Control method and device of cleaning equipment, and cleaning equipment

Abstract

The application discloses a control method and device of a cleaning equipment and the cleaning equipment. The cleaning equipment comprises an air pump and an air pump motor for driving the air pump. The method comprises the following steps: in response to a control instruction for the air pump motor, starting the air pump motor according to a first duty cycle, the air pump motor is used for driving the air pump to perform a suction action on dirt, and the first duty cycle is greater than or equal to a preset duty cycle; after the air pump motor is started, the duty cycle of the air pump motor is adjusted from the first duty cycle to a second duty cycle within a first preset time, and a dirt parameter of the dirt sucked by the air pump is detected, the dirt parameter is used for representing a dirt degree of the dirt. The technical scheme provided by the application can improve the accuracy of the dirt parameter detection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning equipment control, and particularly relates to a control method and device of a cleaning equipment and the cleaning equipment. BACKGROUND

[0002] At present, the cleaning equipment including a sweeping robot needs to detect the dirt parameters when sucking dirt. The existing detection scheme usually directly detects the dirt during the dirt sucking process, without considering the influence of the dirt detection condition on the dirt parameter detection, which is easy to cause the problem of inaccurate dirt parameter detection. Therefore, how to improve the accuracy of the dirt parameter detection is an urgent technical problem to be solved. SUMMARY

[0003] Embodiments of the present application provide a control method and device of a cleaning equipment and the cleaning equipment, thereby improving the accuracy of the dirt parameter detection at least to some extent.

[0004] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0005] According to a first aspect of embodiments of the present application, a control method of a cleaning equipment is provided, the cleaning equipment comprising a gas pump and a gas pump motor driving the gas pump, and the method comprising: starting the gas pump motor according to a first duty cycle in response to a control instruction for the gas pump motor, the gas pump motor being used to drive the gas pump to perform a sucking action on dirt, the first duty cycle being greater than or equal to a preset duty cycle; after starting the gas pump motor, adjusting the duty cycle of the gas pump motor from the first duty cycle to a second duty cycle within a first preset time, and detecting a dirtiness parameter of the dirt sucked by the gas pump, the dirtiness parameter being used to represent the dirtiness degree of the dirt.

[0006] In some embodiments of the present application, based on the foregoing scheme, after detecting the dirt sucked by the gas pump, the method further comprises: adjusting the duty cycle of the gas pump motor from the second duty cycle to a third duty cycle within a second preset time, so as to drive the gas pump to complete the sucking action on the dirt.

[0007] In some embodiments of the present application, based on the foregoing scheme, the cleaning equipment further comprises a dirt chamber and a sensor, the gas pump is communicated with the dirt chamber and is used to suck the dirt to the dirt chamber, and the sensor is used to detect the dirtiness parameter of the dirt.

[0008] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: detecting a working efficiency of the air pump motor, the working efficiency being used to represent the suction capacity of the air pump; and adjusting at least one of the first duty cycle, the second duty cycle, the third duty cycle, the first preset time, and the second preset time, until the working efficiency is higher than or equal to a preset working efficiency, if the working efficiency is lower than the preset working efficiency.

[0009] In some embodiments of the present application, based on the foregoing scheme, the detecting the working efficiency of the air pump motor comprises: controlling the air pump motor to drive the air pump to suck a target substance into the dirt cavity according to a fourth duty cycle, and recording a time when the target substance fills the dirt cavity as a reference time; and determining the working efficiency of the air pump motor according to the reference time.

[0010] In some embodiments of the present application, based on the foregoing scheme, the determining the working efficiency of the air pump motor according to the reference time comprises: obtaining a cavity volume of the dirt cavity; and calculating a ratio of the cavity volume to the reference time as the working efficiency of the air pump motor.

[0011] In some embodiments of the present application, based on the foregoing scheme, the adjusting the duty cycle of the air pump motor from the first duty cycle to the second duty cycle within the first preset time comprises: determining a first adjustment rate at each time within the first preset time according to a first preset corresponding relationship between the adjustment rate and each time within the first preset time; and adjusting the duty cycle of the air pump motor from the first duty cycle to the second duty cycle within the first preset time according to the first adjustment rate.

[0012] In some embodiments of the present application, based on the foregoing scheme, the adjusting the duty cycle of the air pump motor from the second duty cycle to the third duty cycle within the second preset time comprises: determining a second adjustment rate at each time within the second preset time according to a second preset corresponding relationship between the adjustment rate and each time within the second preset time; and adjusting the duty cycle of the air pump motor from the second duty cycle to the third duty cycle within the second preset time according to the second adjustment rate.

[0013] In some embodiments of the present application, based on the foregoing scheme, the cleaning device further comprises a valve motor for driving the valve to switch from the first state to the second state or to switch from the second state to the first state, and the method further comprises: if the valve is switched from the first state to the second state, controlling the air pump motor to drive the air pump to perform the suction action on the dirt at the first control frequency; and if the valve is switched from the second state to the first state, controlling the air pump motor to drive the air pump to perform the discharge action on the dirt at the second control frequency.

[0014] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: controlling a timer to alternately time the first duration and the second duration; in response to the timer starting to time the first duration, triggering the valve motor to drive the valve to switch from the first state to the second state or to switch from the second state to the first state; and in response to the timer starting to time the second duration, triggering the air pump motor to drive the air pump to perform the suction action on the dirt or to drive the air pump to perform the discharge action on the dirt.

[0015] According to a second aspect of embodiments of the present application, a control device of a cleaning device is provided, the cleaning device comprising an air pump and an air pump motor for driving the air pump, the device comprising: a starting unit configured to start the air pump motor at a first duty cycle in response to a control instruction for the air pump motor, the air pump motor being configured to drive the air pump to perform a suction action on dirt, the first duty cycle being greater than or equal to a preset duty cycle; a lowering unit configured to lower the duty cycle of the air pump motor from the first duty cycle to a second duty cycle within a first preset time after the air pump motor is started, and to detect a dirtiness parameter of the dirt sucked by the air pump, the dirtiness parameter being used to represent a dirtiness degree of the dirt.

[0016] According to a third aspect of embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium storing at least one program code, the at least one program code being loaded and executed by a processor to implement the operations performed by the method according to any one of the first aspect.

[0017] According to a fourth aspect of embodiments of the present application, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one program code, the at least one program code being loaded and executed by the one or more processors to implement the method according to any one of the embodiments of the first aspect.

[0018] In the present application, the air pump motor is first started by a higher duty cycle control, which can ensure that the air pump motor has a higher initial rotational speed to drive the air pump to operate, so that the air pump can form a higher negative pressure in a short time to start the suction action, quickly respond, avoid the situation that the negative pressure is too low to overcome the system inertia, the response speed is slow, and the suction action of the air pump cannot be started, and improve the stability of the entire cleaning equipment operation. In addition, the duty cycle of the air pump motor is adjusted from the first duty cycle to the second duty cycle, the flow speed of the dirt is slowed down, the detection of the dirt parameters is affected by the too fast flow speed of the dirt, and the accuracy of the detection of the dirt parameters is improved.

[0019] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art. In the drawings:

[0021] Figure 1 The working principle diagram of the cleaning equipment to which the technical scheme of the embodiments of the present application can be applied is shown;

[0022] Figure 2 The flow chart of the control method of the cleaning equipment in the embodiments of the present application is shown;

[0023] Figure 3 The flow chart of detecting the working efficiency of the air pump motor in the embodiments of the present application is shown;

[0024] Figure 4 The detailed flow chart of the control method of the cleaning equipment in the embodiments of the present application is shown;

[0025] Figure 5 The detailed flow chart of the control method of the cleaning equipment in the embodiments of the present application is shown;

[0026] Figure 6 The relationship curve between the duty cycle of the air pump motor and time in the embodiments of the present application is shown;

[0027] Figure 7 Another flow chart of the control method of the cleaning equipment in the embodiments of the present application is shown.

[0028] Figure 8 The block diagram of the control device of the cleaning equipment in the embodiments of the present application is shown;

[0029] Figure 9 A structural schematic diagram of a cleaning device in the embodiments of the present application is shown. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0031] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present application.

[0032] The block diagrams shown in the drawings are only functional entities, and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0033] The flowcharts shown in the drawings are only exemplary illustrations, and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0034] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0035] In order for those skilled in the art to better understand the present application, first, the technical solutions of the present application will be described in combination with the drawings Figure 1 The working principle of the cleaning device related to the present application is briefly described.

[0036] Referring to Figure 1The diagram illustrates the working principle of a cleaning device to which the technical solutions of the embodiments of this application can be applied.

[0037] The cleaning equipment involved in this application may include a waste chamber 105, a valve 104, a valve motor 103, an air pump 102, and an air pump motor 101. The waste chamber 105 is used to contain waste generated by the cleaning equipment during the cleaning process, such as wastewater and sludge.

[0038] Furthermore, such as Figure 1 (a) shows the schematic diagram of the cleaning equipment in the dirt suction working state, and (b) shows the schematic diagram of the cleaning equipment in the dirt discharge working state. Specifically, driven by the air pump motor 101, the air pump 102 draws gas into the dirt chamber 105 to create a negative pressure inside the dirt chamber 105, thereby drawing dirt into the dirt chamber 105, or the air pump 102 fills the dirt chamber 105 with gas to create a high pressure inside the dirt chamber 105, thereby discharging the dirt contained in the dirt chamber 105 from the dirt chamber.

[0039] Specifically, when the valve motor 103 drives the valve core 108 in the valve 104 to rotate to the position shown in Figure (a), the air inlet of the air pump 102 is connected to the dirt chamber 105, drawing in the gas inside the dirt chamber 105, and then discharging it to the outside through the air outlet of the air pump 102 and the valve 104. During this process, the gas inside the dirt chamber 105 is sucked dry, forming a negative pressure, which in turn draws the dirt from the suction pipe 106 into the dirt chamber 105. When the valve motor 103 drives the valve core 108 in the valve 104 to rotate to the position shown in Figure (b), the cleaning equipment is switched from the dirt suction working state to the dirt discharge working state. At this time, the air inlet of the air pump 102 is connected to the outside, drawing in the outside gas, and then filling the dirt chamber 105 with gas through the air outlet of the air pump 102. During this process, the gas inside the dirt chamber 105 increases, forming a high pressure, which in turn discharges the dirt out of the dirt chamber 105.

[0040] In this application, it needs to be explained that, as Figure 1The valve core 108 shown divides the inner cavity of valve 104 into two spaces. Each space is connected to two pipes. For example, as shown in Figure (a), one space connects the air pump's inlet pipe and the pipe connecting the valve cavity to the waste chamber; the other space connects the air pump's outlet pipe and the pipe connecting the valve cavity to the outside. Similarly, as shown in Figure (b), one space connects the air pump's inlet pipe and the pipe connecting the valve cavity to the outside; the other space connects the air pump's outlet pipe and the pipe connecting the valve cavity to the waste chamber. Driven by the valve motor 103, the valve core 108 rotates within valve 104, switching the connection relationships between the pipes. This allows for switching the flow path of waste in the cleaning equipment, enabling the cleaning equipment to switch between waste suction and waste discharge modes.

[0041] In this application, it should also be noted that both the suction pipe and the discharge pipe of the waste chamber 105 are equipped with one-way valves 109. When the cleaning equipment is in the waste suction operation state, a negative pressure is formed inside the waste chamber 105, lower than the external air pressure. Waste can be sucked into the waste chamber 105 through the one-way valve in the suction pipe, but outside air cannot enter the waste chamber 105 through the one-way valve in the discharge pipe, thus ensuring that waste can be smoothly sucked into the waste chamber 105. When the cleaning equipment is in the waste discharge operation state, a high pressure is formed inside the waste chamber 105, higher than the external air pressure. Waste in the waste chamber 105 can be discharged to the outside through the one-way valve in the discharge pipe, but outside waste cannot enter the waste chamber 105 through the one-way valve in the suction pipe, thus ensuring that waste in the waste chamber 105 is smoothly discharged.

[0042] The cleaning equipment control method proposed in this application can be applied to various large, medium and small cleaning equipment, such as robotic vacuum cleaners, sanitation equipment, etc. Specifically, taking a robotic vacuum cleaner as an example, after cleaning the floor, the robotic vacuum cleaner generates a large amount of wastewater. After returning to the robot base station, the robot base station needs to transfer the wastewater from the robotic vacuum cleaner. At this time, the wastewater in the robotic vacuum cleaner needs to be sucked out, that is, the wastewater can be sucked into the waste chamber (wastewater chamber) in the robot base station, and then the wastewater in the waste chamber is discharged to other places.

[0043] Reference Figure 2 A flowchart illustrating a control method for a cleaning device according to an embodiment of this application is shown. This control method can be executed by a device with computational processing capabilities. The cleaning device includes an air pump and an air pump motor that drives the air pump. (Refer to...) Figure 2 As shown, the control method for this cleaning equipment includes at least steps 210 to 230, which are described in detail below:

[0044] In step 210, in response to a control command for the air pump motor, the air pump motor is started according to a first duty cycle. The air pump motor is used to drive the air pump to perform a suction action for the dirt. The first duty cycle is greater than or equal to a preset duty cycle.

[0045] It should be noted that, in this application, the control command for the air pump motor can be a command that can trigger the air pump motor to drive the air pump to perform a suction action on the dirt. After the command is triggered, the air pump motor can be started according to the first duty cycle.

[0046] In this application, the preset duty cycle can be either the duty cycle that satisfies the minimum starting condition of the air pump motor, or a duty cycle greater than the duty cycle that satisfies the minimum starting condition of the air pump motor. Making the first duty cycle for starting the air pump motor greater than or equal to the preset duty cycle has the advantage of ensuring that the air pump motor can be started smoothly, thereby improving the stability of the entire cleaning equipment operation.

[0047] Continue to refer to Figure 2 In step 230, after the air pump motor is started, the duty cycle of the air pump motor is reduced from the first duty cycle to the second duty cycle within a first preset time, and the dirt parameters of the dirt pumped by the air pump are detected. The dirt parameters are used to characterize the degree of dirtiness of the dirt.

[0048] In this application, after the air pump motor is started, the duty cycle of the air pump motor is reduced from the first duty cycle to the second duty cycle, which can reduce the speed at which the dirt is sucked up, thereby slowing down the flow speed of the dirt, making it easier for the instrument to detect the dirt parameters of the dirt, and thus improving the accuracy of dirt parameter detection.

[0049] In this application, by means of Figure 2 The provided solution first controls the air pump motor to start with a higher duty cycle. This ensures the air pump motor initially operates at a high speed, allowing it to quickly generate high negative pressure to initiate suction. This rapid response avoids situations where low negative pressure cannot overcome system inertia, resulting in slow response and preventing the air pump from failing to start suction, thus improving the overall stability of the cleaning equipment. Furthermore, lowering the air pump motor's duty cycle from the first to a second duty cycle slows the flow rate of contaminants, preventing excessively fast contaminant flow from affecting the detection of contaminant parameters and improving the accuracy of these detections.

[0050] In such Figure 2 After step 230, i.e., after detecting the contaminants pumped in by the air pump, step 250 can also be performed:

[0051] Step 250: Within a second preset time period, the duty cycle of the air pump motor is increased from the second duty cycle to the third duty cycle to drive the air pump to complete the suction action for the dirt.

[0052] In this application, after detecting the dirt parameters, by increasing the duty cycle of the air pump motor from the second duty cycle to the third duty cycle, the negative pressure generated by the air pump can be increased, the suction action of the air pump can be accelerated, thereby improving the efficiency of the air pump in suctioning dirt, so as to achieve complete suction of dirt.

[0053] It should be noted that in this application, if the goal is to completely remove the contaminants as quickly as possible, the second duty cycle can be set to 100%.

[0054] In this application, the cleaning device may include a dirt chamber and a sensor, the air pump is connected to the dirt chamber for sucking dirt into the dirt chamber, and the sensor is used to detect the dirt parameters of the dirt.

[0055] Specifically, the sensor can be installed inside the waste chamber or in the pipeline where waste flows. It is understood that the sensor can be installed in any location, and this application does not impose any restrictions.

[0056] In one embodiment of this application, steps 251 to 252 may also be performed:

[0057] Step 251: Detect the working efficiency of the air pump motor, the working efficiency being used to characterize the suction capacity of the air pump.

[0058] Step 252: If the work efficiency is lower than the preset work efficiency, then adjust at least one of the first duty cycle, the second duty cycle, the third duty cycle, the first preset time, and the second preset time until the work efficiency is higher than or equal to the preset work efficiency.

[0059] In this application, by detecting the working efficiency used to characterize the suction capacity of the air pump, the problem of performance degradation of the air pump motor as the usage time increases can be fully considered. If the detected working efficiency is lower than the preset working efficiency, it indicates that the performance of the air pump motor has decreased. At this time, by adjusting at least one of the first duty cycle, the second duty cycle, the third duty cycle, the first preset time, and the second preset time, the working efficiency of the air pump motor can be made to meet the preset working efficiency.

[0060] For example, when the working efficiency of the air pump motor decreases, the first duty cycle, the second duty cycle, and the third duty cycle can be increased, the first preset time can be reduced, and the second preset time can be increased, so as to achieve self-compensation of the working efficiency of the air pump motor, improve the stability of the air pump motor, and thus improve the stability of the cleaning equipment during operation.

[0061] In one embodiment of this application, the working efficiency of the air pump motor can be detected according to the following... Figure 3 Perform the steps shown.

[0062] See Figure 3 This document illustrates a flowchart of the process for detecting the operating efficiency of an air pump motor in an embodiment of this application. Specifically, it includes steps 241 to 242:

[0063] Step 241: According to the fourth duty cycle, control the air pump motor to drive the air pump to draw the target material into the sludge chamber, and record the time when the target material fills the sludge chamber as a reference time.

[0064] Step 242: Determine the working efficiency of the air pump motor based on the reference time.

[0065] In this embodiment, the fourth duty cycle can be set to 100% or 90%. It is understood that the value of the fourth duty cycle can be arbitrary, and this application does not limit it.

[0066] It should be noted that, in this embodiment, the target substance can be either sewage or clean water.

[0067] Specifically, an anti-overflow screw can be installed inside the sewage chamber, and the cleaning equipment can be equipped with a controllable water spray pipeline and a flow meter. When testing is required, clean water will be sprayed out at a stable flow rate, and the air pump can steadily draw clean water into the sewage chamber at full speed until the anti-overflow is triggered. At this time, the time taken to trigger the anti-overflow can be recorded as a reference time.

[0068] In this application, the reference time can accurately characterize the working efficiency of the air pump motor. It is understood that the longer the reference time, the lower the working efficiency of the air pump motor.

[0069] Furthermore, in step 242, the working efficiency of the air pump motor is determined based on the reference time, which can be achieved by performing the following steps 2421 to 2422:

[0070] Step 2421: Obtain the volume of the waste chamber.

[0071] Step 2422: Calculate the ratio of the cavity volume to the reference time as the working efficiency of the air pump motor.

[0072] In this application, the ratio of the cavity volume to the reference time is used as the working efficiency of the air pump motor. This ratio is compared with the factory calibration value to evaluate the degree of air pump attenuation. This ensures the objectivity of the air pump attenuation assessment and provides a more accurate basis for the self-compensation of the air pump motor.

[0073] In one embodiment of step 230 above, the duty cycle of the air pump motor is adjusted from the first duty cycle to the second duty cycle within a first preset time period, which can be done as follows: Figure 4 Perform the steps shown.

[0074] See Figure 4 This document illustrates a detailed flowchart of the control method for the cleaning equipment in an embodiment of this application. Specifically, it includes steps 231 to 232:

[0075] Step 231: Determine the first adjustment rate for each moment within the first preset time period based on the first preset correspondence between the adjustment rate and each moment within the first preset time period.

[0076] Step 232: According to the first adjustment rate, the duty cycle of the air pump motor is reduced from the first duty cycle to the second duty cycle within the first preset time.

[0077] In this embodiment, the adjustment rate at each moment within the first preset time period can be equal, gradually increasing, or gradually decreasing. It is understood that the first preset correspondence between the adjustment rate and each moment within the first preset time period can be set according to actual needs, and this application does not make too many settings in this regard.

[0078] In one embodiment of step 250 above, the duty cycle of the air pump motor is increased from the second duty cycle to the third duty cycle within a second preset time period, which can be done as follows: Figure 5 Perform the steps shown.

[0079] See Figure 5 This document illustrates a detailed flowchart of the control method for the cleaning equipment in an embodiment of this application. Specifically, it includes steps 251 to 252:

[0080] Step 251: Determine the second adjustment rate for each moment within the second preset time period based on the second preset correspondence between the adjustment rate and each moment within the second preset time period.

[0081] Step 252: According to the second adjustment rate, within the second preset time, the duty cycle of the air pump motor is increased from the second duty cycle to the third duty cycle.

[0082] In this embodiment, the adjustment rate at each moment within the second preset time period can be equal, gradually increasing, or gradually decreasing. It is understood that the second preset correspondence between the adjustment rate and each moment within the second preset time period can be set according to actual needs, and this application does not make too many settings in this regard.

[0083] To enable those skilled in the art to better understand the two embodiments described above, the following will be combined with... Figure 6 Provide supplementary explanations.

[0084] See Figure 6 The graph shows the relationship between the duty cycle of the air pump motor and time in an embodiment of this application.

[0085] As shown in curve 600, it is easy to understand that the air pump motor is started with a duty cycle of A1 during time T1. Then, at various times during part of time T2, the duty cycle of the air pump motor is adjusted from A1 to A2 according to a constant first adjustment rate. Finally, at various times during time T3, the duty cycle of the air pump motor is adjusted from A2 to A3 according to a constant second adjustment rate.

[0086] In this application, as mentioned above, the cleaning device may further include a valve motor, which can be used to drive the valve to switch from a first state to a second state, or to drive the valve to switch from a second state to a first state.

[0087] In this application, if the valve switches from a first state to a second state, the air pump motor is controlled to drive the air pump to perform a suction action for the waste according to a first control frequency. If the valve switches from a second state to a first state, the air pump motor is controlled to drive the air pump to perform a discharge action for the waste according to a second control frequency.

[0088] In this application, two motors are installed in the cleaning equipment: a valve motor to drive the valve to switch valve states, and an air pump motor to drive the air pump to perform suction or discharge actions. Specifically, the valve motor drives the valve to switch valve states, and the switching of valve states can be linked to the air pump motor to drive the air pump to switch between suction and discharge actions.

[0089] In this way, since the control frequency of the motor when driving the valve is different from that when driving the air pump, the advantage of using separate valve motors and air pump motors (i.e., frequency division control) compared to using a single motor to alternately drive the valve and air pump is that it avoids the problem of crosstalk that can easily occur when the same motor is alternately controlled at different control frequencies. This avoids the problem of the back electromotive force generated by the motor damaging the components on the power network, thereby enhancing the safety and stability of the cleaning equipment during operation.

[0090] Furthermore, in this application, the following can also be performed: Figure 7 The steps are shown.

[0091] See Figure 7 This illustrates another flowchart of the control method for the cleaning equipment in an embodiment of this application. Specifically, it includes steps 261 to 263:

[0092] Step 261: Control the timer to alternately time the first duration and the second duration.

[0093] Step 262: In response to the timer starting to time for a first duration, the valve motor is triggered to drive the valve to switch from the first state to the second state, or to drive the valve to switch from the second state to the first state.

[0094] Step 263: In response to the start of the second duration of the timer, the air pump motor is triggered to drive the air pump to perform a suction action for the waste, or to drive the air pump to perform a discharge action for the waste.

[0095] In this application, the actions of the air pump sucking up dirt and the valve state switching are relatively independent. When the valve motor is activated, the air pump motor is put into standby mode. After the valve motor is switched to the position, the air pump motor is started to perform the corresponding actions of sucking up dirt or discharging dirt. Since the motors of the two execution modules do not run at the same time, the air pump motor and the valve motor can be controlled in a time-sharing manner at different time periods.

[0096] In the application, the air pump motor and valve motor in the cleaning equipment need to be controlled. However, the required speed regulation ratio and control frequency of the air pump motor and valve motor are different for different working conditions. Therefore, without increasing the additional cost, the best control effect can be achieved by using time-sharing and frequency-sharing.

[0097] The following describes an embodiment of the apparatus described in this application, which can be used to execute the control method for the cleaning equipment in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the control method for the cleaning equipment described above.

[0098] See Figure 8 The diagram shows a block diagram of a control device for a cleaning device according to an embodiment of this application. The cleaning device includes an air pump and an air pump motor that drives the air pump.

[0099] like Figure 8 As shown, the control device 800 of the cleaning equipment according to an embodiment of this application includes: a start unit 801 and a down unit 802.

[0100] The starting unit 801 is used to start the air pump motor according to a first duty cycle in response to a control command for the air pump motor. The air pump motor is used to drive the air pump to perform a suction action for dirt. The first duty cycle is greater than or equal to a preset duty cycle. The reducing unit 802 is used to reduce the duty cycle of the air pump motor from the first duty cycle to a second duty cycle within a first preset time after the air pump motor is started, and to detect the dirt parameters of the dirt sucked by the air pump. The dirt parameters are used to characterize the degree of dirtiness of the dirt.

[0101] In some embodiments of this application, based on the foregoing scheme, the device further includes a height adjustment unit, which is used to adjust the duty cycle of the air pump motor from the second duty cycle to the third duty cycle within a second preset time after detecting the dirt sucked by the air pump, so as to drive the air pump to complete the suction action for the dirt.

[0102] In some embodiments of this application, based on the foregoing scheme, the cleaning device further includes a dirt chamber and a sensor, the air pump is connected to the dirt chamber for sucking dirt into the dirt chamber, and the sensor is used to detect the dirt parameters of the dirt.

[0103] In some embodiments of this application, based on the foregoing scheme, the device further includes: a detection unit, used to detect the working efficiency of the air pump motor, the working efficiency being used to characterize the suction capacity of the air pump; and an adjustment unit, used to adjust at least one of the first duty cycle, the second duty cycle, the third duty cycle, the first preset time, and the second preset time if the working efficiency is lower than a preset working efficiency, until the working efficiency is higher than or equal to the preset working efficiency.

[0104] In some embodiments of this application, based on the foregoing scheme, the detection unit is configured to: control the air pump motor to drive the air pump to draw the target substance into the dirt chamber according to the fourth duty cycle, and record the time when the target substance fills the dirt chamber as a reference time; and determine the working efficiency of the air pump motor according to the reference time.

[0105] In some embodiments of this application, based on the foregoing scheme, the detection unit is configured to: obtain the cavity volume of the waste chamber; and calculate the ratio of the cavity volume to the reference time as the working efficiency of the air pump motor.

[0106] In some embodiments of this application, based on the foregoing scheme, the adjustment unit 802 is configured to: determine the first adjustment rate at each moment within the first preset time according to the first preset correspondence between the adjustment rate and each moment within the first preset time; and adjust the duty cycle of the air pump motor from the first duty cycle to the second duty cycle within the first preset time according to the first adjustment rate.

[0107] In some embodiments of this application, based on the aforementioned scheme, the height adjustment unit is configured to: determine the second adjustment rate for each moment within the second preset time period according to the second preset correspondence between the adjustment rate and each moment within the second preset time period; and adjust the duty cycle of the air pump motor from the second duty cycle to the third duty cycle within the second preset time period according to the second adjustment rate.

[0108] In some embodiments of this application, based on the foregoing scheme, the cleaning device further includes a valve motor, which is used to drive the valve to switch from a first state to a second state, or to drive the valve to switch from a second state to a first state. The device further includes: a first control unit, configured to control the air pump motor to drive the air pump to perform a suction action for dirt according to a first control frequency if the valve switches from the first state to the second state; and a second control unit, configured to control the air pump motor to drive the air pump to perform a discharge action for dirt according to a second control frequency if the valve switches from the second state to the first state.

[0109] In some embodiments of this application, based on the foregoing scheme, the device further includes: a third control unit, used to control a timer to alternately time a first duration and a second duration; in response to the timer starting to time the first duration, triggering the valve motor to drive the valve to switch from a first state to a second state, or driving the valve to switch from a second state to a first state; in response to the timer starting to time the second duration, triggering the air pump motor to drive the air pump to perform a suction action for the waste, or driving the air pump to perform a discharge action for the waste.

[0110] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one piece of program code, which is loaded and executed by a processor to implement the operations performed by the control method of the cleaning device as described above.

[0111] Based on the same inventive concept, this application also provides a cleaning device, see reference. Figure 9The diagram shows a structural schematic of a cleaning device according to an embodiment of this application. The cleaning device includes one or more memories 904, one or more processors 902, and at least one computer program (program code) stored in the memory 904 and executable on the processor 902. When the processor 902 executes the computer program, it implements the control method of the cleaning device as described above.

[0112] Among them, Figure 9 In this document, a bus architecture (represented by bus 900) is used. Bus 900 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 can be used to store data used by processor 902 during operation.

[0113] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0115] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0116] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0117] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes an air pump and an air pump motor that drives the air pump, and the method includes: In response to a control command for the air pump motor, the air pump motor is started according to a first duty cycle. The air pump motor is used to drive the air pump to perform a suction action for the dirt. The first duty cycle is greater than or equal to a preset duty cycle. After the air pump motor is started, the duty cycle of the air pump motor is reduced from the first duty cycle to the second duty cycle within a first preset time, and the dirt parameters of the dirt pumped by the air pump are detected. The dirt parameters are used to characterize the degree of dirtiness of the dirt.

2. The method according to claim 1, characterized in that, After detecting the contaminants pumped in by the air pump, the method further includes: Within a second preset time period, the duty cycle of the air pump motor is increased from the second duty cycle to the third duty cycle to drive the air pump to complete the suction action for the dirt.

3. The method according to claim 2, characterized in that, The cleaning equipment also includes a dirt chamber and a sensor. The air pump is connected to the dirt chamber and is used to draw dirt into the dirt chamber. The sensor is used to detect the dirt parameters of the dirt.

4. The method according to claim 3, characterized in that, The method further includes: The working efficiency of the air pump motor is tested, and the working efficiency is used to characterize the suction capacity of the air pump; If the work efficiency is lower than the preset work efficiency, then at least one of the first duty cycle, the second duty cycle, the third duty cycle, the first preset time, and the second preset time is adjusted until the work efficiency is higher than or equal to the preset work efficiency.

5. The method according to claim 4, characterized in that, The detection of the working efficiency of the air pump motor includes: According to the fourth duty cycle, the air pump motor is controlled to drive the air pump to draw the target material into the sludge chamber, and the time when the target material fills the sludge chamber is recorded as a reference time. The working efficiency of the air pump motor is determined based on the reference time.

6. The method according to claim 5, characterized in that, Determining the working efficiency of the air pump motor based on the reference time includes: Obtain the volume of the waste chamber; The ratio of the cavity volume to the reference time is calculated as the working efficiency of the air pump motor.

7. The method according to any one of claims 1 to 6, characterized in that, The cleaning equipment further includes a valve motor, which is used to drive the valve to switch from a first state to a second state, or to drive the valve to switch from a second state to a first state. The method further includes: If the valve switches from the first state to the second state, the air pump motor is controlled to drive the air pump to perform a suction action for the dirt according to the first control frequency. If the valve switches from the second state to the first state, the air pump motor is controlled to drive the air pump to perform the action of discharging the dirt according to the second control frequency.

8. The method according to claim 7, characterized in that, The method further includes: The control timer alternates between the first duration and the second duration. In response to the start of the timer for a first duration, the valve motor is triggered to drive the valve to switch from the first state to the second state, or to drive the valve to switch from the second state to the first state; In response to the start of the second duration of the timer, the air pump motor is triggered to drive the air pump to perform a suction action for the waste, or to drive the air pump to perform a discharge action for the waste.

9. A control device for a cleaning equipment, characterized in that, The cleaning equipment includes an air pump and an air pump motor that drives the air pump; the device includes: A starting unit is used to respond to a control command for an air pump motor and start the air pump motor according to a first duty cycle. The air pump motor is used to drive the air pump to perform a suction action for dirt. The first duty cycle is greater than or equal to a preset duty cycle. The adjustment unit is used to adjust the duty cycle of the air pump motor from the first duty cycle to the second duty cycle within a first preset time after the air pump motor is started, and to detect the dirt parameters of the dirt sucked by the air pump, the dirt parameters being used to characterize the degree of dirtiness of the dirt.

10. A cleaning device, characterized in that, The method includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, and the at least one piece of program code is loaded and executed by the one or more processors to implement the method as claimed in any one of claims 1 to 8.

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