Control method of cleaning system and cleaning system

Abstract

The embodiment of the present application provides a control method and a cleaning system for a cleaning system. The cleaning system includes a base station and a floor scrubber, the base station includes a first air duct and a hot air component arranged in or connected to the first air duct, the floor scrubber includes a roller brush, a second air duct, a filter component and a suction component, the air outlet of the first air duct and the air inlet of the second air duct are facing the roller brush, and the method includes: when the floor scrubber is located at the base station, the roller brush is controlled to perform a first rotation operation and the hot air component is controlled to send out a hot air flow, and the hot air flows through the first air duct to the rotating roller brush; the suction component is controlled to operate so that the second air duct generates negative pressure, and the hot air flow at the roller brush flows through the second air duct under the action of negative pressure and blows to the filter component; and based on preset conditions, the hot air component, the roller brush and the suction component are controlled to stop operating. This solution not only improves the drying efficiency, but also avoids the loss of heat, and significantly improves the effective utilization rate of energy.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning systems, and more specifically to a control method for a cleaning system and a cleaning system. Background Art

[0002] The existing cleaning system generally includes a base station and a floor scrubber. When the floor scrubber performs the cleaning task, its roller brush and the channel for sucking garbage may be contaminated with dirt.

[0003] When the floor scrubber is performing the cleaning task, while its roller brush rotates, its fan draws the airflow together with the dry and wet garbage into the air duct. The airflow is filtered by the filter component and then discharged, and the dry and wet garbage remains in the sewage tank. Therefore, when the floor scrubber cleans the floor, its roller brush, air duct and filter component will be contaminated with dirty water. At this time, after the floor scrubber finishes cleaning, the internal environment of the floor scrubber body is in a humid state, which is very easy to cause bacteria to grow. Some floor scrubbers use the principle of live water circulation to clean the roller brush, air duct and other components of the floor scrubber. However, there is still water left in the roller brush, air duct and filter component after cleaning. In this case, although the components to be cleaned have been cleaned, the internal environment of the floor scrubber body is still in a humid state, and it is still difficult to avoid the growth of bacteria. Summary of the invention

[0004] The present application is proposed in consideration of the above problems. According to one aspect of the present application, a control method for a cleaning system is provided, the cleaning system includes a base station and a floor scrubber, the base station includes a first air duct and a hot air component arranged in or connected to the first air duct, the floor scrubber includes a roller brush, a second air duct, a filter component and a suction component, the air outlet of the first air duct and the air inlet of the second air duct face the roller brush, and the method includes: when the floor scrubber is located at the base station, controlling the roller brush to perform a first rotation operation and controlling the hot air component to send out a hot air flow, the hot air flows through the first air duct to the rotating roller brush; controlling the suction component to operate so that the second air duct generates a negative pressure, and the hot air flow at the roller brush flows through the second air duct to the filter component under the action of the negative pressure; and based on preset conditions, controlling the hot air component, the roller brush and the suction component to stop operating.

[0005] Exemplarily, the method also includes: in the process of controlling the hot air component to send out a hot air flow, detecting the actual humidity of the roller brush according to a first humidity detection method at intervals of a first preset time; and determining whether the roller brush is in a dry state based on the actual humidity of the roller brush; based on preset conditions, controlling the hot air component, the roller brush and the suction component to stop operating, including: controlling the hot air component, the roller brush and the suction component to stop operating at least based on the roller brush being in a dry state; wherein the dry state means that the actual humidity of the roller brush is less than or equal to the first preset humidity.

[0006] Exemplarily, the hot air component includes a first fan and a heater, and the method further includes: at the start moment of controlling the hot air component to send out a hot air flow, detecting the initial humidity of the roller brush according to a first humidity detection method, and determining the initial working state of the hot air component to send out the hot air flow based on the initial humidity; and / or in the process of controlling the hot air component to send out a hot air flow, adjusting the working state of the hot air component based on the detected actual humidity of the roller brush; wherein, as the actual humidity decreases, the rotation speed of the first fan is reduced and / or the heating power of the heater is lowered.

[0007] Exemplarily, the first humidity detection method includes: detecting a first operating change amount of the roller brush at first preset time intervals; and determining the humidity of the roller brush based on the detected first operating change amount; wherein, when the roller brush rotates at a constant speed, the first operating change amount includes the change amount of the operating power of the roller brush within the first preset time; when the roller brush is driven to rotate at a constant power, the first operating change amount includes the change amount of the rotation speed of the roller brush within the first preset time; the larger the detected first operating change amount, the greater the humidity of the roller brush.

[0008] Exemplarily, detecting the initial humidity of the roller brush includes: controlling the roller brush to rotate at a constant first speed to detect the initial humidity of the roller brush; detecting the actual humidity of the roller brush includes: controlling the roller brush to rotate at a constant second speed to detect the actual humidity of the roller brush, wherein the second speed is less than the first speed; or detecting the initial humidity of the roller brush includes: driving the roller brush to rotate at a constant first power to detect the initial humidity of the roller brush; detecting the actual humidity of the roller brush includes: driving the roller brush to rotate at a constant second power to detect the actual humidity of the roller brush, wherein the second power is less than the first power.

[0009] Exemplarily, the first humidity detection method includes: when controlling the roller brush to rotate at a constant speed, detecting the actual operating power of the roller brush at intervals of a first preset time; and determining the humidity of the roller brush based on the detected actual operating power, wherein the greater the actual operating power, the greater the humidity; or the first humidity detection method includes: when driving the roller brush to rotate at a constant power, detecting the actual rotation speed of the roller brush at intervals of a first preset time; and determining the humidity of the roller brush based on the detected actual rotation speed, wherein the greater the actual rotation speed, the lower the humidity.

[0010] Exemplarily, a wiper assembly is further provided above and / or below the roller brush, and an air outlet of the second air duct is provided in a sewage tank of the floor scrubber, wherein, before controlling the hot air assembly to deliver a hot air flow, the method further includes: controlling the roller brush to perform a second rotation operation; controlling the operation of the suction assembly to generate a negative pressure in the second air duct, under the action of the negative pressure, the liquid scraped from the roller brush by the wiper assembly is sucked into the sewage tank through the second air duct; and detecting a second operating change of the roller brush at every second preset time; wherein, when the roller brush is controlled to rotate at a constant speed, the second operating change includes a change in the operating power of the roller brush within the second preset time; when the roller brush is driven to rotate at a constant power, the second operating change includes a change in the speed of the roller brush within the second preset time; wherein, the hot air assembly starts delivering a hot air flow when the second operating change of the roller brush is less than the first change threshold.

[0011] Exemplarily, controlling the roller brush to perform a second rotation operation includes: controlling the roller brush to rotate at a constant third speed; controlling the roller brush to perform a first rotation operation includes: controlling the roller brush to rotate at a constant first speed or a second speed, wherein the first speed and the second speed are both less than the third speed; or controlling the roller brush to perform a second rotation operation includes: driving the roller brush to rotate at a constant third power; controlling the roller brush to perform the first rotation operation includes: driving the roller brush to rotate at a constant first power or a constant second power, wherein the second power and the second power are both less than the third power.

[0012] Exemplarily, the suction component is controlled to operate so that negative pressure is generated in the second air duct. Under the action of the negative pressure, the liquid scraped from the roller brush by the wiper component is sucked into the sewage tank through the second air duct, including: controlling the suction component to operate at a second suction power; controlling the suction component to operate so that negative pressure is generated in the second air duct. Under the action of the negative pressure, the hot air flow at the roller brush flows through the second air duct and is blown to the filter component, including: controlling the suction component to operate at a first suction power, wherein the second suction power is greater than the first suction power.

[0013] Exemplarily, the method also includes: detecting the actual humidity of the filter component according to a second humidity detection method at third preset time intervals; and determining whether the filter component is in a dry state based on the actual humidity of the filter component; and controlling the hot air component, the roller brush and the suction component to stop operating based on preset conditions, including: controlling the hot air component, the roller brush and the suction component to stop operating at least when the filter component is in a dry state.

[0014] Exemplarily, the suction component includes a second fan, and the actual humidity of the filter component is detected according to a second humidity detection method, including: detecting a third operating change of the second fan at third preset time intervals; and determining the actual humidity of the filter component based on the detected third operating change; wherein, when the second fan is controlled to operate at a constant speed, the third operating change includes the change in the operating power of the second fan within the third preset time; when the second fan is driven to operate at a constant power, the third operating change includes the change in the speed of the second fan within the third preset time; the larger the third operating change, the greater the actual humidity of the filter component.

[0015] According to another aspect of the present application, a cleaning system is further provided, comprising a base station and a floor scrubber, wherein the base station comprises a first air duct and a hot air assembly arranged in or connected to the first air duct, and the floor scrubber comprises a roller brush, a second air duct, a filter assembly and a suction assembly, wherein the air outlet of the first air duct and the air inlet of the second air duct face the roller brush, wherein:

[0016] The cleaning system also includes one or more control modules, which are arranged on the base station and / or the scrubber. The control module is used to control the roller brush to perform a first rotation operation and control the hot air component to send out a hot air flow when the scrubber is located at the base station. The hot air flows through the first air duct and blows to the rotating roller brush; control the suction component to operate so that the second air duct generates a negative pressure. Under the action of the negative pressure, the hot air flow at the roller brush flows through the second air duct and blows to the filter component; and based on preset conditions, control the hot air component, the roller brush and the suction component to stop operating.

[0017] As mentioned above, after the floor scrubber in the cleaning system cleans wet garbage or completes self-cleaning, water remains in its roller brush, air duct, and filter assembly, causing the internal environment of the machine to be in a humid state, which is easy to cause bacteria to grow. Using the control method of the above-mentioned cleaning system in the embodiment of the present application, since the air outlet of the first air duct and the air inlet of the second air duct of the floor scrubber are both facing the roller brush, therefore, by controlling the operation of the hot air assembly, the roller brush, and the suction assembly, on the one hand, the hot air flow sent by the hot air assembly through the first air duct can be blown to the surface of the roller brush. On the other hand, the hot air flow can be introduced into the second air duct and blown to the surface of the filter assembly. As a result, the hot air flow is conducted in the entire cleaning channel, and the roller brush, air duct, and filter assembly of the floor scrubber can be dried, so that the roller brush, air duct, and filter assembly are all in a relatively dry state. In this way, closed-loop drying of the entire cleaning channel is achieved based only on the same hot air assembly. This solution not only improves the drying efficiency, but also avoids the loss of heat, and significantly improves the effective utilization rate of energy. At the same time, this solution does not have high hardware requirements, and the device structure is relatively simple, so the cost is also low.

[0018] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0020] Figure 1 and Figure 2 The schematic diagrams of the structure of the cleaning system in different states according to one embodiment of the present application are respectively shown;

[0021] Figure 3 A schematic flow chart showing a method for controlling a cleaning system according to an embodiment of the present application; and

[0022] Figure 4 A schematic block diagram of a cleaning system according to another embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0024] In order to at least partially solve the above problems, the embodiments of the present application provide a control method of a cleaning system and a cleaning system. The control method is used to dry cleaning parts, air ducts and filter components in the cleaning system that are prone to residual moisture, thereby ensuring that the cleaning parts and the entire cleaning channel of the cleaning system are in a dry and hygienic state.

[0025] According to one aspect of an embodiment of the present application, a method for controlling a cleaning system is provided.

[0026] Figure 1 and Figure 2 Schematic diagrams of the structure of the cleaning system 100 in different states according to an embodiment of the present application are shown respectively. Figure 1 and Figure 2 As shown, the cleaning system 100 includes a base station 110 and a scrubber 120 . Figure 1 It is a structural diagram of the scrubber 120 when it leaves the base station 110 . Figure 2 1 is a schematic diagram of the structure of the scrubber 120 when it is located at the base station 110. The base station 110 includes a first air duct 111 and a hot air assembly 112 ( Figure 1 (not shown). The hot air component 112 can be used to dry the roller brush 121 of the floor scrubber 120. Exemplarily, the hot air component 112 may include a first fan and a heater. The first fan may be any suitable fan. The heater may also be any suitable heater as long as it can heat the airflow. The air inlet of the first air duct 111 may be connected to the first fan. The air outlet of the first air duct faces the roller brush 121. The heater may be arranged in the first air duct 111, for example, on the inner wall of the first air duct 111 that is closer to the air outlet, so that the airflow blown to the surface of the roller brush can be kept at a higher temperature to improve the drying efficiency. In this example, the size of the heater can be set smaller to ensure smooth airflow. Of course, the base station 110 may also include other suitable functional components. For example, it also includes a charging component for charging the floor scrubber, a clean water tank and a cleaning component for cleaning the roller brush of the floor scrubber, an interactive component for realizing human-computer interaction, and the like.

[0027] The floor scrubber 120 includes a roller brush 121, a second air duct 122, a filter assembly 123 and a suction assembly 124. The suction assembly 124 may include a second fan. The second fan may be any suitable fan. The air inlet of the second air duct may be connected to the second fan. The air inlet of the second fan faces the roller brush 121. The number of roller brushes may be one or more. During the cleaning task performed by the floor scrubber 120, the roller brush 121 and the suction assembly 124 are both in operation. The suction assembly 124 may suck the dry and wet garbage near the roller brush 121 into the second air duct 122, and the airflow separated from the dry and wet garbage is filtered by the filter assembly 123 and then sucked out by the suction assembly 124. Exemplarily, the second air duct 122 may extend into the sewage tank of the floor scrubber 120. The filter assembly 123 may include a large particle garbage filter and a micro particle garbage filter. Exemplarily, a large particle garbage filter can be arranged in a sewage tank, near the air outlet of the second air duct 122, so that the large particle garbage and sewage sucked to the air outlet can be separated, so that the user can handle different garbage conveniently. The small particle garbage filter is, for example, a Hypa. The Hypa can be arranged above the air outlet, that is, at the air outlet of the sewage tank. The distance between the Hypa and the air outlet can be a preset distance. The preset distance can be greater than the first distance threshold and less than the second distance threshold. It can be understood that the first distance threshold and the second distance threshold are the lower limit and upper limit of the distance between the Hypa and the air outlet. When the distance between the Hypa and the air outlet is within the range between the lower limit and the upper limit, there is enough space between the Hypa and the air outlet for garbage separation, and the suction force will not be affected by the excessive distance. Such a design can facilitate the separation of different garbage and ensure that the suction component 124 is sucked with a larger suction force to improve the cleaning efficiency. It can be understood that the first distance threshold and the second distance threshold can be set according to actual conditions, and this application is not limited. Exemplarily, the floor scrubber 120 may further include a clean water tank and a water supply assembly. The water supply assembly may include, for example, a water pump and a water pumping pipe. When the preset self-cleaning conditions are met, the roller brush 121 and the suction assembly 124 of the floor scrubber 120 may be controlled to operate, and the clean water in the clean water tank may be drained to the surface of the roller brush 121 by using the water supply assembly to clean the roller brush 121. It is understood that during the cleaning operation of the roller brush 121, the suction assembly 124 may suck the sewage generated by cleaning the roller brush 121 into the sewage tank. Of course, it may also include other functional components in any existing or future floor scrubbers.

[0028] According to an embodiment of the present application, when the floor scrubber 120 is placed on the base station 110, the roller brush 121 can be arranged between the air outlet of the first air duct 111 and the air inlet of the second air duct 122, and the air outlet of the first air duct 111 and the air inlet of the second air duct 122 are both facing the roller brush 121. In one example, the extension direction of the air outlet of the first air duct 111 can be the same as the extension direction of the air inlet of the second air duct 122. For example, the center of the air outlet of the first air duct 111, the center of the roller brush 121 and the center of the air inlet of the second air duct 122 can be located on the same straight line to facilitate the air flow conduction in the two air ducts. In another example, the floor scrubber 120 or the base station 110 can also be provided with an openable and closable roller brush baffle. When the floor scrubber 120 is located on the base station 110, the roller brush baffle is closed, so that the air outlet of the first air duct 111, the roller brush 121 and the air inlet of the second air duct 122 are in the same closed space. In this way, when the floor scrubber is located at the base station, the airflows in the first air duct and the second air duct can be fully connected.

[0029] Reference below Figure 3 The control method of the above cleaning system is specifically explained. Figure 3 A schematic flow chart of a control method 200 of a cleaning system according to an embodiment of the present application is shown. As shown in the figure, the control method 200 includes step S220, step S240 and step S260.

[0030] Step S220, when the floor scrubber is located at the base station, the roller brush is controlled to perform a first rotation operation and the hot air component is controlled to send out a hot air flow, and the hot air flow passes through the first air duct and blows to the rotating roller brush.

[0031] According to an embodiment of the present application, when the floor scrubber is located at the base station, the roller brush and the hot air component can be controlled to start running when the preset drying condition is currently met. It can be determined based on a variety of situations that the preset drying condition is currently met. For example, when it is identified that the floor scrubber is located at the base station and a drying instruction input by the user using an input device is received, it is determined that the preset drying condition is currently met. For another example, when it is identified that the self-cleaning operation of the robot is finished, it can be determined that the preset drying condition is currently met. Specifically, this step may include controlling the drive motor of the roller brush to operate to drive the roller brush to rotate at a suitable speed or power. For example, the roller brush can be driven to rotate at a constant speed. Alternatively, the roller brush can also be driven to rotate at a constant power. The hot air component, for example, includes a first fan and a heater. The first fan can be connected to the air inlet of the first air duct, and the heater can be arranged in the first air duct. This step may include controlling the first fan to operate at a suitable speed or power, and controlling the heater to start heating at a suitable heating power. Thus, the first fan can send airflow to the air outlet of the first air duct. The heater can heat the airflow in the first air duct, thereby delivering hot airflow at the air outlet of the first air duct. Figure 2, Figure 2 The direction of movement of the airflow in the first air duct 111 is also shown. The operation of the hot air assembly and the operation of the roller brush can be performed simultaneously or sequentially. It can be understood that since the air outlet of the first air duct faces the roller brush, when both the roller brush and the hot air assembly are in operation, the hot air flow sent by the hot air assembly can be blown to the surface of the roller brush, which can achieve the effect of quickly drying the roller brush.

[0032] Step S240, controlling the suction component to operate so that negative pressure is generated in the second air duct, and the hot air flow at the roller brush flows through the second air duct and is blown to the filter component under the action of the negative pressure.

[0033] The suction component may include a suction fan. It should be noted that the suction fan is a fan, and it is described here as a suction fan in order to distinguish different fans in the present application. Controlling the operation of the suction component, for example, includes controlling the suction fan to operate at a suitable speed or controlling the suction fan to operate at a suitable operating power. By way of example and not limitation, the suction fan may be controlled to operate at a constant speed; alternatively, the suction fan may be controlled to operate at a constant operating power. The air inlet of the second air duct faces the roller brush, and the air outlet of the second air duct is connected to the suction fan. The filter component is, for example, Hypa. The filter component may be arranged between the air outlet of the second air duct and the suction component. When the suction fan is running, the airflow in the enclosed space where the second air duct is located is sucked and discharged by the suction fan, so that negative pressure may be generated in the second air duct. As a result, the hot air flow delivered by the hot air component may continue to move into the second air duct, and then pass through the filter component along the second air duct to be discharged outside the scrubber. Refer again Figure 2 , Figure 2 The moving direction of the hot air flow in the second air duct 122 is shown. Thus, the hot air sent by the hot air component is used to dry the second air duct and the filter component in the floor scrubber.

[0034] It should be noted that controlling the hot air component and the roller brush to start running in step S220 and controlling the suction component to start running in step S240 can be executed at the same time or in any order, and this application does not limit them.

[0035] Step S260, based on preset conditions, control the hot air component, the roller brush and the suction component to stop operating.

[0036] The preset condition may be a preset condition for stopping the drying operation. Alternatively, the preset condition may be a condition that the hot air component, the roller brush and the suction component have been running for a preset time. For example, the user may use the input device to set the default time for the automatic drying operation. The default time is, for example, 25 minutes. For example, after recognizing that the hot air component has been running for 25 minutes, the hot air component, the suction component and the roller brush may be controlled to stop running at the same time. Alternatively, the preset condition may also be a condition that at least one of the roller brush, the second air duct and the filter component is in a dry state. For example, various suitable methods may be used to detect the humidity of the roller brush, the second air duct and the filter component at a preset frequency, and when it is detected that the humidity of the roller brush, the second air duct and the filter component reaches the preset humidity corresponding to each, the hot air component, the suction component and the roller brush may be controlled to stop running at the same time. It is understood that for the roller brush, the second air duct and the filter component, the preset humidity for determining that each of them is in a dry state may be the same or different. Of course, in this step, the hot air component, the suction component and the roller brush may also be controlled to stop running at different times. For example, when the second air duct and the filter assembly are first identified to be in a dry state, the suction assembly can be controlled to stop operating. Then, when the roller brush is subsequently identified to be in a dry state, the roller brush is controlled to stop operating. In other examples, the preset conditions may also include conditions such as receiving a user's instruction to stop drying.

[0037] In one example, the hot air component includes a first fan and a heater. The first fan can be controlled to stop running after the heater stops running and then continues to run for a preset time, so that the heater can be cooled quickly.

[0038] As mentioned above, after the floor scrubber in the cleaning system cleans wet garbage or completes self-cleaning, water remains in its roller brush, air duct, and filter assembly, causing the internal environment of the machine to be in a humid state, which is easy to cause bacteria to grow. Using the control method 200 of the above-mentioned cleaning system of the embodiment of the present application, since the air outlet of the first air duct and the air inlet of the second air duct of the floor scrubber are both facing the roller brush, therefore, by controlling the operation of the hot air assembly, the roller brush, and the suction assembly, on the one hand, the hot air flow sent by the hot air assembly through the first air duct can be blown to the surface of the roller brush. On the other hand, the hot air flow can be introduced into the second air duct and blown to the surface of the filter assembly. As a result, the hot air flow is conducted in the entire cleaning channel, and the roller brush, air duct, and filter assembly of the floor scrubber can be dried, so that the roller brush, air duct, and filter assembly are all in a relatively dry state. In this way, closed-loop drying of the entire cleaning channel is achieved based only on the same hot air assembly. This solution not only improves the drying efficiency, but also avoids the loss of heat, and significantly improves the effective utilization rate of energy. At the same time, this solution does not have high hardware requirements, and the device structure is relatively simple, so the cost is also low.

[0039] Exemplarily, a wiper assembly is further arranged above and / or below the roller brush, and the air outlet of the second air duct is arranged in the sewage tank of the floor scrubber.

[0040] According to an embodiment of the present application, the wiper assembly of the floor scrubber may have any suitable shape and material. For example, the wiper assembly may be a wiper blade having the same length as the roller brush. The number of wiper blades may be one or two. For example, the wiper blades of the floor scrubber may be respectively arranged above and below the roller brush. The outer end of each wiper blade contacts the surface of the roller brush. It can be understood that during the rotation of the roller brush, the wiper blade squeezes the surface of the roller brush and can scrape off the liquid on the surface of the roller brush. The air inlet of the second air duct of the floor scrubber faces the roller brush, so when the suction assembly of the floor scrubber is running, the liquid scraped off the surface of the roller brush by the wiper blade can be sucked into the second air duct by the suction assembly. The air outlet of the second air duct is arranged in the sewage tank of the floor scrubber. In this way, the suction assembly can suck the liquid scraped off the surface of the roller brush into the sewage tank.

[0041] According to an embodiment of the present application, before drying the roller brush, the second air duct and the filter assembly of the floor scrubber, the wiper assembly and the suction assembly of the floor scrubber can also be used to perform a physical wiper operation on the roller brush and collect the scraped water into a sewage tank.

[0042] Exemplarily, before controlling the hot air component to send out a hot air flow, the control method 200 includes steps S211 to S213.

[0043] Step S211, controlling the roller brush to perform a second rotation operation. In this step, the roller brush can be controlled to rotate at a constant speed or power. Preferably, the roller brush can be driven to rotate at a higher speed. Thus, during the high-speed rotation of the roller brush, the wiper assembly can quickly scrape off excess liquid on the surface of the roller brush.

[0044] Step S212, control the operation of the suction component to generate negative pressure in the second air duct. Under the action of the negative pressure, the liquid scraped from the roller brush by the wiper component passes through the second air duct and is sucked into the sewage tank. As mentioned above, the air inlet of the second air duct faces the roller brush, and the air outlet of the second air duct is set in the sewage tank of the floor scrubber. In this way, during the operation of the suction component of the floor scrubber, the gas in the second air duct becomes thinner, so that negative pressure is generated in the second air duct. The liquid scraped from the roller brush by the wiper component can be sucked into the second air duct with the movement of the air flow, and then falls into the sewage tank from the air outlet of the second air duct, thereby realizing the collection of sewage.

[0045] Step S213, every second preset time, detect the second operation change of the roller brush. Wherein, when the roller brush is controlled to rotate at a constant speed, the second operation change includes the change of the operating power of the roller brush within the second preset time. When the roller brush is driven to rotate at a constant power, the second operation change includes the change of the speed of the roller brush within the second preset time. The second preset time can be arbitrarily set according to actual needs. For example, the second preset time is 1 minute. Optionally, the roller brush can be controlled to rotate at a constant speed in step S211. For example, the roller brush driving device drives the roller brush to rotate at a speed of 11000 rpm. In this step, the change of the operating power of the roller brush within 1 minute of rotation can be detected. For example, the power of the roller brush at the beginning of the 3rd minute is 220w, and the power at the beginning of the 4th minute is 200w, then it can be determined that the second operation change of the roller brush within the 3rd minute is 20w. Alternatively, the roller brush can be driven to rotate at a constant power in step S211. For example, the roller brush can be driven to rotate at a power of 220w. In this step, the change in the rotation speed of the roller brush within one minute of rotation can be detected. For example, the rotation speed of the roller brush at the beginning of the third minute is 10,000 rpm, and the rotation speed at the beginning of the fourth minute is 11,000 rpm, then it can be determined that the second operation change of the roller brush in the third minute is 1,000 rpm. It can be understood that in different embodiments of controlling the roller brush to operate at a constant speed or constant power, the corresponding expression method of the detected operation change is different.

[0046] Among them, the hot air component sends out hot air flow when the second operation change of the roller brush is less than the first change threshold. In other words, when it is detected that the second operation change of the roller brush is less than the first change threshold, the hot air component can be turned on to perform the drying operation of the roller brush, the second air duct and the filter component. It can be understood that in the example of controlling the roller brush to operate at a constant speed or constant power, as the humidity of the roller brush gradually decreases, the water scraped off by the wiper component of the roller brush per unit time gradually decreases, so the change of its weight per unit time also gradually decreases. Therefore, its second operation change in each second preset time also gradually decreases, and finally tends to a stable state. For example, in the example of controlling the roller brush to rotate at a constant speed, as the humidity of the roller brush decreases, the operating power of the roller brush gradually decreases, and the change of the operating power per unit time also decreases. It can be understood that, ideally, if the wiper component cannot scrape water within the second preset time, the change of the operating power of the roller brush can be 0. Taking into account the influence of detection errors and environmental factors, the first change threshold value can be set to a smaller value greater than 0 as a condition for completing the wiping operation of the roller brush and starting the drying operation of the roller brush, the second air duct and the filter assembly. For example, the first change threshold value can be set to 5w. In the example of controlling the roller brush to rotate at a constant speed, when it is detected that the second operation change of the roller brush is less than 5w, the hot air assembly can be controlled to operate to start the drying operation of the roller brush, the second air duct and the filter assembly.

[0047] In the above example, the humidity of the roller brush can also be determined according to the detected second operation variation of the roller brush and the corresponding relationship between the preset second operation variation and the humidity of the roller brush. When the humidity of the roller brush reaches the second preset humidity, the hot air component is controlled to operate to perform a drying operation on the roller brush. The second preset humidity is the humidity when the second operation variation of the roller brush detected is less than the first variation threshold, that is, the humidity when the excess liquid on the surface of the roller brush is scraped off. In the embodiment of the present application, it is found in advance through a large number of experimental tests that in the process of controlling the roller brush to operate at a constant power or a constant speed, the greater the humidity of the roller brush, the greater the second operation variation of the roller brush detected per unit time. In addition, the corresponding relationship between the humidity of the roller brush and the second operation variation and the second preset humidity are obtained. Therefore, the humidity of the roller brush can be determined based on the obtained corresponding relationship and the second operation variation of the roller brush detected in real time every second preset time. Then, when the humidity of the roller brush is less than the second preset humidity, the hot air component can be controlled to operate to start the drying operation of the roller brush, the second air duct and the filter component of the floor scrubber.

[0048] It can be understood that when the humidity of the roller brush is high, controlling the rotation of the roller brush and using the wiper assembly can efficiently scrape off the liquid on the surface of the roller brush. After the liquid on the surface of the roller brush is completely scraped off, the roller brush is dried, which can shorten the drying time and significantly improve the drying efficiency. In addition, when the humidity of the roller brush is high, the efficiency of hot air drying is low. Therefore, starting the hot air drying operation after wiping the roller brush can reduce unnecessary energy consumption.

[0049] Exemplarily, step S211 controls the roller brush to perform the second rotation operation, including step S211a, and step S220 controls the roller brush to perform the first rotation operation, including step S220a. Step S211a controls the roller brush to rotate at a constant third speed. Step S220a controls the roller brush to rotate at a constant second speed or a constant first speed. The first speed and the second speed are both less than the third speed.

[0050] According to an embodiment of the present application, when the roller brush is controlled to perform the second rotation operation and the wiper assembly is used to scrape off the excess liquid on the surface of the roller brush, the rotation speed of the roller brush can be set to be relatively large, thereby significantly improving the efficiency of wiping. In the process of drying the roller brush, the rotation speed of the roller brush can be set to be relatively small, which is conducive to ensuring that the surface of the roller brush is in full contact with the hot air flow, thereby improving the efficiency of drying. In the above-mentioned example of controlling the roller brush to rotate at a constant speed to facilitate the detection of its second operation variation, the roller brush can be controlled to rotate at a constant speed. Exemplarily, the rotation speed of the roller brush can be set to a low speed, a mid-speed speed, and a high speed. In step S211a, the roller brush can be controlled to rotate at a high speed. In step S220a, the roller brush can be controlled to rotate at a mid-speed speed or a low speed. Specifically, at the beginning of drying, the roller brush is controlled to rotate at a mid-speed speed so that the surface of the roller brush is in full contact with the hot air flow, and it is also convenient to quickly detect the initial humidity of the roller brush so as to set the initial gear of the hot air assembly based on the initial humidity. In the middle stage of drying, the roller brush can be controlled to rotate at a low speed to improve the drying efficiency.

[0051] Exemplarily, step S211 controls the roller brush to perform the second rotation operation, including step S211b, and step S220 controls the roller brush to perform the first rotation operation, including step S220b. Step S211b drives the roller brush to rotate at a constant second power and a third power. Step S220b detects the actual humidity of the roller brush when the roller brush is driven to rotate at a constant second power. The first power and the second power are both less than the third power.

[0052] Similar to the above solution, in the example of controlling the roller brush to operate at constant power, the operating power of the roller brush can be set to be larger during the stage of scraping excess liquid on the surface of the roller brush to improve the efficiency of scraping. In the process of drying the roller brush, the operating power of the roller brush can be set to be smaller to improve the efficiency of drying.

[0053] The above scheme can ensure the execution efficiency of the operations in each stage, thereby effectively improving the overall drying efficiency and saving energy.

[0054] Exemplarily, controlling the operation of the suction component in step S212 includes step S212a, and controlling the operation of the suction component in step S240 includes step S240a. Step S212a, controlling the suction component to operate at a second suction power. Step S240a, controlling the suction component to operate at a first suction power. The second suction power is greater than the first suction power.

[0055] Exemplarily and non-limitingly, the suction assembly may include a second fan. The operating power of the second fan may be, for example, divided into high-end power, mid-range power, and low-end power. In step S212a, the second fan may be controlled to operate at high-end power, and in step S240a, the second fan may be controlled to operate at low-end power. Alternatively, the rotation speed of the second fan may be, for example, divided into high-end rotation speed, mid-range rotation speed, and low-end rotation speed. In step S212a, the second fan may be controlled to operate at high-end rotation speed, and in step S240a, the second fan may be controlled to operate at low-end rotation speed.

[0056] It can be understood that in the stage of scraping off excess liquid on the surface of the roller brush, the humidity of the roller brush of the floor scrubber is relatively high, and the weight of the scraped liquid is also relatively large. By controlling the suction component of the floor scrubber to operate at a larger suction power, the scraped liquid can be effectively and quickly sucked into the sewage tank. In the stage of drying the roller brush, the humidity of the roller brush is relatively low, and most of what needs to be sucked is water vapor and gas, which can be achieved by the suction component of the floor scrubber with a smaller suction power. Therefore, controlling the suction component of the floor scrubber to operate at a smaller suction power can not only save energy, but also allow the hot air flow to fully stay on the surface of the roller brush, the second air duct and the filter component to prevent the heat from being lost too quickly, thereby improving the drying efficiency.

[0057] Exemplarily, the control method 200 further includes step S251 and step S252.

[0058] Step S251, in the process of controlling the hot air component to send out a hot air flow, the actual humidity of the roller brush is detected according to the first humidity detection method at intervals of a first preset time. The first preset time can be set according to actual needs. For example, the first preset time can be 1 minute. The first humidity detection method can be any existing or future developed humidity detection method. By way of example and not limitation, various suitable humidity sensors can be used to detect the actual humidity of the roller brush. Alternatively, the actual humidity of the roller brush can also be determined using a preset humidity determination algorithm. For example, the physical quantity representing the operating state of the roller brush can be detected every one minute, and its humidity can be indirectly determined based on these physical quantities.

[0059] Step S252, based on the actual humidity of the roller brush, determine whether the roller brush is in a dry state. For example, after detecting the actual humidity of the roller brush, it can be determined that the roller brush is in a dry state when the actual humidity is less than or equal to the first preset humidity; and it can be determined that the roller brush is not in a dry state when the actual humidity is greater than the first preset humidity. The first preset humidity can be set arbitrarily according to actual needs. It can also be personalized by the user using the human-computer interaction interface.

[0060] Step S260 controls the hot air component, the roller brush and the suction component to stop running based on the preset conditions, including step S261. Step S261, at least based on the roller brush being in a dry state, controls the hot air component, the roller brush and the suction component to stop running. Wherein, the dry state means that the actual humidity of the roller brush is less than or equal to the first preset humidity. The first preset humidity is, for example, 15%. In one example, when the actual humidity of the roller brush is detected to be less than or equal to 15% by the first humidity detection method, the hot air component, the roller brush and the suction component can be controlled to stop running. Alternatively, the hot air component, the roller brush and the suction component can be controlled to stop running only when it is determined that the roller brush, the second air duct and the filter component are all in a dry state. For example, the humidity sensor can be used to detect the humidity of the roller brush and the HEPA of the floor scrubber respectively, and the hot air component, the roller brush and the suction component can be controlled to stop running only when the actual humidity of the two is detected to be less than or equal to 15%. Of course, the hot air component, the roller brush and the suction component can also be controlled to stop running only when it is determined that the roller brush, the second air duct and the filter component are all in a dry state.

[0061] It is understandable that the duration of drying the roller brush in the prior art is mostly fixed. However, at the beginning of drying, the humidity of the roller brush is likely to be different. In some cases, the initial humidity of the roller brush is small, while in other cases, the initial humidity of the roller brush is large. For roller brushes with different initial humidity, the drying effects after drying for a fixed time are bound to be different. For example, after drying a roller brush with a small initial humidity for a fixed time, it may be in an overdry state, which may reduce the service life of the roller brush. In addition, since it is already in a dry state before the fixed time is reached, the drying operation after drying is a redundant operation, resulting in a waste of energy. After drying a roller brush with a large initial humidity for a fixed time, it may still be in a relatively moist state, and the drying effect is not ideal.

[0062] According to the above scheme of the embodiment of the present application, in the process of drying the roller brush, the second air duct and the filter assembly, the actual humidity of the roller brush is also detected to determine whether the roller brush is in a dry state. And the drying is stopped only when it is determined that the roller brush is in a dry state. This scheme can ensure a relatively ideal drying effect for the roller brush of the floor scrubber in various usage scenarios, so that the roller brush remains dry after drying. In this way, it can avoid the breeding of bacteria due to the moisture of the roller brush, ensure the hygiene and cleanliness of the ground after cleaning, and ensure that the floor scrubber is in good use. At the same time, it can also effectively avoid the waste of energy.

[0063] Exemplarily, the hot air assembly includes a first blower and a heater. The method 200 also includes step S214 and / or step S253.

[0064] Step S214, at the start time of controlling the hot air component to send out the hot air flow, the initial humidity of the roller brush is detected according to the first humidity detection method, and based on the initial humidity, the initial working state of the hot air component sending out the hot air flow is determined. For example, within the first 10 seconds of turning on the first fan and the heater, the initial humidity of the roller brush can be detected by using a humidity sensor arranged at the roller brush or a preset humidity determination algorithm. If the detected initial humidity of the roller brush is small, the hot air component can be controlled to start running at a relatively low power. For example, the initial speed of the first fan is set to a low speed and / or the initial heating power of the heater is set to a low power. It can be understood that if the roller brush is already in a relatively dry state at the start of drying, the hot air component can achieve drying with a relatively low power, so controlling the hot air component to run at a relatively low power can effectively reduce energy consumption. If the detected initial humidity of the roller brush is large, the hot air component can be controlled to start running at a relatively high power to improve the drying efficiency of the roller brush of the floor scrubber.

[0065] Step S253, in the process of controlling the hot air assembly to send out the hot air flow, the working state of the hot air assembly is adjusted based on the detected actual humidity of the roller brush, wherein as the actual humidity decreases, the speed of the first fan is reduced and / or the heating power of the heater is lowered.

[0066] According to an embodiment of the present application, in the process of drying the roller brush, the second air duct and the filter assembly, the working state of the hot air assembly can also be dynamically adjusted according to the change in the humidity of the roller brush. For example, the working state of the hot air assembly that matches the roller brush at different humidity can be determined by pre-testing. For example, a correspondence table between the humidity of the roller brush and the optimal rotation speed of the first fan and / or a correspondence table between the humidity of the roller brush and the optimal power of the heater can be determined in advance by testing. It can be understood that as the drying time increases, the actual humidity of the roller brush of the scrubber gradually decreases. Based on the detected actual humidity and the above-mentioned correspondence table, the rotation speed of the first fan can be gradually reduced and / or the heating power of the heater can be lowered. In this way, the efficient execution of the drying operation can be guaranteed, and energy consumption can be minimized.

[0067] In the above scheme, at the beginning of the drying operation, the initial working state of the hot air component is set based on the initial humidity of the roller brush; and / or during the drying operation, the working state of the hot air component is dynamically adjusted based on the actual humidity of the roller brush. The hot air component performs the drying operation in the best working state and can achieve the maximum balance between high drying efficiency and low energy consumption.

[0068] Exemplarily, step S214 uses the first humidity detection method to detect the initial humidity of the roller brush. Step S251 uses the first humidity detection method to detect the actual humidity of the roller brush.

[0069] In one example, the detection step of the first humidity detection method includes: detecting a first operation variation of the roller brush at a first preset time interval; wherein, when the roller brush rotates at a constant speed, the first operation variation includes a variation of the operating power of the roller brush within the first preset time; when the roller brush is driven to rotate at a constant power, the first operation variation includes a variation of the rotation speed of the roller brush within the first preset time; and determining the humidity of the roller brush based on the detected first operation variation. The larger the detected first operation variation, the greater the humidity of the roller brush.

[0070] Similar to the scheme of detecting the second operating change amount of the roller brush within every second preset time in the aforementioned step S213, step S214 can detect the first operating change amount of the roller brush within the first preset time after the hot air component starts to operate, and step S251 can use a similar detection method to detect the first operating change amount of the roller brush within every first preset time during the operation of the hot air component.

[0071] The first preset time is, for example, 1 minute. Taking controlling the roller brush to rotate at a constant speed as an example, within the first 1 minute when the hot air component starts to operate, the roller brush can be controlled to rotate at a constant first speed. The operating power of the roller brush when the hot air component is turned on and the operating power 1 minute after the hot air component is turned on can be detected respectively, and the difference between the two operating powers can be obtained. The difference is used as the first operating change of the roller brush at the initial moment. Exemplarily, the initial humidity of the roller brush can be determined based on the correspondence between the humidity of the roller brush obtained in advance and the change in the operating power of the roller brush per minute and the actual change in the operating power of the roller brush detected within 1 minute after the hot air component is turned on.

[0072] The first preset time is, for example, 1 minute. Also, take controlling the roller brush to rotate at a constant speed as an example. After detecting the initial humidity of the roller brush, for example, starting from the moment the hot air component is turned on for 1 minute, the roller brush is controlled to rotate at a constant second speed. It can be understood that as the running time of the hot air component increases, the humidity of the roller brush gradually decreases, and the amount of water vapor that can be dried in the roller brush per unit time also gradually decreases. Therefore, when the roller brush is controlled to run at a constant speed, the smaller the humidity of the roller brush, the smaller the change in the operating power of the roller brush per unit time. That is, the actual humidity of the roller brush is proportional to the second operating change. The change in the operating power of the roller brush before and after each minute can be detected in real time as the first operating change. The actual humidity of the roller brush per minute can be determined based on the correspondence between the humidity of the roller brush obtained in advance and the change in the operating power of the roller brush per minute.

[0073] The above scheme for detecting the humidity of the roller brush has high detection accuracy and strong applicability, so it can effectively realize accurate drying of various types of floor scrubbers. In addition, the above scheme does not require the addition of additional detection devices, the device structure is relatively simple, and the cost is low.

[0074] In another example, the first humidity detection method includes: when the roller brush is controlled to rotate at a constant speed, detecting the actual operating power of the roller brush every first preset time; and determining the humidity of the roller brush based on the detected actual operating power. The greater the actual operating power, the greater the humidity. Alternatively, the first humidity detection method includes: when the roller brush is driven to rotate at a constant power, detecting the actual rotation speed of the roller brush every first preset time; and determining the humidity of the roller brush based on the detected actual rotation speed. The greater the actual rotation speed, the lower the humidity.

[0075] It can be understood that when the roller brush and the roller brush driving device are both in good condition, when the roller brush is controlled to rotate at a constant speed, the greater the weight of the roller brush, the greater the resistance to its rotation, and therefore the greater the operating power. Therefore, in the example of controlling the roller brush to operate at a constant speed, the actual operating power of the roller brush is proportional to the humidity of the roller brush. Similarly, when the roller brush and the roller brush driving device are both in good condition, when the roller brush is controlled to rotate at a constant power, the greater the weight of the roller brush, the greater the resistance to its rotation, and therefore the smaller the speed. That is, in the example of controlling the roller brush to operate at a constant power, the actual speed of the roller brush is inversely proportional to the humidity of the roller brush. The corresponding relationship between the actual power and the humidity of the roller brush under constant speed operation can be obtained in advance by testing. For example, the first corresponding relationship between the actual power and the initial humidity of the roller brush when the roller brush is operated at a constant first speed can be obtained; and the second corresponding relationship between the actual power and the actual humidity of the roller brush when the roller brush is operated at a constant second speed can also be obtained. In step S214, the initial humidity of the roller brush can be determined based on the actual power of the roller brush detected at the first second when the hot air component is turned on and the first corresponding relationship. In step S251, the actual humidity of the roller brush can be determined based on the detected actual power of the roller brush per second after the hot air component is turned on and operated and the second corresponding relationship.

[0076] The above scheme for determining the humidity of the roller brush is simple, has a small amount of calculation, and has a relatively fast detection speed, and can realize real-time detection of the humidity of the roller brush. Therefore, energy consumption can be further reduced. In addition, the above scheme does not require the addition of an additional detection device, and the device structure is relatively simple and the cost is relatively low.

[0077] In the above example of controlling the roller brush to rotate at a constant speed, step S214 detects the initial humidity of the roller brush, including step S214a, and step S251 detects the actual humidity of the roller brush, including step S251a.

[0078] Step S214a, controlling the roller brush to rotate at a constant first speed to detect the initial humidity of the roller brush.

[0079] Step S251a, controlling the roller brush to rotate at a constant second rotational speed to detect the actual humidity of the roller brush, wherein the second rotational speed is less than the first rotational speed.

[0080] Exemplarily, the rotation speed of the roller brush can be set to, for example, a low-speed, a mid-speed, and a high-speed. In step S214a, the roller brush can be controlled to rotate at a mid-speed to detect the initial humidity of the roller brush. In step S220a, the roller brush can be controlled to rotate at a low-speed to detect the actual humidity of the roller brush. It can be understood that when the initial humidity of the roller brush is detected, the roller brush is controlled to rotate at a relatively high speed, and the change in the operating power of the roller brush detected in a short time can be large. Thus, the initial humidity of the roller brush can be quickly and accurately determined based on a more obvious detection value. During the drying process, the rotation speed of the roller brush can be set to be smaller so that the surface of the roller brush is in more sufficient contact with the hot air flow to improve the drying efficiency.

[0081] In the above example of driving the roller brush to rotate at a constant power, step S214 detects the initial humidity of the roller brush, including step S214b, and step S251 detects the actual humidity of the roller brush, including step S251b.

[0082] Step S214b: driving the roller brush to rotate at a constant first power to detect the initial humidity of the roller brush.

[0083] Step S251b, driving the roller brush to rotate at a constant second power to detect the actual humidity of the roller brush, wherein the second power is less than the first power.

[0084] Similar to the above-mentioned scheme of controlling the roller brush to run at a constant speed, when detecting the initial humidity of the roller brush at the initial moment of drying, the initial operating power of the roller brush can be set to be larger to facilitate detection. In the process of drying the roller brush, the operating power of the roller brush can be set to be smaller to improve the drying efficiency.

[0085] The above scheme can not only ensure the accuracy of roller brush humidity detection, but also improve the detection efficiency, and can also effectively improve the overall drying efficiency while saving energy.

[0086] Exemplarily, the control method 200 further includes step S254 and step S255.

[0087] Step S254: detecting the actual humidity of the filter assembly according to the second humidity detection method at every third preset time.

[0088] The suction component includes, for example, a second fan, and the filter component is, for example, a HEPA disposed between the air outlet of the second air duct and the second fan. The third preset time is, for example, 1 minute. According to an embodiment of the present application, the actual humidity of the HEPA can also be detected during the drying process. The second humidity detection method can be any existing or future developed humidity detection method. For example, the actual humidity of the HEPA can be detected using an existing or future developed humidity sensor. Alternatively, the actual humidity of the HEPA can also be indirectly determined by detecting relevant physical quantities of the operating state of the second fan.

[0089] Step S255, determining whether the filter assembly is in a dry state according to the actual humidity of the filter assembly. Exemplarily, when the actual humidity of the filter assembly is less than or equal to a third preset humidity, it is determined that the filter assembly is in a dry state; and when the actual humidity of the filter assembly is greater than the third preset humidity, it is determined that the filter assembly is in an undried state. The third preset humidity can be set according to actual needs.

[0090] Step S260, based on preset conditions, controls the hot air component, roller brush and suction component to stop operating, including step S262. Step S262, controls the hot air component, roller brush and suction component to stop operating at least when the filter component is in a dry state. In one example, the hot air component, roller brush and suction component can be controlled to stop operating when it is detected that the actual humidity of the filter component is less than or equal to the third preset humidity. Of course, the hot air component, roller brush and suction component can also be controlled to stop operating when it is determined that the roller brush, the second air duct and the filter component are all in a dry state. Alternatively, when it is determined that the roller brush and the filter component are both in a dry state, the hot air component, roller brush and suction component are controlled to stop operating.

[0091] In the above scheme, during the process of drying the roller brush, the second air duct and the filter assembly, the actual humidity of the filter assembly is also detected to determine whether the filter assembly is in a dry state. And only when it is determined that the filter assembly is in a dry state, the drying of the roller brush, the second air duct and the filter assembly of the floor scrubber is stopped. This scheme can ensure a relatively ideal drying effect for the filter assembly of the floor scrubber in various usage scenarios, so that the filter assembly is in a dry state after drying. In this way, it can avoid the breeding of bacteria due to the moisture of the filter assembly, provide a hygienic and sterile clean internal environment for the floor scrubber to a certain extent, and ensure that the floor scrubber is in a good use state. At the same time, it can also effectively avoid the waste of energy.

[0092] Exemplarily, the suction component includes a second fan. In step S254, the actual humidity of the filter component is detected according to the second humidity detection method, including step S254a and step S254b.

[0093] Step S254a, detecting a third operation variation of the second fan at every third preset time. When the second fan is controlled to operate at a constant speed, the third operation variation includes a variation of the operating power of the second fan within the third preset time. When the second fan is driven to operate at a constant power, the third operation variation includes a variation of the speed of the second fan within the third preset time.

[0094] Step S254b, based on the detected third operation variation, determining the actual humidity of the filter assembly, wherein the greater the third operation variation, the greater the actual humidity of the filter assembly.

[0095] Similar to the scheme of detecting the second operating change amount and the first operating change amount of the roller brush in the previous steps, the third operating change amount of the second fan can be detected in step S254a, and the actual humidity of the filter component can be determined based on the detected third operating change amount of the second fan in step S254b.

[0096] The filter assembly is, for example, a Hepa disposed between the air outlet of the second air duct and the second fan. It is understood that, since the distance between Hepa and the second fan is relatively close, when the humidity of Hepa is high, the micropores of Hepa are blocked by moisture, and the airflow from the second air duct is difficult to pass through Hepa, and therefore cannot be sucked to the second fan. Therefore, the second fan can only suck the airflow in the small space between Hepa and the second fan, thereby forming a negative pressure in the small space, and at this time, the suction resistance of the second fan is relatively small. On the contrary, when the humidity of Hepa is low, the airflow in the second air duct can be sucked out through Hepa, so that a negative pressure can be formed in the large space of the entire suction channel of the roller brush, the second air duct, Hepa and the second fan, and at this time, the suction resistance of the second fan is relatively large. That is, the suction resistance of the second fan can be inversely proportional to the humidity of Hepa. It is understood that when the second fan is controlled to operate at a constant speed, the greater the suction resistance of the fan, the greater its operating power. That is, when the second fan is controlled to run at a constant speed, the suction resistance of the fan is proportional to the operating power. When the second fan is controlled to run at a constant power, the greater the suction resistance of the fan, the smaller its speed. That is, when the second fan is controlled to run at a constant power, the suction resistance of the fan is inversely proportional to the speed.

[0097] In general, when the second fan is controlled to operate at a constant speed, the humidity of the filter assembly is roughly inversely proportional to the operating power of the fan. Therefore, in the process of drying the roller brush, the second air duct and the filter assembly of the floor scrubber, as the humidity of the floor scrubber decreases, the humidity change of the floor scrubber per unit time becomes smaller, so the change in the operating power of the second fan in each third preset time (the increase in the operating power) also decreases, that is, its operating power gradually tends to be stable. Therefore, the third corresponding relationship between the change in the operating power of the second fan in constant speed operation in each third preset time and the actual humidity of the filter assembly can be pre-tested and obtained. In step S254a, the change in the operating power of the second fan in each third preset time can be detected when the second fan is controlled to operate at a constant speed. The third preset time is, for example, 1 minute, and the actual change in the operating power of the second fan before and after each minute can be detected. In step S254b, the actual humidity of the filter assembly can be determined based on the actual change and the third corresponding relationship. And when the actual humidity of the filter assembly is less than or equal to the third preset humidity, it can be determined that the filter assembly is in a dry state.

[0098] Similar to the above-mentioned scheme of controlling the second fan to operate at a constant speed, when the second fan is controlled to operate at a constant power, the humidity of the filter assembly is approximately proportional to the speed of the fan. Therefore, in the process of drying the roller brush, the second air duct and the filter assembly of the floor scrubber, as the humidity of the floor scrubber decreases, the change in the speed of the second fan in each third preset time (speed reduction value) also decreases, that is, its speed gradually tends to be stable. Therefore, the fourth corresponding relationship between the change in the speed of the second fan in constant speed operation in each third preset time and the actual humidity of the filter assembly can be pre-tested. In step S254a, the change in the speed of the second fan in each third preset time can be detected when the second fan is controlled to operate at a constant power. The third preset time is, for example, 1 minute, and the actual change in the speed of the second fan before and after each minute can be detected. In step S254b, the actual humidity of the filter assembly can be determined based on the actual change and the above-mentioned fourth corresponding relationship. And when the actual humidity of the filter assembly is less than or equal to the third preset humidity, it can be determined that the filter assembly is in a dry state.

[0099] In the above scheme, the actual humidity of the filter assembly is indirectly determined by controlling the fan of the floor scrubber to run at a constant speed or constant power and detecting the change in the fan's operation within a fixed time. This scheme does not require the addition of additional detection devices, and the device structure is relatively simple and the cost is low. In addition, this algorithm has a small amount of calculation, a fast detection speed, and a high detection accuracy, and can achieve real-time and accurate detection of the roller brush humidity. In addition, it can further reduce energy consumption.

[0100] According to another aspect of the present application, a cleaning system is also provided. Figure 4A schematic block diagram of a cleaning system 100' according to another embodiment of the present application is shown. As shown in the figure, the cleaning system 100' includes a base station 110' and a floor scrubber 120'. The base station 110' includes a first air duct 111' and a hot air assembly 112' disposed in or connected to the first air duct 111', and the floor scrubber 120' includes a roller brush 121', a second air duct 122', a filter assembly 123' and a suction assembly 124', and the air outlet of the first air duct 111' and the air inlet of the second air duct 122' face the roller brush 121'.

[0101] The cleaning system 100' also includes one or more control modules 130. The control module 130 is arranged on the base station 110' and / or the floor scrubber 120'. The control module 130 is used to control the roller brush 121' to perform the first rotation operation and control the hot air component 112' to send out a hot air flow when the floor scrubber 120' is located at the base station 110', and the hot air flow passes through the first air duct 111' and blows to the rotating roller brush 121'; control the suction component 124' to operate so that the second air duct 122' generates a negative pressure, and the hot air flow at the roller brush 121' flows through the second air duct 122' and blows to the filter component 123' under the action of the negative pressure; and based on preset conditions, control the hot air component 112', the roller brush 121' and the suction component 124' to stop operating. It should be noted that the figure only shows an example in which a control module 130 is arranged on both the base station 110' and the floor scrubber 120'. It can be understood that in this example, the control module 130 located in the floor scrubber 120' is used to control the roller brush 121' to perform the first rotation operation and to control the operation of the suction assembly 124', while the control module 130 located in the base station 110' is used to control the hot air assembly 112' to send out a hot air flow. The two control modules can also be data-connected to communicate with each other to achieve control of the hot air assembly 112', the roller brush 121' and the suction assembly 124'. In other examples, the control module can also be set only on the base station 110' or the floor scrubber 120'. For example, the control module 130 can be set only on the base station 110', and the control module 130 on the base station can communicate with the suction assembly 124' on the floor scrubber 120' in addition to controlling the hot air assembly 112' to send out a hot air flow and stop running, so as to control the suction assembly 124' to run or stop running.

[0102] A person skilled in the art may understand various implementation schemes and beneficial effects of the cleaning system 100 ′ by reading the above description of the control method 200 for the cleaning system, which will not be described in detail for the sake of brevity.

[0103] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0104] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0105] 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 only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0106] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0107] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0108] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0109] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0110] The various component embodiments of the present application can be implemented in hardware, or implemented in a software module running on one or more processors, or implemented in a combination thereof. It should be understood by those skilled in the art that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all functions of some modules in the cleaning system according to an embodiment of the present application. The application can also be implemented as a part or all of a device program (for example, a computer program and a computer program product) for performing the method described herein. Such a program realizing the present application can be stored in a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0111] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0112] The above is only a specific implementation method or description of a specific implementation method of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a cleaning system, the cleaning system comprising a base station and a floor scrubber, characterized in that: The base station includes a first air duct and a hot air component arranged in or connected to the first air duct, the floor scrubber includes a roller brush, a second air duct, a filter component and a suction component, the air outlet of the first air duct and the air inlet of the second air duct face the roller brush, a wiper component is further arranged above and / or below the roller brush, and the air outlet of the second air duct is arranged in a sewage tank of the floor scrubber, and the method includes: When the floor scrubber is located at the base station, the roller brush is controlled to perform a first rotation operation and the hot air component is controlled to send out a hot air flow, and the hot air flow is blown to the rotating roller brush through the first air duct; Controlling the suction component to operate so that negative pressure is generated in the second air duct, and the hot air flow at the roller brush flows through the second air duct and is blown to the filter component under the action of the negative pressure; and Based on preset conditions, controlling the hot air component, the roller brush and the suction component to stop operating; Before controlling the hot air component to send out the hot air flow, the method further includes: Controlling the roller brush to perform a second rotation operation; Controlling the suction component to operate so that the second air duct generates negative pressure. Under the action of the negative pressure, the liquid scraped from the roller brush by the wiper component passes through the second air duct and is sucked into the sewage tank; At every second preset time, detecting a second operation change amount of the roller brush; Wherein, when the roller brush is controlled to rotate at a constant speed, the second operation variation includes the variation of the operating power of the roller brush within the second preset time; When the roller brush is driven to rotate at a constant power, the second operation variation includes the variation of the rotation speed of the roller brush within the second preset time; The hot air component starts sending out the hot air flow when the second operation change amount of the roller brush is less than the first change amount threshold.

2. The control method of the cleaning system according to claim 1, characterized in that: The method further comprises: In the process of controlling the hot air component to send out the hot air flow, detecting the actual humidity of the roller brush according to the first humidity detection method at every first preset time; and Based on the actual humidity of the roller brush, determining whether the roller brush is in a dry state; The method of controlling the hot air component, the roller brush and the suction component to stop operating based on the preset conditions includes: At least based on the fact that the roller brush is in a dry state, controlling the hot air component, the roller brush and the suction component to stop operating; The dry state means that the actual humidity of the roller brush is less than or equal to the first preset humidity.

3. The control method of the cleaning system according to claim 2, characterized in that: The hot air assembly includes a first fan and a heater, and the method further includes: At the start time of controlling the hot air component to send out the hot air flow, detecting the initial humidity of the roller brush according to the first humidity detection method, and determining the initial working state of the hot air component sending out the hot air flow based on the initial humidity; and / or In the process of controlling the hot air component to send out the hot air flow, adjusting the working state of the hot air component based on the detected actual humidity of the roller brush; As the actual humidity decreases, the rotation speed of the first fan is reduced and / or the heating power of the heater is lowered.

4. The control method of the cleaning system according to claim 2, characterized in that: The first humidity detection method comprises: Detecting a first operation change amount of the roller brush at first preset time intervals; and determining the humidity of the roller brush based on the detected first operation change amount; Wherein, when the roller brush rotates at a constant speed, the first operation variation includes the variation of the operating power of the roller brush within the first preset time; When the roller brush is driven to rotate at a constant power, the first operation variation includes the variation of the rotation speed of the roller brush within the first preset time; The larger the detected first operation variation is, the greater the humidity of the roller brush is.

5. The control method of the cleaning system according to claim 3, characterized in that: The first humidity detection method comprises: Detecting a first operation change amount of the roller brush at first preset time intervals; and determining the humidity of the roller brush based on the detected first operation change amount; Wherein, when the roller brush rotates at a constant speed, the first operation variation includes the variation of the operating power of the roller brush within the first preset time; When the roller brush is driven to rotate at a constant power, the first operation variation includes the variation of the rotation speed of the roller brush within the first preset time; The larger the detected first operation variation is, the greater the humidity of the roller brush is.

6. The control method of the cleaning system according to claim 5, characterized in that: The detecting the initial humidity of the roller brush comprises: Controlling the roller brush to rotate at a constant first speed to detect the initial humidity of the roller brush; detecting the actual humidity of the roller brush includes: Controlling the roller brush to rotate at a constant second rotation speed to detect the actual humidity of the roller brush, wherein the second rotation speed is less than the first rotation speed; or The detecting the initial humidity of the roller brush comprises: The roller brush is driven to rotate at a constant first power to detect the initial humidity of the roller brush; the detecting the actual humidity of the roller brush comprises: The roller brush is driven to rotate at a constant second power to detect actual humidity of the roller brush, wherein the second power is less than the first power.

7. The control method of the cleaning system according to claim 2 or 3, characterized in that: The first humidity detection method comprises: When the roller brush is controlled to rotate at a constant speed, detecting the actual operating power of the roller brush at a first preset time interval; and Determining the humidity of the roller brush based on the detected actual operating power, wherein the greater the actual operating power, the greater the humidity; or The first humidity detection method comprises: When the roller brush is driven to rotate at a constant power, detecting the actual rotation speed of the roller brush at a first preset time interval; and Based on the detected actual rotation speed, the humidity of the roller brush is determined, wherein the greater the actual rotation speed, the smaller the humidity.

8. The control method of the cleaning system according to claim 1, characterized in that: The controlling the roller brush to perform a second rotation operation includes: Controlling the roller brush to rotate at a constant third speed; The controlling the roller brush to perform a first rotation operation includes: Controlling the roller brush to rotate at a constant first speed or a constant second speed, wherein the first speed and the second speed are both less than the third speed; or The controlling the roller brush to perform a second rotation operation includes: driving the roller brush to rotate at a constant third power; The controlling the roller brush to perform a first rotation operation includes: The roller brush is driven to rotate at a constant first power or a constant second power, wherein the first power and the second power are both smaller than the third power.

9. The control method of the cleaning system according to claim 1, characterized in that: The method of controlling the suction component to operate so that the second air duct generates negative pressure, and under the action of the negative pressure, the liquid scraped from the roller brush by the wiper component passes through the second air duct and is sucked into the sewage tank, comprises: controlling the suction component to operate at a second suction power; The controlling the suction component to operate so that the second air duct generates negative pressure, and the hot air flow at the roller brush flows through the second air duct and blows to the filter component under the action of the negative pressure, comprises: The suction component is controlled to operate at a first suction power, wherein the second suction power is greater than the first suction power.

10. The control method of the cleaning system according to any one of claims 1 to 3, characterized in that: The method further comprises: At third preset time intervals, detecting the actual humidity of the filter assembly according to a second humidity detection method; and Determining whether the filter component is in a dry state according to the actual humidity of the filter component; The method of controlling the hot air component, the roller brush and the suction component to stop operating based on the preset conditions includes: At least when the filter assembly is in a dry state, the hot air assembly, the roller brush and the suction assembly are controlled to stop operating.

11. The control method of the cleaning system according to claim 10, characterized in that: The suction component includes a second fan, and the detecting the actual humidity of the filter component according to the second humidity detection method includes: Detecting a third operation change of the second fan at every third preset time; and determining the actual humidity of the filter assembly based on the detected third operational variation; Wherein, when the second fan is controlled to operate at a constant speed, the third operation variation includes the variation of the operating power of the second fan within the third preset time; when the second fan is driven to operate at a constant power, the third operation variation includes the variation of the speed of the second fan within the third preset time; The larger the third operation variation is, the greater the actual humidity of the filter assembly is.

12. A cleaning system, comprising a base station and a floor scrubber, characterized in that: The base station includes a first air duct and a hot air component arranged in or connected to the first air duct, the floor scrubber includes a roller brush, a second air duct, a filter component and a suction component, the air outlet of the first air duct and the air inlet of the second air duct face the roller brush, a wiper component is further arranged above and / or below the roller brush, and the air outlet of the second air duct is arranged in a sewage tank of the floor scrubber, wherein, The cleaning system further comprises one or more control modules, wherein the control modules are arranged on the base station and / or the floor scrubber, and the control modules are used to control the roller brush to perform a first rotation operation and control the hot air component to send out a hot air flow when the floor scrubber is located at the base station, and the hot air flow passes through the first air duct and blows to the rotating roller brush; control the operation of the suction component to generate a negative pressure in the second air duct, and the hot air flow at the roller brush flows through the second air duct and blows to the filter component under the action of the negative pressure; and control the hot air component, the roller brush and the suction component to stop operating based on preset conditions; the control module is also used to control the roller brush to perform a first rotation operation before controlling the hot air component to send out a hot air flow. Two rotation operations; controlling the operation of the suction component to generate negative pressure in the second air duct, under the action of the negative pressure, the liquid scraped from the roller brush by the wiper component is sucked into the sewage tank through the second air duct; detecting the second operation change of the roller brush at second preset time intervals; wherein, when the roller brush is controlled to rotate at a constant speed, the second operation change includes the change of the operating power of the roller brush within the second preset time; when the roller brush is driven to rotate at a constant power, the second operation change includes the change of the speed of the roller brush within the second preset time; wherein, the hot air component starts to send out the hot air flow when the second operation change of the roller brush is less than the first change threshold.

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