device provided in an embodiment of this application. The blockage detection device is used to implement... Figure 3 , Figure 4 or Figure 11 The blockage detection method shown.

[0237] like Figure 14As shown, the blockage detection device includes: a memory 1401, a processor 1402, a communication interface 1403, and a communication bus 1404. The memory 1401, processor 1402, and communication interface 1403 are interconnected via the communication bus 1404.

[0238] The memory 1401 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1401 may store a program. When the program stored in the memory 1401 is executed by the processor 1402, the processor 1402 and the communication interface 1403 are used to execute the various steps of the blockage detection method of the embodiments of this application.

[0239] The processor 1402 may be a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), graphics processing unit (GPU), or one or more integrated circuits, used to execute relevant programs to achieve the functions required by the units in the blockage detection device of this application embodiment, or to execute the blockage detection method of this application method embodiment.

[0240] The processor 1402 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the blockage detection method of this application can be completed by the integrated logic circuits in the hardware of the processor 1402 or by instructions in software form. The processor 1402 can also be a general-purpose processor, 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, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory 1401. The processor 1402 reads the information in the memory 1401 and, in conjunction with its hardware, performs the functions required by the units included in the blockage detection device of this application embodiment, or executes the blockage detection method of the method embodiment of this application.

[0241] The communication interface 1403 uses a transceiver device, such as, but not limited to, a transceiver, to implement... Figure 14 The illustrated electronic device communicates with other devices or communication networks. For example, anomaly detection information can be sent via communication interface 1403.

[0242] Communication bus 1404 may be included in Figure 14 The illustrated electronic device shows a pathway for transmitting information between its various components (e.g., memory 1401, processor 1402, communication interface 1403).

[0243] This application embodiment also provides a storage medium storing a program that is executed by a processor to implement the above-described blockage detection method.

[0244] This application also provides a cleaning device, which includes a sensor and the blockage detection device described above.

[0245] It should be noted that although several modules or units for action execution have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the specific embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0246] The technical solutions provided in the embodiments of this application will be described in conjunction with specific application scenarios.

[0247] Application Scenario 1

[0248] With the cleaning component located on the base station, the inlet valve of the sewage discharge device in the base station is opened. Wastewater from the cleaning component flows to the sewage discharge device and exits through the discharge port. A sewage discharge trough is located at the bottom of the sewage discharge device, with a discharge port at one end and a sensor located at the other end away from the side wall of the trough. The sensor is used to detect whether it is submerged in liquid.

[0249] The base station is also equipped with a blockage detection device. This device acquires the sensor's detection results and starts timing when the results indicate the sensor is submerged. If the timing indicates the sensor is not submerged, the device stops timing. If, within a first target threshold after stopping timing, the results indicate the sensor is submerged, the device resumes timing. If, within the same first target threshold after stopping timing, the results do not indicate the sensor is submerged, the device restarts timing when the results indicate the sensor is submerged. If the timing exceeds a second target threshold, the device outputs an abnormality indication, instructing the inlet valve of the sewage discharge device to close, thus stopping the flow of liquid from the sewage tank to the discharge device.

[0250] Application Scenario 2

[0251] When the cleaning component is located on the base station of the cleaning equipment, the wastewater in the wastewater tank of the cleaning component flows out of the cleaning equipment through the sewage discharge device. The bottom of the sewage discharge device is equipped with a sewage discharge trough, one end of which is a sewage discharge port, and the other end is equipped with a sensor located away from the side wall of the sewage discharge trough. The sensor is used to detect whether the sensor is submerged in liquid.

[0252] After all the wastewater in the wastewater tank of the cleaning unit is discharged from the cleaning equipment, the cleaning unit can perform self-cleaning. During the self-cleaning process, the cleaning unit can rinse the wastewater tank. The water sprayed into the wastewater tank during rinsing flows out of the cleaning equipment through the sewage discharge device.

[0253] The base station is also equipped with a blockage detection device. This device acquires the sensor's detection results at a specified time point, which is after the predicted end time of flushing the wastewater tank. If the detection result indicates that the sensor is submerged, an anomaly indication message is output, indicating that the wastewater system is blocked.

[0254] Furthermore, although the steps of the method in this application are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0255] It should be noted that the embodiments of this application can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of this application can be implemented by hardware circuits such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of the above-described hardware circuits and software, such as firmware.

[0256] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in this application, and within the spirit and principles of this application, should be included within the scope of protection of this application.

Claims

1. A blockage detection method, characterized in that, include: The immersion duration is determined based on the detection results of sensors installed in the wastewater treatment unit of the cleaning equipment. The detection results of the sensors are used to indicate whether the sensors are submerged in liquid. The immersion duration includes at least one target time period during which the detection results of the sensors indicate that the sensors are submerged. The bottom of the wastewater treatment unit is provided with a sewage discharge trough in a horizontal direction. The sensors are located at the end of the sewage discharge trough opposite to the sewage outlet, and the sewage outlet is used to discharge the liquid in the wastewater treatment unit. If the immersion time is greater than or equal to the second target threshold, an abnormality indication message is output. The abnormality indication message is used to indicate that the sewage device is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold. When there are multiple target time periods in the immersion period, the length of the time interval between two adjacent target time periods is less than a first target threshold. During the time interval, the detection result of the sensor indicates that the sensor is not immersed, and the timing result of the immersion period is not reset to zero. The immersion duration is the duration between the start time of the first target time period and the end time of the last target time period among the multiple target time periods, or the immersion duration is the cumulative duration of the at least one target time period.

2. The method according to claim 1, characterized in that, The wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge the liquid in the wastewater tank; The method is applied to the base station.

3. The method according to claim 1, characterized in that, The sensor is located at the bottom of the sewage tank and at a predetermined distance from the side wall of the sewage tank.

4. The method according to claim 1, characterized in that, The anomaly indication information is used to indicate that ongoing drainage-related processes should be stopped.

5. A cleaning device, characterized in that, include: Wastewater treatment equipment, sensors, and blockage detection devices; The sensor is installed in the wastewater treatment device and is used to detect whether the sensor is submerged in liquid; wherein, a sewage discharge trough is provided at the bottom of the wastewater treatment device in a horizontal direction, and the sensor is located at the end of the sewage discharge trough opposite to the sewage discharge port, and the sewage discharge port is used to discharge the liquid in the wastewater treatment device; The blockage detection device is used to determine the immersion duration of the immersion period based on the detection result of the sensor, wherein the immersion period includes at least one target time period, during which the detection result of the sensor indicates that the sensor is immersed; The blockage detection device is also used to output an abnormality indication information when the immersion time is greater than or equal to the second target threshold. The abnormality indication information is used to indicate that the sewage device is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold. When there are multiple target time periods in the immersion period, the length of the time interval between two adjacent target time periods is less than a first target threshold. During the time interval, the detection result of the sensor indicates that the sensor is not immersed, and the timing result of the immersion period is not reset to zero. The immersion duration is the duration between the start time of the first target time period and the end time of the last target time period among the multiple target time periods, or the immersion duration is the cumulative duration of the at least one target time period.

6. The cleaning equipment according to claim 5, characterized in that, The wastewater treatment device includes a wastewater tank located in the cleaning component of the cleaning equipment and a wastewater discharge device located in the base station of the cleaning equipment, the wastewater discharge device being used to discharge the liquid in the wastewater tank; The blockage detection device is located at the base station.

7. The cleaning equipment according to claim 5, characterized in that, The sensor is located at the bottom of the sewage tank and at a predetermined distance from the side wall of the sewage tank.

8. The cleaning equipment according to claim 5, characterized in that, The anomaly indication information is used to indicate that ongoing drainage-related processes should be stopped.

9. A blockage detection device, characterized in that, Includes a processing unit and an output unit; The processing unit is used to determine the immersion duration of the immersion period based on the detection results of sensors installed in the wastewater device of the cleaning equipment. The detection results of the sensors are used to indicate whether the sensors are immersed in liquid. The immersion period includes at least one target time period, during which the detection results of the sensors indicate that the sensors are immersed. The bottom of the wastewater device is provided with a sewage trough in a horizontal direction. The sensor is located at the end of the sewage trough opposite to the sewage outlet. The sewage outlet is used to discharge liquid from the wastewater device. The output unit is used to output an abnormality indication information when the immersion time is greater than or equal to the second target threshold. The abnormality indication information is used to indicate that the sewage device is blocked and the time required for the cleaning equipment to perform drainage-related treatment is less than the second target threshold. When there are multiple target time periods in the immersion period, the length of the time interval between two adjacent target time periods is less than a first target threshold. During the time interval, the detection result of the sensor indicates that the sensor is not immersed, and the timing result of the immersion period is not reset to zero. The immersion duration is the duration between the start time of the first target time period and the end time of the last target time period among the multiple target time periods, or the immersion duration is the cumulative duration of the at least one target time period.

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