Liquid level detection method and device, liquid level sensor, liquid storage container and cleaning device

Abstract

Embodiments of this application provide a liquid level detection method and apparatus, a liquid level sensor, a liquid storage container, and a cleaning device. The method includes: continuously acquiring multiple liquid level signals within a preset time period; and determining the liquid level state based at least on the liquid level signals. This solution provides higher accuracy in determining the liquid level state and offers a better user experience.

Description

Technical Field

[0001] This application relates to the field of liquid level detection, and more specifically to a liquid level detection method, a liquid level sensor, a liquid level detection device, a liquid storage container, and a cleaning device. Background Technology

[0002] With the development of technology, liquid level detection technology has been widely used.

[0003] For example, various cleaning devices have gradually entered homes, hotels, and other places of use to replace manual sweeping and cleaning of floors or carpets. As these devices clean away dirt, the water level in their tanks decreases. Insufficient water will affect their normal operation. Therefore, it is necessary to monitor the liquid level in the cleaning equipment.

[0004] Existing liquid level detection technologies typically output liquid level data directly based on the liquid level detection results of a liquid level sensor. For example, for photoelectric liquid level sensors, the liquid level data is output in real time based on whether the photosensitive receiver detects the light emitted by the light-emitting diode. This approach produces inaccurate liquid level data. For various devices that require liquids, such as the aforementioned cleaning equipment, inaccurate liquid level data can affect their normal operation. Summary of the Invention

[0005] This application is made in view of the above-mentioned problems. According to one aspect of this application, a liquid level detection method is provided, applied to a liquid level sensor, comprising:

[0006] Within a preset time period, multiple liquid level signals are continuously acquired; and

[0007] The liquid level status is determined based at least on the liquid level signal.

[0008] For example, determining the liquid level state based at least on the liquid level signal includes:

[0009] Determine electrical parameters based on the liquid level signal. ；

[0010] Determine the first frequency number of the electrical parameter falling within a first parameter interval, and determine the second frequency number of the electrical parameter falling within a second parameter interval; and

[0011] The liquid level state is determined based on the first frequency and the second frequency.

[0012] Wherein, when the liquid level is higher than the liquid level height corresponding to the liquid level sensor, the electrical parameters of the liquid level signal are within the first parameter range; when the liquid level is lower than the liquid level height corresponding to the liquid level sensor, the electrical parameters of the liquid level signal are within the second parameter range.

[0013] For example, determining the liquid level state based on the first frequency and the second frequency includes:

[0014] If the first frequency is greater than or equal to the first frequency threshold, then the liquid level state of the liquid is determined to be the first liquid level state;

[0015] Wherein, the first liquid level state is a liquid level height higher than that corresponding to the liquid level sensor;

[0016] If the second frequency is greater than or equal to the second frequency threshold, then the liquid level state of the liquid is determined to be the second liquid level state;

[0017] Wherein, the second liquid level state is lower than the liquid level height corresponding to the liquid level sensor;

[0018] If the first frequency is less than the first frequency threshold and the second frequency is less than the second frequency threshold, then a comparison value is determined based on the second frequency and the first frequency, and the liquid level state of the liquid is determined based on the comparison value.

[0019] For example, the comparison value includes a frequency sum, where the frequency sum is the sum of the first frequency and the second frequency, and determining the liquid level state based on the comparison value includes:

[0020] If the sum of the frequencies is less than the frequency and threshold, then the liquid level data is determined to be the third liquid level state;

[0021] The third liquid level state is the liquid level height corresponding to the liquid level sensor.

[0022] For example, the value to be compared also includes a frequency ratio, which is the ratio of the second frequency to the first frequency;

[0023] Determining the liquid level state based on the comparison value includes:

[0024] If the sum of frequencies is greater than or equal to the sum of frequencies threshold, the liquid level state of the liquid is determined based on the frequency ratio.

[0025] If the frequency ratio is greater than or equal to the first ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state;

[0026] If the frequency ratio is less than the first ratio threshold and greater than the second ratio threshold, then the liquid level state of the liquid is determined to be the third liquid level state.

[0027] If the frequency ratio is less than or equal to the second ratio threshold, then the liquid level state of the liquid is determined to be the first liquid level state;

[0028] Wherein, the first ratio threshold is greater than the second ratio threshold.

[0029] For example, the value to be compared includes a frequency ratio, which is the ratio of the second frequency to the first frequency.

[0030] Determining the liquid level state based on the comparison value includes:

[0031] If the frequency ratio is greater than or equal to the first ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state;

[0032] If the frequency ratio is less than the first ratio threshold and greater than the second ratio threshold, then the liquid level state is determined to be the third liquid level state.

[0033] If the frequency ratio is less than or equal to the second ratio threshold, then the liquid level state of the liquid is determined to be the first liquid level state;

[0034] Wherein, the first ratio threshold is greater than the second ratio threshold, and the third liquid level state is the liquid level height corresponding to the liquid level sensor.

[0035] For example, the value to be compared includes a frequency ratio, which is the ratio of the second frequency to the first frequency;

[0036] Determining the liquid level state based on the comparison value includes:

[0037] If the frequency ratio is greater than or equal to the third ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state;

[0038] If the frequency ratio is less than the third ratio threshold, then the liquid level state is determined to be the first liquid level state.

[0039] Wherein, the first parameter interval and the second parameter interval are consecutive numerical intervals.

[0040] Exemplarily, the method further includes:

[0041] If the detection time of the liquid level sensor is less than the preset time, then a first number of supplementary liquid level signals are added.

[0042] Determining the liquid level state of the liquid based at least on the liquid level signal includes: determining the liquid level state of the liquid based on the supplementary liquid level signal and the acquired liquid level signal;

[0043] Wherein, the electrical parameters of the replenishment liquid level signal are equal to preset parameter values;

[0044] The sum of the first number and the number of times the liquid level signal is acquired during the detection time is equal to the preset number of acquisitions, where the preset number of acquisitions is the number of times the liquid level sensor acquires the liquid level signal at a preset frequency within the preset time.

[0045] For example, there is a third parameter interval between the first parameter interval and the second parameter interval, and the preset parameter value falls within the third parameter interval.

[0046] For example, after determining the liquid level state of the liquid, the method further includes:

[0047] Output liquid level information based on the liquid level status;

[0048] Specifically, during the first preset time period after the method starts execution, the liquid level information is output based on the liquid level status of the current unit time period; after the first preset time period, it is determined whether the liquid level status of multiple consecutive unit time periods within each preset time period is consistent, and the liquid level information is output only if they are consistent based on the liquid level status of the liquid.

[0049] According to a second aspect of this application, a liquid level sensor is also provided, the liquid level sensor including a processor and a memory storing execution instructions, wherein when the processor executes the execution instructions stored in the memory, the processor executes the above-described liquid level detection method.

[0050] For example, the liquid level sensor further includes a data acquisition module;

[0051] The acquisition module can be used to acquire liquid level signals;

[0052] The processor is used to continuously acquire multiple liquid level signals collected by the acquisition module within a preset time period, and to determine the liquid level status of the liquid based at least on the liquid level signals.

[0053] According to a third aspect of this application, a liquid level detection device is also provided, comprising at least one of the above-described liquid level sensors.

[0054] According to a fourth aspect of this application, a liquid storage container is also provided, including the liquid level sensor or the liquid level detection device described above.

[0055] According to a fifth aspect of this application, a cleaning device is also provided, including a liquid storage container and the aforementioned liquid level sensor or the aforementioned liquid level detection device.

[0056] The liquid level sensor or the liquid level detection device is installed in the liquid storage container.

[0057] For example, the liquid storage container is provided with a liquid storage chamber and a liquid level anti-vibration chamber. The bottom of the liquid storage chamber and the liquid level anti-vibration chamber are connected through a channel, and the top of both the liquid storage chamber and the liquid level anti-vibration chamber are connected to the atmosphere.

[0058] The liquid level sensor or the liquid level detection device is located at the corresponding position in the liquid level anti-vibration cavity.

[0059] For example, the minimum cross-sectional area of ​​the channel is less than the area threshold.

[0060] For example, the cleaning device includes the liquid level sensor, and there are multiple liquid level sensors, which are respectively disposed at different heights of the liquid storage container.

[0061] According to the above scheme, the liquid level can be determined based on multiple liquid level signals acquired continuously within a preset time. This scheme provides higher accuracy in determining the liquid level, is simpler to implement, and offers a better user experience.

[0062] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0063] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0064] Figure 1 A schematic flowchart of a liquid level detection method according to an embodiment of this application is shown;

[0065] Figure 2 A schematic diagram illustrating the determination of liquid level status by a liquid level sensor according to an embodiment of this application is shown;

[0066] Figure 3 A schematic diagram showing the distribution range of electrical parameters of a liquid level signal according to an embodiment of this application is provided.

[0067] Figure 4 A schematic diagram illustrating the acquisition of liquid level signals within multiple preset time periods according to an embodiment of this application is shown;

[0068] Figure 5 A schematic block diagram of a liquid level sensor according to one embodiment of this application is shown;

[0069] Figure 6a A schematic block diagram of a cleaning device according to one embodiment of this application is shown;

[0070] Figure 6b A schematic block diagram of a cleaning device according to another embodiment of this application is shown; and

[0071] Figure 7 A partial schematic diagram of a liquid storage container according to an embodiment of this application is shown. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of this application more apparent, exemplary embodiments according to this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. Based on the embodiments of this application described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this application.

[0073] To at least partially solve the aforementioned technical problems, according to one aspect of this application, a liquid level detection method is provided. This liquid level detection method can determine a relatively accurate liquid level state based on a comprehensive judgment of multiple liquid level signals acquired over a period of time.

[0074] This liquid level detection method can be applied to any existing or future-developed type of liquid level sensor. Exemplarily, and not limitingly, it can be applied to photoelectric liquid level sensors, capacitive liquid level sensors, float-type liquid level sensors, etc. A photoelectric liquid level sensor may include a light-emitting diode (LED) and a photosensitive receiver. When the liquid submerges the photoelectric liquid level sensor, the light emitted by the LED is refracted into the liquid, causing the photosensitive receiver to receive little or no light. If the liquid does not submerge the photoelectric liquid level sensor, the light emitted by the LED is directly reflected back to the photosensitive receiver. Thus, the photoelectric liquid level sensor enables single-point detection of the liquid level.

[0075] Figure 1 A schematic flowchart of a liquid level detection method 1000 according to an embodiment of this application is shown. Figure 1The liquid level detection method 1000 includes steps S1200 and S1400.

[0076] In step S1200, multiple liquid level signals are continuously acquired within a preset time period.

[0077] The preset time can be any suitable time period that can be set according to actual needs, such as 1 second, 3 seconds, 5 seconds, etc. Within this preset time, the liquid level sensor can collect multiple liquid level signals in real time, each representing the liquid level state at its respective collection time. These multiple liquid level signals can be all liquid level signals collected by the liquid level sensor within the preset time, or they can be a portion of the liquid level signals. The multiple liquid level signals can also be liquid level signals after filtering out noise signals. The multiple liquid level signals can be a fixed number of liquid level signals or a variable number of liquid level signals. Optionally, the liquid level sensor can collect liquid level signals at a preset frequency. The multiple liquid level signals can be a preset number of liquid level signals collected by the liquid level sensor within the preset time. The preset number can be equal to the preset frequency multiplied by the preset time. For example, the liquid level sensor can collect 10 liquid level signals per second. If the preset time is, for example, 5 seconds, then the multiple liquid level signals can be 50 liquid level signals. Alternatively, the liquid level sensor can also collect liquid level signals at a varying frequency. For example, a liquid level sensor can use a lower frequency to acquire signals when the liquid level signal is relatively stable, and a higher frequency to acquire signals when the liquid level signal changes drastically. Therefore, the number of liquid level signals acquired from the liquid level sensor within each preset time interval can be varied.

[0078] In step S1400, the liquid level status is determined based at least on the liquid level signal.

[0079] The liquid level state can vary depending on the actual application scenario of the liquid level sensor. For example, the liquid level sensor can be a photoelectric liquid level sensor, which is placed at a certain height in the liquid storage container. Multiple liquid level states can be set according to the positional relationship between the actual liquid level and the liquid level height corresponding to the liquid level sensor, and a correspondence can be established between different liquid level signals and different liquid level states. Exemplarily, but not limitingly, the liquid level state can include a first liquid level state, a second liquid level state, and a third liquid level state, etc. Specifically, the first liquid level state is when the liquid level is higher than the liquid level height corresponding to the liquid level sensor, the second liquid level state is when the liquid level is lower than the liquid level height corresponding to the liquid level sensor, and the third liquid level state is when the liquid level is at the liquid level height corresponding to the liquid level sensor.

[0080] It's easy to understand that multiple liquid level signals acquired consecutively within a preset time period may be the same or different. For example, within 5 seconds, the liquid level sensor may continuously collect 50 liquid level signals, which may be the same or different. In one example, if the liquid level remains unchanged within 5 seconds, the 50 liquid level signals may be the same or show no significant change. Therefore, the current liquid level state can be determined based on the correspondence between the liquid level signals and the liquid level state. The liquid level may also change significantly within 5 seconds. For example, when the actual liquid level drops from above the height corresponding to the liquid level sensor, the 50 liquid level signals collected by the sensor may change. As another example, if the water storage container shakes, the liquid level may fluctuate approximately periodically. Therefore, the 50 liquid level signals collected within 5 seconds may also be periodically fluctuating liquid level signals, possibly corresponding to different liquid level states. Specifically, the liquid level sensor can be a photoelectric liquid level sensor, which can be set at the 200ml mark on the liquid storage container. If the current liquid level is near the 200ml mark and the water storage container is shaken, the 50 liquid level signals collected by the photoelectric liquid level sensor within 5 seconds will fluctuate periodically, with different liquid level signals corresponding to different liquid level states.

[0081] In related technologies, the liquid level status information corresponding to the liquid level signal detected by the liquid level sensor is usually directly output and displayed. However, in the example described above where the liquid level signal fluctuates drastically within a short period due to shaking of the storage container, directly outputting the liquid level status is clearly inaccurate and unreasonable. According to the embodiments of this application, multiple liquid level signals acquired within a preset time period are analyzed to comprehensively determine the current liquid level status, thereby ensuring the accuracy and reasonableness of the determined liquid level status. Any suitable analysis and determination method can be used to determine the liquid level status, and this application does not limit it. For example, the liquid level status can be determined by grouping and statistically analyzing the magnitudes of the electrical parameters of multiple liquid level signals, and then by determining the frequency of the signals in each group.

[0082] According to the above scheme, the liquid level can be determined based on multiple liquid level signals acquired continuously within a preset time. This scheme provides higher accuracy in determining the liquid level, is simpler to implement, and offers a better user experience. Especially for single-point detection liquid level sensors, such as photoelectric sensors, which are more sensitive to liquid fluctuations, the above liquid level detection method significantly improves the detection accuracy of these sensors.

[0083] For example, step S1400, which determines the liquid level state based at least on the liquid level signal, includes steps S1410, S1420, and S1430.

[0084] In step S1410, the electrical parameters are determined based on the liquid level signal. The electrical parameters can be determined by reading the liquid level signal from the same liquid level sensor. These electrical parameters can be any suitable parameter, such as voltage or current. Specifically, the liquid level sensor can be a photoelectric liquid level sensor, and the voltage value can be determined by reading the electrical signal acquired by the liquid level sensor.

[0085] In step S1420, a first frequency of the electrical parameters falling within a first parameter range is determined, and a second frequency of the electrical parameters falling within a second parameter range is determined. Specifically, when the liquid level is higher than the liquid level height corresponding to the liquid level sensor, it is in a first liquid level state, and the electrical parameters of the liquid level signal are within the first parameter range. When the liquid level is lower than the liquid level height corresponding to the liquid level sensor, it is in a second liquid level state, and the electrical parameters of the liquid level signal are within the second parameter range.

[0086] Both the first and second parameter ranges can be electrical parameter ranges that can be set according to requirements. The first parameter range can also be the electrical parameter range of the level sensor when it is in the first liquid level state, and the second parameter range can be the electrical parameter range of the level sensor when it is in the second liquid level state. Specifically, the data of the first and second parameter ranges may differ for level sensors from different batches, manufacturers, materials, or sizes, etc. The first and second parameter ranges can be set according to the actual situation. The first and second parameter ranges can be voltage ranges or current ranges, etc. Furthermore, there is no overlap between the first and second parameter ranges. Optionally, the first and second parameter ranges can be continuous and adjacent. For example, the first parameter range can be the voltage range [0, 2.8V), and the second parameter range can be the voltage range [2.8V, ∞). Alternatively, the first and second parameter ranges can also be non-adjacent. For example, the first parameter range can be the voltage range [0, 0.4V], and the second parameter range can be the voltage range [2.8V, ∞). The first frequency represents the number of liquid level signals whose electrical parameters fall within the first parameter range, and the second frequency represents the number of liquid level signals whose electrical parameters fall within the second parameter range. For example, the first frequency could be the number of liquid level signals whose electrical parameters fall within [0, 0.4V], and the second frequency could be the number of liquid level signals whose electrical parameters fall within [2.8V, ∞].

[0087] In step S1430, the liquid level state is determined based on the first frequency and the second frequency. As mentioned earlier, the first parameter interval and the second parameter interval correspond to different liquid level states. Therefore, the liquid level state can be determined based on the first frequency, which represents the number of times the electrical parameters of the liquid level signal fall into the first parameter interval, and the second frequency, which represents the number of times the electrical parameters of the liquid level signal fall into the second parameter interval.

[0088] Figure 2 This diagram illustrates a liquid level sensor determining the liquid level state according to an embodiment of this application. As shown, the liquid level sensor can be positioned at a certain height in the liquid storage container for single-point liquid level detection. Exemplarily, and not limitingly, the liquid level height corresponding to the liquid level sensor can be the height of the center of the liquid level sensor, such as the liquid level height at point S in the diagram. When the liquid surface is below point S, for example, at point L in the diagram, the liquid level is lower than the liquid level height corresponding to the liquid level sensor. When the liquid surface is above point S, for example, at point H in the diagram, the liquid level is higher than the liquid level height corresponding to the liquid level sensor. Assuming the liquid level height corresponding to the liquid level sensor is the 200ml mark on the liquid storage container, the liquid level height corresponding to this liquid level sensor can be the liquid level height corresponding to the 200ml mark. Alternatively, the liquid level height corresponding to the liquid level sensor can also be a liquid level height within a certain height range, such as the liquid level height between 200ml ± 10ml marks. For simplicity, the following explanation will be elaborated using a later example. It is easy to understand that in this example, the liquid level sensor corresponds to a liquid level height of 190ml-210ml. When the liquid level is above the 210ml mark, the electrical parameters of the liquid level signal are within the first parameter range; for example, the voltage value shown by the liquid level signal can be less than or equal to 0.4V. When the liquid level is below the 190ml mark, the electrical parameters of the liquid level signal are within the second parameter range; for example, the voltage value shown by the liquid level signal can be greater than or equal to 2.8V. Therefore, in step S1430, the liquid level state can be determined based on the frequency of the electrical parameters of multiple liquid level signals acquired within a preset time falling into these two parameter ranges, i.e., the first frequency and the second frequency. In some cases, the liquid level state can be determined directly based on the first frequency or the second frequency. For example, the liquid level state can be directly determined when the first frequency or the second frequency is equal to the total number of liquid level signals acquired in step S1200. Alternatively, the first frequency and the second frequency can be compared and analyzed, and the liquid level state can be determined based on the result of the comparison and analysis. For example, if the first frequency is greater than the second frequency, it can be determined that the liquid level is above the height corresponding to the liquid level sensor, such as above the 210ml mark. If the first frequency is less than the second frequency, it can be determined that the liquid level is below the height corresponding to the liquid level sensor, such as below the 190ml mark. Of course, other suitable methods can also be used to comprehensively analyze the first and second frequencies to determine the liquid level status, and this application does not limit such methods.

[0089] Understandably, in real life, most liquid container scales are marked with units of volume. This design allows the liquid container to indicate both the volume of the liquid at that scale and the height of the liquid level at that scale. Therefore, in the above embodiment, the liquid level height is expressed in the volume unit milliliter (ml). In this embodiment, the liquid level height can also be marked with height units such as millimeter (mm), centimeter (cm), or decimeter (dm), depending on the actual situation. That is, the liquid level sensor in this embodiment detects a certain height, which can be expressed on the liquid container in volume units such as milliliter (ml) or cubic centimeter (cm). 3 cubic decimeters (dm) 3 cubic meters (mm) 3 The height can be indicated by units such as millimeters (mm), centimeters (cm), decimeters (dm), meters (m), etc., and how a certain height is indicated does not affect the liquid level detection in the embodiments of this application.

[0090] According to the above scheme, by using the electrical parameters of multiple liquid level signals, two frequencies are determined where each electrical parameter falls within two parameter intervals. Finally, the liquid level state is determined using these two frequencies. This scheme requires less computation, obtains more accurate data, and thus determines a more accurate liquid level state.

[0091] For example, step S1430 determines the liquid level state based on the first frequency and the second frequency, including steps S1431, S1432, and S1433. According to the embodiments of this application, the first frequency and the second frequency can be compared with preset frequency thresholds respectively, and the liquid level state can be determined based on the comparison results.

[0092] In step S1431, if the first frequency is greater than or equal to a first frequency threshold, the liquid level state is determined to be the first liquid level state. The first liquid level state is the liquid level height above the level sensor. For example, the liquid level state above the 210 ml mark in the previous example. The first frequency threshold can be a value related to the number of multiple liquid level signals obtained in step S1200. For example, if there are 50 liquid level signals, the first frequency threshold can be any value less than or equal to 50. For example, the first frequency threshold can be 50, meaning that if the electrical parameters of the multiple liquid level signals are all within the first parameter range, the current liquid level state can be determined as the first liquid level state. Alternatively, the first frequency threshold can also be any value between 40 and 50, such as 45, meaning that if the electrical parameters of 45 or more of the 50 liquid level signals fall within the first parameter range, the current liquid level state can be determined as the first liquid level state.

[0093] In step S1432, if the second frequency is greater than or equal to a second frequency threshold, the liquid level state is determined to be the second liquid level state. The second liquid level state is a liquid level below the level corresponding to the liquid level sensor, such as the state below the 190ml mark in the previous example. The second frequency threshold can be set based on the first frequency threshold and the total number of acquired liquid level signals. The second frequency threshold can be equal to or different from the first frequency threshold. The first and second frequency thresholds can be set according to actual needs, such that when determining the liquid level state, it is either the first liquid level state or the second liquid level state. For example, the second frequency threshold can also be 45.

[0094] It's easy to understand that when the liquid level fluctuation is small, such as when the water in a storage container agitates only slightly, the liquid level signal collected by the level sensor can be relatively stable. Therefore, the first frequency falling within the first parameter range or the second frequency falling within the second parameter range can be quite close to the total number of liquid level signals. Thus, the current liquid level can be determined directly by comparing the first and second frequencies with the first and second frequency thresholds, respectively. This method involves less computation.

[0095] Figure 3 This diagram illustrates the distribution range of electrical parameters of a liquid level signal according to an embodiment of the present application. As shown, the first parameter range (indicated by the vertical line filling area) can be a voltage range [0, 0.4V], and the second parameter range (indicated by the diagonal line filling area) can be a voltage range [2.8V, ...].

[0096] (∞). The first frequency threshold and the second frequency threshold can both be 45. In step S1431, the liquid level can be determined to be in a first liquid level state if the frequency of the voltage value shown by the liquid level signal being less than or equal to 0.4V is greater than or equal to 45. In step S1432, the liquid level can be determined to be in a second liquid level state if the frequency of the voltage value shown by the liquid level signal being greater than or equal to 2.8V is greater than or equal to 45.

[0097] In step S1433, if the first frequency is less than a first frequency threshold and the second frequency is less than a second frequency threshold, then a comparison value is determined based on the second frequency and the first frequency, and the liquid level state is determined based on the comparison value. If the liquid level fluctuates significantly within a preset time period, both the first and second frequencies may be less than their corresponding frequency thresholds. Alternatively, the first parameter interval and the second parameter interval may not be adjacent; for example, other parameter intervals may exist between the first and second parameter intervals, and all or at least some of the electrical parameters in multiple liquid level signals may fall within these other parameter intervals. Therefore, both the first and second frequencies may also be less than their corresponding frequency thresholds. For at least the above two cases, the first and second frequencies can be comprehensively analyzed to determine the comparison value, and the current liquid level state can be determined based on the comparison value. The comparison value can be any statistical value related to the first and second frequencies. Exemplarily, but not limitingly, the comparison value can be determined based on at least one of the sum, difference, or ratio of the first and second frequencies.

[0098] The above scheme determines the liquid level status relatively accurately, and its operating logic is simple with a small computational load.

[0099] For example, the comparison value includes a frequency sum, which is the sum of a first frequency and a second frequency. According to an embodiment of this application, the liquid level state can be determined based on the sum of the first and second frequencies. Step S1433, determining the liquid level state based on the comparison value, includes: if the frequency sum is less than a frequency sum threshold, then the liquid level data is determined to be a third liquid level state. The third liquid level state is the liquid level height corresponding to the liquid level sensor. The frequency sum threshold can be a value less than the total number of multiple liquid level signals obtained in step S1200, or it can be set according to actual needs. For example, if the total number of multiple liquid level signals is, for example, 50, then the frequency sum threshold can be any value less than 20. Examples of frequency sum thresholds include 1, 3, 10, 15, etc.

[0100] As mentioned earlier, the first parameter interval and the second parameter interval may not be adjacent. A third parameter interval may exist between the first and second parameter intervals. The liquid level state corresponding to this third parameter interval can be between the first and second liquid level states, i.e., between the first and second liquid level states, which is the third liquid level state. The third liquid level state, for example, is the liquid level state corresponding to the position between 200 ml ± 10 ml graduations in the storage container, as shown in the previous example. If the frequency of falling into the first and second parameter intervals is small, i.e., the sum of the first and second frequencies is small, given a fixed total number of liquid level signals, it indicates that a significant number of liquid level signals' electrical parameters may fall within the third parameter interval. Therefore, the current liquid level state can be determined as the third liquid level state. For example, in the aforementioned first parameter interval being a voltage range [0, 0.4V] and the second parameter interval being a voltage range...

[0101] In the example of [2.8V, ∞), the voltage range (0.4V, 2.8V) can also be included. The frequency and threshold are, for example, 5. If the sum of the frequencies of the electrical parameters of the 50 liquid level signals acquired within 5 seconds in the voltage ranges [0, 0.4V] and [2.8V, ∞) is less than 5, then the current liquid level state can be determined to be the third liquid level state. See again... Figure 3 If, out of 50 liquid level signals acquired within 5 seconds, only 4 liquid level signals have voltage values ​​falling within the first and second parameter ranges, then 46 liquid level signals will have voltage values ​​falling within the third parameter range (as shown by the dotted area in the diagram). At this point, it can be determined that the current liquid level is at the height corresponding to the liquid level sensor, and therefore it can be identified as the third liquid level state.

[0102] In the above scheme, the liquid is determined to be in a third liquid level state corresponding to the liquid level sensor based on the sum of the first and second frequencies. This scheme can accurately detect at least three liquid level states even when the liquid level fluctuates significantly over a short period. Furthermore, the calculation logic of this scheme is simple and easy to implement.

[0103] For example, the comparison value also includes a frequency ratio, which is the ratio of the second frequency to the first frequency.

[0104] According to embodiments of this application, the liquid level state can also be determined based on the ratio of the second frequency to the first frequency. For example, if the first parameter interval and the second parameter interval are adjacent, the liquid level state can be directly determined by the ratio of the second frequency to the first frequency. Alternatively, if the first parameter interval and the second parameter interval are not adjacent, and the electrical parameters of multiple liquid level signals fall at relatively low frequencies in other parameter intervals, the liquid level state can also be determined by the ratio of the second frequency to the first frequency. Specifically, step S1433, which determines the liquid level state based on the comparison value, includes steps S1433.1, S1433.2, and S1433.3.

[0105] In step S1433.1, if the frequency ratio is greater than or equal to a first ratio threshold, the liquid level state is determined to be a second liquid level state. The first ratio threshold can be set according to actual needs, such as any value greater than 1. In one example, the first ratio threshold can be 3 / 2. Table 1 shows a comparison table of frequency ratios and determined liquid level states according to an embodiment of this application. As shown in Table 1, the liquid level state can be determined to be a second liquid level state when the ratio of the second frequency to the first frequency is greater than or equal to 3 / 2. For example, for 50 liquid level signals acquired within 5 seconds, if the electrical parameters of 30 or more liquid level signals fall within the second parameter range, and the electrical parameters of 20 or fewer liquid level signals fall within the first parameter range, the liquid level state can be determined to be a second liquid level state.

[0106] Table 1

[0107]

[0108]

[0109] In step S1433.2, if the frequency ratio is less than a first ratio threshold and greater than a second ratio threshold, the liquid level state is determined to be a third liquid level state. The first ratio threshold is greater than the second ratio threshold. The second ratio threshold can also be set according to actual needs; for example, the second ratio threshold can be any value less than 1. Exemplarily, but not limitingly, as shown in Table 1, the first ratio threshold can be 3 / 2, and the second ratio threshold can be 2 / 3. That is, when the ratio of the second frequency to the first frequency is (2 / 3, 3 / 2), the liquid level state can be determined to be a third liquid level state. Those skilled in the art will readily understand various implementations of this step, which will not be elaborated here. It should be noted that in this scheme, if most of the electrical parameters in the multiple liquid level signals are uniformly distributed in the first parameter interval and the second parameter interval, specifically manifested as a jump in liquid level between the first and second liquid level states, then the liquid level state can be determined to be a third liquid level state according to the scheme in step S1433.2.

[0110] Step S1433.3: If the frequency ratio is less than or equal to a second ratio threshold, then the liquid level state is determined to be a first liquid level state. Exemplarily, but not limitingly, as shown in Table 1, when the second ratio threshold is 2 / 3, if the ratio of the second frequency to the first frequency is less than or equal to 2 / 3, then the liquid level state can be determined to be the first liquid level state. Various implementations of this step are readily understood by those skilled in the art and will not be elaborated upon here.

[0111] In the above scheme, the three liquid level states corresponding to the liquid level sensor are determined based on the ratio of the first frequency to the second frequency. This allows for relatively accurate determination of the three liquid level states even when the liquid fluctuates significantly within a short period. Furthermore, the scheme's calculation logic is simple and easy to implement.

[0112] For example, the comparison value includes both the sum of frequencies and the frequency ratio. According to an embodiment of this application, the liquid level state can be determined based on both the sum of frequencies and the frequency ratio of the first and second frequencies. Step S1433, determining the liquid level state based on the comparison value, includes the step of: if the sum of frequencies is greater than or equal to a frequency sum threshold, then determining the liquid level state based on the frequency ratio. Specifically, determining the liquid level state based on the frequency ratio includes steps S1433.1 to S1433.3 described above.

[0113] Unlike the aforementioned embodiments that directly determine the liquid level state based on the frequency ratio, according to this embodiment of the application, the determination of the liquid level state based on the frequency ratio is performed only when the sum of the first frequency and the second frequency is greater than or equal to the frequency sum threshold.

[0114] According to the above scheme, if the sum of the first and second frequencies is greater than or equal to the frequency and threshold, the liquid level can be further determined based on the ratio of the second frequency to the first frequency. This scheme has a more reasonable computational logic, thus determining the liquid level more accurately. Furthermore, the computational load is lower.

[0115] For example, the first parameter interval and the second parameter interval can be continuous numerical intervals. For instance, the first parameter interval can be a voltage interval [0, 2.8V), while the second parameter interval is a voltage interval [2.8V, ∞). In this example, the liquid level state can also be determined directly based on the ratio of the second frequency to the first frequency, i.e., the frequency ratio. Specifically, step S1433, which determines the liquid level state based on the comparison value, includes steps S1433.4 and S1433.5.

[0116] In step S1433.4, if the frequency ratio is greater than or equal to a third ratio threshold, the liquid level state is determined to be a second liquid level state. In step S1433.5, if the frequency ratio is less than the third ratio threshold, the liquid level state is determined to be a first liquid level state. The third ratio threshold can also be any suitable value; for example, the third ratio threshold can be 1 / 2. For example, among the electrical parameters of multiple liquid level signals, if the frequency of voltage values ​​greater than or equal to 2.8V is greater than or equal to the frequency of voltage values ​​less than 2.8V, the liquid level state is determined to be a second liquid level state. Otherwise, the liquid level state is determined to be a first liquid level state.

[0117] According to the above scheme, the liquid level can be determined by comparing the ratio of the second frequency to the first frequency with a third ratio threshold. This scheme is easy to implement, requires little computation, and has a high accuracy rate.

[0118] For example, the comparison value includes a frequency difference, which is the difference between the second frequency and the first frequency. Step S1433, determining the liquid level state based on the comparison value, may further include: if the frequency difference is greater than or equal to a difference threshold, then the liquid level state is determined to be the second liquid level state; if the frequency difference is less than the difference threshold, then the liquid level state is determined to be the first liquid level state. The difference threshold can be any suitable number, such as 0, 1, 5, etc. This scheme is similar in principle to the above scheme for determining the liquid level state based on the frequency ratio and the third ratio threshold, and will not be elaborated further here.

[0119] For example, the method 1000 further includes step S1300. In step S1300, if the detection time of the liquid level sensor is less than a preset time, a first number of supplementary liquid level signals are added. The first number, summed with the number of liquid level signals acquired during the detection time, equals a preset number of acquisitions. The preset number of acquisitions is the number of times the liquid level sensor acquires liquid level signals at a preset frequency within a preset time. The preset frequency can be any suitable frequency set according to hardware performance and actual detection requirements. For example, if the liquid level sensor acquires liquid level signals at a frequency of 10 times / second, that is, 10 liquid level signals can be acquired per second. If the preset time is, for example, 5 seconds, then the preset number of acquisitions can be 50 times. That is, the liquid level sensor can continuously acquire 50 liquid level signals within 5 seconds. It is easy to understand that at the beginning of acquiring liquid level signals, the detection time of the liquid level sensor may be less than 5 seconds. For example, in the first 1 to 4 seconds of the liquid level sensor's detection, less than 50 liquid level signals are acquired. To determine the liquid level signal in real time and for ease of calculation, a first number of supplementary liquid level signals can be added in step S1300. It is easy to understand that the first number can change with the detection duration. For example, the preset number of acquisitions can be 50. If the current detection duration is 1 second, and the number of liquid level signals acquired during the detection duration is 10, then an additional 40 supplementary liquid level signals are needed. The first number can be 40. If the current detection duration is 2 seconds, and the number of liquid level signals acquired during the detection duration is 20, then the first number can be 30. After the detection duration reaches 5 seconds, no additional liquid level signals are needed. Figure 4 This diagram illustrates the acquisition of liquid level signals within multiple preset time periods according to an embodiment of this application. As shown, after the detection duration reaches a preset time, the liquid level signal within the most recent preset time period, such as 5 seconds, can be acquired, and the liquid level state of the liquid can be determined based on these liquid level signals. For example, when the detection duration reaches 6 seconds, the liquid level state of the liquid can be determined based on the liquid level signals collected by the liquid level sensor from the 2nd second to the 6th second.

[0120] In the above embodiments, step S1400, which determines the liquid level state based at least on the liquid level signal, may include step S1405: determining the liquid level state based on the supplementary liquid level signal and the acquired liquid level signal. The electrical parameters of the supplementary liquid level signal are equal to preset parameter values, such as electrical parameter values ​​that have a relatively small impact on the determination of the liquid level state. The liquid level state can be determined based on the supplementary liquid level signal and the acquired liquid level signal. For example, this step can be implemented using various implementation schemes of step S1430 in the aforementioned examples, which will not be elaborated further here.

[0121] According to the above scheme, when the initial detection time is short and the number of liquid level signals acquired is small, a first number of supplementary liquid level signals can be obtained to acquire a fixed number of liquid level signals. Then, based on the fixed number of liquid level signals, the liquid level state is determined. This scheme can make the detection more accurate and the calculation simpler.

[0122] As mentioned earlier, a third parameter interval may exist between the first and second parameter intervals. For example, a preset parameter value may fall within the third parameter interval. For instance, in the example where the first parameter interval is a voltage interval [0, 0.4V] and the second parameter interval is a voltage interval [2.8V, ∞), a third parameter interval of voltage interval (0.4V, 2.8V) may also be included. The preset parameter value can be any suitable value within the third parameter interval. For example, the preset parameter value could be the median of that interval, such as 1.6V. Alternatively, it could be the parameter value of the liquid level signal collected by the liquid level sensor when the liquid level is at the height corresponding to the liquid level sensor, obtained experimentally, for example, 1V. That is, in this example, when the detection time is less than the preset time, the electrical parameter value of the supplementary liquid level signal can be 1V. This approach requires less computation and avoids interference with the detection data, resulting in a more accurate determination of the liquid level state.

[0123] For example, after determining the liquid level state in step S1400, the method 1000 further includes step S1500. In step S1500, liquid level information is output based on the liquid level state. For example, liquid level information can be generated and output based on the determined liquid level state. The liquid level information may include various information representing the liquid level state. In one example, the liquid level information may include liquid level data corresponding to the liquid level state, such as the percentage of the liquid volume at the current liquid level relative to the volume of the storage container. In another example, the liquid level information may also include textual information about the liquid level state, such as "high liquid level," "medium liquid level," or "low liquid level."

[0124] Step S1500 may further include steps S1501 and S1502. In step S1501, within the first preset time after the method begins execution, liquid level information is output based on the current liquid level status per unit time. The unit time can be any suitable duration less than the preset time. For example, the preset time is 5 seconds, and the unit time is 1 second. In one example, the liquid level detection method 1000 can be used to detect the liquid level status of a storage container in a cleaning device such as a floor scrubber. It is easy to understand that after the floor scrubber is turned on, for the convenience of the user, it is usually necessary to directly display the current water volume in the storage container, so as to remind the user to add water in time. Moreover, after the machine is turned on, the water in the storage container is usually in a relatively stable state, so the liquid level signal detected within a unit time can be accurate and effective. In this case, the liquid level status of the water in the storage container can be determined according to the current liquid level status per unit time, and the corresponding liquid level information can be output and displayed, for example, the current liquid level information can be output every second. As can be understood, as mentioned above, the liquid level status for that second can be determined based on the replenished liquid level signal and the acquired liquid level signal.

[0125] In step S1502, after the first preset time, it is determined whether the liquid level status of multiple consecutive unit durations within each preset time is consistent. Liquid level information is output only if they are consistent. It can be understood that the number of unit durations in step S1502 can be set as needed and can be any value greater than 1. For example, the preset time is 5 seconds, and the multiple unit durations are, for example, 4. Specifically, for the 10th second after startup, the multiple unit durations are the 7th, 8th, 9th, and 10th seconds. Similarly, in the example of detecting the water level in the storage container of the floor scrubber, after the first preset time, the water level in the storage container may fluctuate due to the start of the floor scrubber. In this case, to ensure the accuracy of the output liquid level information and to avoid frequent jumps in the output liquid level information, it can be determined whether the water level status determined for, for example, 3 to 5 consecutive seconds is consistent. The liquid level information is updated only if they are consistent; otherwise, it is not updated. In the example above, the liquid level status at second 7 can be determined based on the liquid level signals acquired from second 2 to second 7, the liquid level status at second 8 can be determined based on the liquid level signals acquired from second 3 to second 8, and so on, until the liquid level status at second 10 is determined. If these four liquid level statuses are consistent, the liquid level information is output at second 10 based on the determined liquid level status; otherwise, the liquid level status determined at second 9 can be maintained at second 10. This greatly ensures the accuracy and rationality of the output liquid level information, avoids frequent jumps in liquid level information caused by liquid level fluctuations, and improves the user experience.

[0126] According to the above solution, by setting reasonable execution conditions for outputting liquid level information, both timely output and accuracy of the output information can be guaranteed. This results in a better user experience.

[0127] According to a second aspect of this application, a liquid level sensor is provided. Figure 5 A schematic block diagram of a liquid level sensor 500 according to an embodiment of this application is shown. As shown, the liquid level sensor 500 includes a processor 520 and a memory 510 storing execution instructions. When the processor 520 executes the execution instructions stored in the memory 510, the processor 520 executes the liquid level detection method 1000 described above.

[0128] Exemplarily, the liquid level sensor 500 also includes a data acquisition module. This acquisition module can be used to acquire liquid level signals. The acquisition module can be any suitable device or component, as long as it can acquire liquid level signals. In one example, the liquid level sensor can be a photoelectric liquid level sensor, and the acquisition module can include a photoelectric switch and an analog-to-digital converter circuit, etc. The photoelectric switch can include a light-emitting diode and a phototransistor. A corresponding electrical signal can be generated based on whether the photoelectric switch receives a light signal refracted by the liquid, which serves as the liquid level signal. The processor 520 is used to continuously acquire multiple liquid level signals acquired by the acquisition module within a preset time period, and determine the liquid level state of the liquid based at least on the liquid level signals. Those skilled in the art can easily understand the above-described execution scheme of the processor 520 by reading the above description of the liquid level detection method 1000, and will not be elaborated further here.

[0129] According to a third aspect of this application, a liquid level detection device is provided. The liquid level detection device includes at least one of the aforementioned liquid level sensors.

[0130] When there is only one liquid level sensor, the liquid level state determined by the liquid level sensor is the detection result of the liquid detection device.

[0131] The number of liquid level sensors can also be multiple. For example, multiple liquid level sensors can perform single-point detection of the liquid level, corresponding to the detection of liquid level states at different heights. In this case, the liquid level states determined by each liquid level sensor can be comprehensively judged to determine the detection result of the liquid level detection device. For example, there are three liquid level sensors: liquid level sensor A corresponds to liquid level height a, liquid level sensor B corresponds to liquid level height b, and liquid level sensor C corresponds to liquid level height c. In the current 5 seconds, liquid level sensor A determines the liquid level state based on multiple liquid level signals as being above liquid level height a, liquid level sensor B determines the liquid level state based on multiple liquid level signals as being at liquid level height b, and liquid level sensor C determines the liquid level state based on multiple liquid level signals as being below liquid level height c. Then the liquid level detection device can comprehensively determine that the liquid level is at liquid level height b based on these three liquid level states.

[0132] The liquid level detection device includes multiple liquid level sensors, which can combine the liquid level status determined by each sensor to obtain more accurate liquid level detection results involving multiple distribution points. Furthermore, this liquid level detection device has a lower cost.

[0133] According to a fourth aspect of this application, a liquid storage container is provided. The liquid storage container includes the aforementioned liquid level sensor 500 or the aforementioned liquid level detection device.

[0134] According to a fifth aspect of this application, a cleaning device is also provided. Figure 6a A schematic block diagram of a cleaning device 600 according to one embodiment of this application is shown. Figure 6a As shown, the cleaning device 600 may include a liquid storage container 610 and the aforementioned liquid level sensor 500. Figure 6b A schematic block diagram of a cleaning device 600' according to another embodiment of this application is shown. Figure 6b As shown, the cleaning device 600' may include a liquid storage container 610 and the aforementioned liquid level detection device 620. The liquid level sensor 500 or the liquid level detection device 620 is disposed at the liquid storage container 610. According to embodiments of this application, the liquid level sensor 500 or the liquid level detection device 620 can be disposed at any suitable location within the liquid storage container 610, as long as it can detect the liquid level in the liquid storage container 610. Optionally, the liquid level sensor 500 or the liquid level detection device 620 may be disposed on the inner wall of the liquid storage container 610; for example, the liquid level sensor 500 may be a photoelectric liquid level sensor. Alternatively, the liquid level sensor 500 or the liquid level detection device 620 may also be disposed at the bottom of the liquid storage container 610; for example, the liquid level sensor 500 may be a capacitive liquid level sensor.

[0135] According to the cleaning equipment of this application embodiment, the liquid level in its storage container can be detected in real time by a liquid level sensor or a liquid level detection device, and the detection accuracy and detection efficiency are both high, thereby ensuring the good use of the cleaning equipment.

[0136] Optionally, the cleaning device is a robotic vacuum cleaner. The robotic vacuum cleaner can use water in its storage container to perform single-pass sweeping, single-pass mopping, sweeping followed by mopping, and / or simultaneous sweeping and mopping operations on floors or carpets. During these operations, the water level in the robotic vacuum cleaner's storage container may fluctuate. A robotic vacuum cleaner equipped with the aforementioned liquid level sensor or liquid level detection device can accurately detect the liquid level in its storage container, ensuring its normal operation and providing a good user experience.

[0137] Figure 7 A partial schematic diagram of a liquid storage container according to an embodiment of this application is shown. Exemplarily, as shown, the liquid storage container 610 is provided with a liquid storage chamber 611 and a liquid level anti-vibration chamber 612, with the bottoms of the liquid storage chamber 611 and the liquid level anti-vibration chamber 612 connected by a channel 613. This ensures that the liquid levels inside the liquid storage chamber 611 and the liquid level anti-vibration chamber 612 remain consistent. The tops of both the liquid storage chamber 611 and the liquid level anti-vibration chamber 612 are open to the atmosphere, effectively ensuring pressure balance within the two chambers. A liquid level sensor 500 or a liquid level detection device 620 is disposed at a corresponding position in the liquid level anti-vibration chamber 612. For example, in an embodiment where the liquid level detection device 620 includes multiple liquid level sensors 500, these sensors 500 can be disposed at different liquid level heights on the inner wall of the liquid level anti-vibration chamber 612. The liquid level sensor 500 or the liquid level detection device 620 can be used to detect the liquid level inside the liquid level anti-vibration chamber 620.

[0138] The aforementioned structural design of the liquid storage container 610, by separately configuring a liquid storage chamber and a liquid level anti-vibration chamber, with the anti-vibration chamber connected to the liquid storage chamber via a channel and the atmosphere, ensures that the water level within the anti-vibration chamber remains relatively stable even when the liquid storage container is shaking. This improves the detection accuracy of the liquid level sensor or liquid level detection device. Furthermore, when the liquid level sensor or liquid level detection device performs the aforementioned liquid level detection method, it can further ensure the accuracy of liquid level detection under liquid level sloshing conditions.

[0139] Optionally, the cross-sectional area of ​​the level stabilization cavity 612 is much smaller than the cross-sectional area of ​​the storage cavity 611. For example, the ratio of the cross-sectional areas of the level stabilization cavity 612 to the storage cavity 611 is less than a preset area ratio threshold. This preset area ratio threshold can be set according to requirements, for example, any value between [0.01, 0.1]. This further prevents the liquid in the level stabilization cavity 612 from shaking. Consequently, the accuracy of level detection by the level sensor 500 or the level detection device can be guaranteed.

[0140] For example, the minimum cross-sectional area of ​​channel 613 is less than the area threshold. According to an embodiment of this application, this channel is a channel to ensure the flow of liquid between the storage chamber 611 and the level stabilization chamber 612. The area threshold can be any suitable value, which can be a value much smaller than the cross-sectional area of ​​the storage container 610, for example, it can be 1 / 100 of the cross-sectional area of ​​the storage container 610. By setting a narrower channel, the flow rate of water flowing into the level stabilization chamber 612 can be effectively controlled, thereby slowing down the rapid changes in the liquid level in the level stabilization chamber 612. This ensures that the water level in the level stabilization chamber 612 remains relatively stable, which can improve the detection accuracy of the level sensor 500 or the level detection device 620. Furthermore, this solution can effectively reduce the swaying of the liquid level without adding external shock absorption or changing the shape of the storage container 610, thereby saving costs.

[0141] As previously described, the cleaning device 600 may include multiple liquid level sensors 500, each disposed at different heights within the liquid storage container 610. According to embodiments of this application, the number of liquid level sensors 500 can be arbitrary. For example, a larger number of liquid level sensors 500 can be used when the liquid storage container 610 is at a higher height, and vice versa. Multiple liquid level sensors 500 can be disposed at different heights within the liquid storage container 610. For example, the liquid storage container 610 can hold 100 ml of liquid. (Refer again) Figure 7 Three liquid level sensors can be installed on the inner wall of, for example, the liquid storage container 610, as shown in the circular pattern in the figure. Liquid level sensor A can be installed at the 30ml mark, liquid level sensor B at the 60ml mark, and liquid level sensor C at the 90ml mark. This allows three liquid level sensors to detect the liquid level at their respective corresponding heights. Using multiple liquid level sensors to detect different liquid levels ensures accurate detection of the liquid level in the liquid storage container 610.

[0142] Those skilled in the art can understand the specific implementation schemes of the above-mentioned liquid level sensor, liquid level detection device, liquid storage container and cleaning equipment by reading the relevant description of the liquid level detection method. For the sake of brevity, they will not be described in detail here.

[0143] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of this application. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of this application. All such changes and modifications are intended to be included within the scope of this application as claimed in the appended claims.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0146] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0147] Similarly, it should be understood that, in order to streamline this application and aid in understanding one or more of the various inventive aspects, features of this application may sometimes be grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of this application. However, this approach should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with features fewer than all features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0148] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0149] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0150] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some modules in the apparatus or device according to the embodiments of this application. This application can also be implemented as an apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0151] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0152] The above description is merely a specific embodiment or illustration of the embodiments of this application. The scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the scope of the claims.

Claims

1. A liquid level detection method, applied to a liquid level sensor, characterized in that, include: Multiple liquid level signals are acquired continuously within a preset time period; as well as The liquid level status is determined at least based on the liquid level signal; Determining the liquid level state based at least on the liquid level signal includes: The electrical parameters are determined based on the liquid level signal; Determine the first frequency number of the electrical parameter falling within a first parameter interval, and determine the second frequency number of the electrical parameter falling within a second parameter interval; and The liquid level state is determined based on the first frequency and the second frequency. Wherein, when the liquid level is higher than the liquid level height corresponding to the liquid level sensor, the electrical parameters of the liquid level signal are within the first parameter range; when the liquid level is lower than the liquid level height corresponding to the liquid level sensor, the electrical parameters of the liquid level signal are within the second parameter range. The step of determining the liquid level state based on the first frequency and the second frequency includes: If the first frequency is greater than or equal to the first frequency threshold, then the liquid level state of the liquid is determined to be the first liquid level state; Wherein, the first liquid level state is a liquid level height higher than that corresponding to the liquid level sensor; If the second frequency is greater than or equal to the second frequency threshold, then the liquid level state of the liquid is determined to be the second liquid level state; Wherein, the second liquid level state is lower than the liquid level height corresponding to the liquid level sensor; If the first frequency is less than the first frequency threshold and the second frequency is less than the second frequency threshold, then a comparison value is determined based on the second frequency and the first frequency, and the liquid level state of the liquid is determined based on the comparison value.

2. The liquid level detection method as described in claim 1, characterized in that, The comparison value includes a frequency sum, where the frequency sum is the sum of the first frequency and the second frequency. Determining the liquid level state based on the comparison value includes: If the sum of frequencies is less than the sum of frequencies threshold, then the liquid level state of the liquid is determined to be the third liquid level state; The third liquid level state is the liquid level height corresponding to the liquid level sensor.

3. The liquid level detection method as described in claim 2, characterized in that, The comparison value also includes a frequency ratio, which is the ratio of the second frequency to the first frequency; Determining the liquid level state based on the comparison value includes: If the sum of frequencies is greater than or equal to the sum of frequencies threshold, the liquid level state of the liquid is determined based on the frequency ratio. If the frequency ratio is greater than or equal to the first ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state; If the frequency ratio is less than the first ratio threshold and greater than the second ratio threshold, then the liquid level state of the liquid is determined to be the third liquid level state; If the frequency ratio is less than or equal to the second ratio threshold, then the liquid level state of the liquid is determined to be the first liquid level state; Wherein, the first ratio threshold is greater than the second ratio threshold.

4. The liquid level detection method as described in claim 1, characterized in that, The comparison value includes a frequency ratio, which is the ratio of the second frequency to the first frequency. Determining the liquid level state based on the comparison value includes: If the frequency ratio is greater than or equal to the first ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state; If the frequency ratio is less than the first ratio threshold and greater than the second ratio threshold, then the liquid level state is determined to be the third liquid level state. If the frequency ratio is less than or equal to the second ratio threshold, then the liquid level state of the liquid is determined to be the first liquid level state; Wherein, the first ratio threshold is greater than the second ratio threshold, and the third liquid level state is the liquid level height corresponding to the liquid level sensor.

5. The liquid level detection method as described in claim 1, characterized in that, The comparison value includes a frequency ratio, which is the ratio of the second frequency to the first frequency. Determining the liquid level state based on the comparison value includes: If the frequency ratio is greater than or equal to the third ratio threshold, then the liquid level state of the liquid is determined to be the second liquid level state; If the frequency ratio is less than the third ratio threshold, then the liquid level state is determined to be the first liquid level state. Wherein, the first parameter interval and the second parameter interval are consecutive numerical intervals.

6. The liquid level detection method according to any one of claims 1 to 5, characterized in that, The method further includes: If the detection time of the liquid level sensor is less than the preset time, then a first number of supplementary liquid level signals are added. The step of determining the liquid level state based at least on the liquid level signal further includes: determining the liquid level state based on the supplementary liquid level signal and the acquired liquid level signal; Wherein, the electrical parameters of the replenishment liquid level signal are equal to preset parameter values; The sum of the first number and the number of times the liquid level signal is acquired during the detection time is equal to the preset number of acquisitions, where the preset number of acquisitions is the number of times the liquid level sensor acquires the liquid level signal at a preset frequency within the preset time.

7. The liquid level detection method as described in claim 6, characterized in that, There is a third parameter interval between the first parameter interval and the second parameter interval, and the preset parameter value falls within the third parameter interval.

8. The liquid level detection method according to any one of claims 1 to 5, characterized in that, After determining the liquid level state of the liquid, the method further includes: Output liquid level information based on the liquid level status; Specifically, during the first preset time period after the method starts execution, the liquid level information is output based on the liquid level status of the current unit time period; after the first preset time period, it is determined whether the liquid level status of multiple consecutive unit time periods within each preset time period is consistent, and the liquid level information is output only if they are consistent based on the liquid level status of the liquid.

9. A liquid level sensor, characterized in that, The liquid level sensor includes a processor and a memory storing execution instructions. When the processor executes the execution instructions stored in the memory, the processor performs the method as described in any one of claims 1-8.

10. The liquid level sensor according to claim 9, characterized in that, The liquid level sensor also includes a data acquisition module; The acquisition module can be used to acquire liquid level signals; The processor is used to continuously acquire multiple liquid level signals collected by the acquisition module within a preset time period, and to determine the liquid level status of the liquid based at least on the liquid level signals.

11. A liquid level detection device, characterized in that, It includes at least one liquid level sensor as described in any one of claims 9-10.

12. A liquid storage container, characterized in that, It includes the liquid level sensor as described in any one of claims 9-10 or the liquid level detection device as described in claim 11.

13. A cleaning device, characterized in that, Includes a liquid storage container and a liquid level sensor as described in any one of claims 9-10 or a liquid level detection device as described in claim 11; The liquid level sensor or the liquid level detection device is installed in the liquid storage container.

14. The cleaning equipment as described in claim 13, characterized in that, The liquid storage container is provided with a liquid storage chamber and a liquid level anti-vibration chamber. The bottom of the liquid storage chamber and the liquid level anti-vibration chamber are connected through a channel, and the top of both the liquid storage chamber and the liquid level anti-vibration chamber are connected to the atmosphere. The liquid level sensor or the liquid level detection device is located at the corresponding position in the liquid level anti-vibration cavity.

15. The cleaning equipment as described in claim 14, characterized in that, The minimum cross-sectional area of ​​the channel is less than the area threshold.

16. The cleaning equipment according to any one of claims 13 to 15, characterized in that, The cleaning equipment includes multiple liquid level sensors, which are respectively installed at different heights of the liquid storage container.

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