A cleaning part detection device, cleaning equipment and cleaning part detection method

Abstract

The embodiments of the present invention provide a cleaning member detection device, a cleaning equipment and a cleaning member detection method. The device includes: a switch tube, a current sampling circuit, a first voltage sampling circuit, a second voltage sampling circuit and a control module; the switch tube and the current sampling circuit are used to be connected in series with the motor to form a first circuit, wherein the first circuit is powered by a power supply, the motor is used to drive the cleaning member to rotate, and the current sampling circuit is used to detect the current of the first circuit; the first voltage sampling circuit is used to determine the voltage of the motor; the second voltage sampling circuit is used to detect the voltage of the power supply; the control module is used to control the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, the use status of the cleaning member is determined according to the voltage of the power supply and the current of the first circuit; wherein the use status includes the degree of aging and the degree of wear. Based on this scheme, the use status of the cleaning member can be detected more accurately.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic detection, and more specifically to a cleaning component detection device, a cleaning equipment and a cleaning component detection method. Background Art

[0002] In different application scenarios, cleaning parts are widely used in various cleaning equipment. For example, vacuum cleaners, floor scrubbers, etc. The cleaning parts are used to clean the object to be cleaned during the movement. The cleaning parts are, for example, roller brushes on floor scrubbers. When the floor scrubber is working, the roller brushes clean the ground by rotating.

[0003] The cleaning parts gradually wear out and / or age during use, and their use effect deteriorates accordingly. In order to ensure the cleaning effect of the cleaning parts on the objects to be cleaned, it is necessary to detect the use status of the cleaning parts. Thus, the cleaning parts can be replaced in time to ensure the use effect of the cleaning equipment.

[0004] In the prior art, the cleaning member is generally driven by a motor to move. Usually, the use status of the cleaning member is detected only based on the current of the motor driving the cleaning member. However, the detection result of this method deviates greatly from the actual situation, and it is difficult to accurately indicate the use status of the cleaning member. Summary of the invention

[0005] The present invention is proposed in consideration of the above problems. According to one aspect of the present invention, a cleaning member detection device is provided, comprising: a switch tube, a current sampling circuit, a first voltage sampling circuit, a second voltage sampling circuit and a control module; the switch tube and the current sampling circuit are used to be connected in series with a motor to form a first circuit, wherein the first circuit is powered by a power supply, the motor is used to drive the cleaning member to rotate, and the current sampling circuit is used to detect the current of the first circuit; the first voltage sampling circuit is used to determine the voltage of the motor; the second voltage sampling circuit is used to detect the voltage of the power supply; the control module is used to control the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, the use status of the cleaning member is determined according to the voltage of the power supply and the current of the first circuit; wherein the use status includes the degree of aging and the degree of wear.

[0006] Exemplarily, the switch tube is an N-type metal oxide semiconductor transistor; the N-type metal oxide semiconductor transistor is connected between the motor and the negative electrode of the power supply.

[0007] Exemplarily, the switch tube is a P-channel metal oxide semiconductor transistor; the P-channel metal oxide semiconductor transistor is connected between the positive electrode of the power supply and the motor.

[0008] Exemplarily, the switching tube and the current sampling circuit are connected to form a second circuit; the first voltage sampling circuit is connected to both ends of the second circuit to detect the voltage of the second circuit; the control module is also used to determine the voltage of the motor based on the voltage of the second circuit and the voltage of the power supply.

[0009] Exemplarily, the first voltage sampling circuit is used to be connected to two ends of the motor to detect the voltage of the motor.

[0010] According to a second aspect of the present invention, there is also provided a cleaning device, comprising the above-mentioned cleaning member detection device.

[0011] According to a third aspect of the present invention, a cleaning component detection method is also provided, comprising: using a current sampling circuit to detect the current of a first circuit, wherein the first circuit comprises a motor, a switch tube and the current sampling circuit connected in series, and the motor is used to drive the cleaning component to rotate; determining the voltage of the motor; detecting the voltage of a power supply, wherein the power supply is used to power the first circuit; controlling the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, determining the use status of the cleaning component according to the voltage of the power supply and the current of the first circuit; wherein the use status includes the degree of aging and the degree of wear.

[0012] Exemplarily, the determining the use status of the cleaning member includes the following steps: calculating the product of the voltage of the power supply and the current of the first circuit to obtain a first power; and determining the use status of the cleaning member according to the first power.

[0013] Exemplarily, determining the use status of the cleaning member according to the first power includes: determining a percentage of a remaining use time of the cleaning member to a service life according to the first power.

[0014] Exemplarily, the method further includes: determining whether the cleaning element is in place according to the first power.

[0015] Exemplarily, the step of determining the use status of the cleaning member is performed once each time a preset condition is met;

[0016] The method also includes: after each time the first power is obtained, based on the first power obtained this time and the first power obtained last time, determining a first power change value, and judging whether the first power change value is less than a change threshold value; accumulating the number of consecutive occurrences of a first judgment result, wherein the first judgment result indicates that the first power change value is less than the change threshold value; wherein the step of determining the use status of the cleaning component according to the first power is performed when the number of consecutive occurrences of the first judgment result is equal to or greater than the first number threshold value.

[0017] Exemplarily, the step of determining the use status of the cleaning member is performed once each time a preset condition is met;

[0018] The method also includes the following steps: after each execution of the step of determining the usage status of the cleaning component, accumulating the number of consecutive occurrences of a first detection result, wherein the first detection result indicates that the cleaning component is aged and / or worn to a first degree; when the number of consecutive occurrences of the first detection result is equal to a second numerical threshold, outputting a prompt message to remind the user to replace the cleaning component.

[0019] Exemplarily, the method further includes the following steps: timing the total usage time of the cleaning component; determining whether the total usage time reaches a first duration threshold; wherein the step of determining the usage status of the cleaning component is performed after the total usage time of the cleaning component reaches the first duration threshold.

[0020] Exemplarily, the method is used for a cleaning device having a self-cleaning mode; wherein the step of determining the usage status of the cleaning member is performed when the cleaning device is in the self-cleaning mode.

[0021] Exemplarily, the method also includes the following steps: timing the current operating time of the self-cleaning mode; determining whether the current operating time is greater than a second time threshold; wherein the step of determining the usage status of the cleaning component is performed when the current operating time is greater than the second time threshold.

[0022] According to the above solution, the control module in the cleaning member detection device can control the on or off of the switch tube according to the voltage of the motor, so that the voltage of the motor remains constant, and then when the voltage of the motor is constant, the use state of the cleaning member can be accurately determined according to the voltage of the power supply and the current of the first circuit. This solution has a simple circuit structure and accurate detection results.

[0023] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0025] Figure 1 A schematic circuit diagram showing a cleaning member detection device and related devices according to an embodiment of the present application;

[0026] Figure 2 A diagram showing a relationship between a use state of a cleaning member and a first power according to an embodiment of the present application;

[0027] Figure 3 A schematic flow chart showing a cleaning member detection method according to an embodiment of the present application; and

[0028] Figure 4 A relationship diagram between the total usage time and the first power according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0030] Cleaning parts are widely used in various cleaning equipment. Cleaning equipment generally includes a power source, a motor and a cleaning part. Among them, the motor is used to drive the cleaning part to rotate. The power source is used to power the motor. The power source can be a lead-acid battery, a lithium battery, etc. The cleaning part can be any existing or future developed part that is driven to rotate by a motor and is used to clean the area to be cleaned during the rotation process, such as a roller brush, a disc brush, etc. In a specific embodiment, the cleaning part is a roller brush. The motor drives the roller brush to rotate, thereby completing the cleaning work of the area to be cleaned.

[0031] During the use of the cleaning equipment, its cleaning parts can be used to perform cleaning tasks on the area to be cleaned. At the same time, during the execution of the cleaning tasks, the cleaning parts of the cleaning equipment can also be cleaned to ensure the cleaning quality of the area to be cleaned. During the cleaning or cleaning process of the cleaning parts, due to the combined effects of various factors such as heat, oxygen, water, light, microorganisms, chemical media, etc., the chemical and / or physical properties of the cleaning parts may change, such as becoming hard, sticky, brittle, losing strength, etc. These changes and phenomena are called aging. In addition, since the cleaning parts are in direct contact with the area to be cleaned during use, they themselves will wear out. As the cleaning parts gradually wear and age, their own use status will deteriorate.

[0032] According to one aspect of an embodiment of the present application, a cleaning member detection device is provided. The cleaning member detection device is used to detect the use status of the cleaning member. The use status includes the degree of aging and the degree of wear. Figure 1 FIG. 1 shows a schematic circuit diagram of a cleaning member detection device 100 and related devices according to an embodiment of the present application. Figure 1 As shown, the cleaning member detection device 100 includes: a switch tube 110 , a current sampling circuit 120 , a first voltage sampling circuit 130 , a second voltage sampling circuit 140 and a control module 150 .

[0033] The switch tube 110 and the current sampling circuit 120 are connected in series with the motor 210 to form a first circuit.

[0034] The first circuit is powered by a power supply 220, and the motor 210 is used to drive the cleaning member (not shown) to rotate. As mentioned above, the power supply 220 can be various batteries, such as a rechargeable battery. Specifically, the power supply 220 can be a lead-acid battery, a lithium battery, etc. It can be understood that as the power supply is used, its supply voltage may change slowly. For example, during the use of the power supply, the chemical substances inside the power supply change due to electrochemical reactions, resulting in an increase in internal resistance. The internal resistance partial pressure increases, and the output voltage of the power supply decreases. The motor 210 serves as a driving mechanism for the cleaning member and provides a driving force for the cleaning member.

[0035] The current sampling circuit 120 is used to detect the current of the first circuit. The current sampling circuit 120 can adopt any existing or future developed current sampling circuit. For example, an operational amplifier current sampling circuit or a magnetic induction current sampling circuit can be adopted. In one embodiment, the current sampling circuit 120 is an operational amplifier current sampling circuit. The shunt resistor of the operational amplifier current sampling circuit is connected in series with the motor 210 and the switch tube 110. The operational amplifier current sampling circuit detects the voltage of the shunt resistor, and obtains the current of the first circuit according to the resistance value of the shunt resistor.

[0036] The switch tube 110 can be turned on or off, thereby turning on or off the first circuit. The switch tube 110 can be implemented by an N-type metal oxide semiconductor (NMOS) transistor or a P-channel metal oxide semiconductor (PMOS) transistor. In one embodiment, the switch tube 110 is a PMOS transistor. The PMOS transistor can be connected between the positive electrode of the power supply and the motor. Specifically, the source of the PMOS transistor is connected to the positive electrode of the power supply, and the drain is connected to the motor. Figure 1 In the embodiment shown, the switch tube 110 is an NMOS transistor. The NMOS transistor is connected between the motor 210 and the negative electrode of the power source 220. Specifically, the drain of the NMOS transistor is connected to the motor 210, and the source is connected to the negative electrode of the power source 220.

[0037] For PMOS transistors, they need to be used in conjunction with a high common mode voltage operational amplifier in the cleaning member detection device 100. For NMOS transistors, they are used in conjunction with a low common mode voltage operational amplifier in the cleaning member detection device 100. Compared with PMOS transistors, using NMOS transistors can reduce the overall cost of the device.

[0038] The first voltage sampling circuit 130 is used to determine the voltage of the motor 210. The first voltage sampling circuit 130 can determine the voltage of the motor 210 in a direct or indirect manner. The first voltage sampling circuit 130 can be any existing or future developed voltage sampling circuit. For example, the first voltage sampling circuit 130 can be implemented by a differential voltage sampling circuit, a voltage sampling circuit including a voltage transformer, etc.

[0039] The second voltage sampling circuit 140 is used to detect the voltage of the power supply 220. The second voltage sampling circuit 140 can be directly connected in parallel to both ends of the power supply 220 to obtain the output voltage of the power supply 220. Similar to the first voltage sampling circuit 130, the second voltage sampling circuit 140 can also be implemented by any existing or future developed voltage sampling circuit. For example, the second voltage sampling circuit 140 can be a differential voltage sampling circuit, a voltage sampling circuit containing a voltage transformer, etc.

[0040] The control module 150 is used to control the on or off of the switch tube 110 according to the voltage of the motor 210 determined by the first voltage sampling circuit 130 to keep the voltage of the motor 210 constant, and when the voltage of the motor 210 remains constant, determine the usage status of the cleaning component according to the voltage of the power supply 220 detected by the second voltage sampling circuit 140 and the current of the first circuit.

[0041] In the above embodiment using an NMOS transistor or a PMOS transistor as the switch tube 110, the control module 150 may be connected to the gate of the NMOS transistor or the PMOS transistor. Figure 1In the illustrated embodiment, the control module 150 can generate a pulse width modulation (PWM) signal according to the voltage of the motor 210. The PWM signal is used to control the on or off of the switch tube 110, so that the voltage of the motor 210 can be kept constant even if the output voltage of the power supply 220 changes.

[0042] When the voltage of the motor 210 is constant, the speed of the motor 210 is basically constant. According to the torque formula T=9550P / n of the motor 210, when the speed n is constant, the output power P is proportional to the torque T. As described above, during the long-term use of the cleaning member, it gradually wears and ages, and its own use state will change. When the use state of the cleaning member changes, the torque T of the motor 210 that drives the cleaning member will also change. Correspondingly, the output power P of the motor 210 will also change. It can be understood that the input power of the motor 210 is equal to the sum of the output power P and the internal power loss of the motor 210. Since the internal power loss of the motor 210 is basically unchanged, the change in the use state of the cleaning member can be judged based on the input power P of the motor 210. In the first circuit, compared with the high power of the motor 210, the power of other electronic components is small and can be ignored. And the sum of the power of the motor 210 and the power of other electronic components is equal to the output power of the power supply 220. Therefore, the output power of the power supply 220 can be used to judge the change in the use state of the cleaning member. The control module 150 may determine the output power of the power supply 220 according to the voltage of the power supply 220 and the current of the first circuit. For the sake of simplicity, the output power of the power supply is referred to as the first power below.

[0043] It is understandable that, for a cleaning device, the motor type, parameters and model of the cleaning member of the device are determined. Therefore, for a cleaning member of a cleaning device, a first power corresponding to the cleaning member in different use states can be obtained through a large number of tests. In one embodiment, a relationship diagram between the use state and the first power can be obtained based on the first power corresponding to different use states. Figure 2 FIG. 2 shows a relationship between the use state of the cleaning member and the first power according to an embodiment of the present application. Figure 2As shown, when the cleaning member is in a new state of use, the corresponding first power is P1. This state of use represents the state when the cleaning member has just been replaced. When the cleaning member is in a normal state of use, the corresponding first power is P2. This state of use represents the state in which the cleaning member can be used normally. At this time, the cleaning member may have been used for a period of time after being replaced. When the cleaning member is in an old state of use, the corresponding first power is P3. This state of use represents the state in which the use effect of the cleaning member can no longer meet the cleaning requirements. At this time, the cleaning member needs to be replaced. For simplicity, in the following embodiments, the power corresponding to the cleaning member when the state of use is old is represented by the new and old power thresholds. When the cleaning member is in a state of use that is not in place, the corresponding first power is P4. This state of use represents that the cleaning member has been removed from the cleaning device. That is, the current cleaning device is not equipped with the cleaning member, and the drive motor 210 is idling. In this embodiment, after the control module 150 determines the first power, the ordinate of the point in the above relationship diagram can be determined according to the determined first power, so as to obtain the state of use of the current cleaning member according to the abscissa of the point. For example, when the obtained first power P<P3 and P>P4, it can be determined that the current use status of the cleaning element is old, and at this time, the cleaning element can be replaced.

[0044] According to the above technical solution, the control module in the cleaning member detection device can control the on or off of the switch tube according to the voltage of the motor, so that the voltage of the motor remains constant, and then when the voltage of the motor is constant, the use state of the cleaning member can be accurately determined according to the voltage of the power supply and the current of the first circuit. The circuit structure of this solution is simple and the detection result is accurate.

[0045] Alternatively, if Figure 1 In the embodiment shown, the cleaning member detection device 100 further includes a freewheeling diode 230. The freewheeling diode 230 can be implemented using a fast recovery diode or a Schottky diode. The freewheeling diode 230 is connected in parallel to both ends of the motor 210 to form a loop with the motor 210. Thus, the high electromotive force generated by the motor 210 when the current suddenly changes is consumed in the loop in a freewheeling current manner, thereby protecting the components in the circuit.

[0046] As described above, the first voltage sampling circuit can collect the voltage of the motor in a direct manner. Exemplarily, the first voltage sampling circuit is used to be connected to both ends of the motor, that is, connected in parallel with the motor, to detect the voltage of the motor. The above technical solution directly collects the voltage of the motor through the first voltage sampling circuit, and the circuit structure is simple and the voltage collection efficiency is high. In addition, it ensures the accuracy of the detected use status of the cleaning member.

[0047] Exemplarily, the switch tube 110 and the current sampling circuit 120 are connected in series to form a second circuit. The first voltage sampling circuit 130 is connected to both ends of the second circuit to detect the voltage of the second circuit. The control module 150 is also used to determine the voltage of the motor 210 according to the voltage of the second circuit and the voltage of the power supply 220.

[0048] The above embodiment adopts an indirect method to determine the voltage of the motor 210. In this embodiment, the switch tube 110 and the current sampling circuit 120 are connected in series, and there may be no other electronic components in the circuit between the switch tube 110 and the current sampling circuit 120. Figure 1 In the cleaning member detection device shown, the NMOS transistor is directly connected to the current sampling circuit 120. It is understood that other voltage-dividing elements may also exist in the circuit between the switch tube 110 and the current sampling circuit 120. The first voltage sampling circuit 130 is connected to both ends of the second circuit, that is, connected in parallel with the second circuit, so that the voltage divided by the electronic components in the second circuit can be measured. Thus, the control module 150 can calculate the difference between the output voltage of the power supply 220 and the voltage detected by the first voltage sampling circuit 130 as the voltage of the motor 210.

[0049] It can be understood that when the motor is changing phases, the voltage of the motor will be affected due to the existence of the freewheeling phenomenon, and there may be a difference between the voltage directly collected at both ends of the motor and the actual voltage of the motor. In the above embodiment, the difference between the output voltage of the power supply and the voltage detected by the first voltage sampling circuit is used as the voltage of the motor, which can eliminate the influence of the freewheeling on the voltage of the motor and obtain a more accurate voltage of the motor. Therefore, the control module can control the switch tube according to the voltage of the motor to ensure the stability of the voltage of the motor. The stable voltage of the motor avoids the negative impact of the battery voltage change on the detection of the use status of the cleaning component. Therefore, the use status of the cleaning component detected according to the voltage of the power supply and the current of the first circuit is more accurate.

[0050] According to another aspect of the embodiment of the present application, a cleaning device is provided. The cleaning device may be a floor scrubber, a sweeping robot, etc. Figure 1 The cleaning device may include a power source 220, a motor 210 and a cleaning member. In addition, the cleaning device may also include the above-mentioned cleaning member detection device 100. During the use of the cleaning device, the cleaning member detection device 100 may be used to detect the use status of the cleaning member. Thus, after the cleaning member is aged or worn, the cleaning member may be replaced in time, thereby ensuring the cleaning effect of the cleaning device.

[0051] According to yet another aspect of an embodiment of the present application, a cleaning component detection method is provided. Figure 3 FIG. 2 shows a schematic flow chart of a cleaning member detection method according to an embodiment of the present application. Figure 3As shown, the cleaning member detection method 300 includes steps S310, S320, S330 and S340.

[0052] Step S310: Detect the current of the first circuit using a current sampling circuit, wherein the first circuit includes a motor, a switch tube and a current sampling circuit connected in series, and the motor is used to drive the cleaning element to rotate.

[0053] Step S320, determining the voltage of the motor.

[0054] The motor voltage can be Figure 1 The first voltage sampling circuit in the illustrated embodiment is determined in a direct or indirect manner. The specific manner has been described in detail in the above embodiment, and for the sake of brevity, it will not be repeated here.

[0055] Step S330: detecting the voltage of a power supply, wherein the power supply is used to supply power to the first circuit.

[0056] The voltage of the power supply can be detected by the second voltage sampling circuit in the above embodiment. The specific method has been described in detail in the above embodiment, and for the sake of brevity, it will not be repeated here.

[0057] Step S340, controlling the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, determining the use status of the cleaning component according to the voltage of the power supply and the current of the first circuit; wherein the use status includes the degree of aging and the degree of wear.

[0058] Exemplarily, the cleaning member detection method 300 may further include the following steps: timing the total usage time of the cleaning member; and determining whether the total usage time reaches a first duration threshold. The step of determining the usage status of the cleaning member is performed after the total usage time of the cleaning member reaches the first duration threshold. As mentioned above, the total usage time of the cleaning member is the cumulative usage time of the cleaning member from the time of replacement to the present.

[0059] In this example, when the total usage time is equal to or greater than the first duration threshold T m1 After that, the step of determining the use status of the cleaning piece is performed.

[0060] In another example, after the total usage time reaches the first duration threshold, the step of accumulating the number of consecutive occurrences of the first judgment result can be performed first, and when the number of consecutive occurrences of the first judgment result is equal to the first number threshold, the step of determining the usage state of the cleaning member according to the first power is performed. The above technical solution can ensure the stability of the working state of the cleaning member from two aspects of the first power change value and the total usage time of the cleaning member, so as to obtain a more reliable detection result.

[0061] The total use time of the cleaning member can be set automatically or manually by the user. In one embodiment, when the current first power is equal to the power threshold corresponding to when the cleaning member is in a new state, it is determined that the cleaning member is replaced, and the total use time of the cleaning member can be set to 0. In another embodiment, after the cleaning member is replaced, the total use time of the cleaning member can be automatically set to 0. Alternatively, the user can set the total use time of the cleaning member to 0 using an input device of the cleaning device or a user terminal interconnected with the cleaning device.

[0062] It can be understood that when the total usage time of the cleaning parts is short, they are relatively new and their usage status is likely to be good. Aging and / or wear will gradually occur as the usage time increases. Testing the usage status of the cleaning parts after they have been used for a period of time can reduce the overall number of tests and save computing resources. At the same time, after the cleaning parts have been used for a period of time, their overall status is more stable, and the test results obtained are more reliable, which can effectively avoid detection errors.

[0063] Exemplarily, the cleaning member detection method 300 is used for a cleaning device, which has a self-cleaning mode. The step of determining the use status of the cleaning member is performed when the cleaning device is in the self-cleaning mode.

[0064] In actual use, the cleaning device will perform cleaning tasks many times, and the cleaning task refers to completing the cleaning operation on the area to be cleaned. Furthermore, to ensure cleaning efficiency and cleaning effect, the cleaning device performs self-cleaning on the cleaning parts after each cleaning task is completed, or after each cleaning subtask in the cleaning task is completed, so as to remove the dirt attached to the cleaning parts and prepare for the cleaning operation of the next task or subtask. This process is called the cleaning device is in self-cleaning mode.

[0065] It is understood that in the self-cleaning mode, dirt on the cleaning member is cleaned. According to the above technical solution, the step of determining the use status of the cleaning member is performed when the cleaning device is in the self-cleaning mode, thereby reducing the influence of dirt on the cleaning member on the detection result and improving the reliability of the detection result.

[0066] Exemplarily, the cleaning member detection method 300 may further include the following steps: timing the current operation time of the self-cleaning mode; and determining whether the current operation time is greater than a second time threshold. The step of determining the use status of the cleaning member is performed when the current operation time is greater than the second time threshold.

[0067] The current running time indicates the current running time of a single self-cleaning operation. In one embodiment, when the cleaning device enters the self-cleaning mode, the current running time T2 of this self-cleaning operation begins to be counted. When T2 reaches the second time threshold T m2 When the cleaning member is used, a step of determining the use status of the cleaning member is performed.

[0068] To ensure that the running time of each self-cleaning process is independent of each other, the running time of each self-cleaning process is counted from 0. The running time of the self-cleaning mode can be reset to 0 at the beginning or end of the self-cleaning operation.

[0069] It can be understood that the cleaning device may have a plurality of different self-cleaning modes. Different self-cleaning modes have different self-cleaning capabilities. Each self-cleaning mode may correspond to a different second time threshold. Thus, a more accurate detection result can be obtained in each self-cleaning mode.

[0070] In one embodiment, the second duration threshold is equal to the difference between the total cleaning duration corresponding to the current self-cleaning mode and the specific duration. It can be understood that for a self-cleaning operation, the self-cleaning process includes: supplying water to the cleaning parts, and the cleaning parts rotate to clean the dirt on the cleaning parts. After cleaning, the cleaning parts are dried. In the last period of the self-cleaning process, that is, when the drying is about to be completed, the dirt on the cleaning parts has been cleaned up, and the overall humidity is low. At this time, the use status of the cleaning parts is detected, with fewer influencing factors, smaller errors, and more accurate detection results. The above-mentioned specific duration means the last period of the above-mentioned self-cleaning process. The specific duration can be set to 5-10 seconds.

[0071] According to the above technical solution, after the self-cleaning mode operation time reaches the second time threshold, the use status of the cleaning member is detected, which can reduce the adverse effects of dirt and moisture attached to the cleaning member on the detection result and reduce the detection error. This technical solution can improve the accuracy of the detection result.

[0072] Exemplarily, the step of determining the use status of the cleaning member may specifically include the following steps: calculating the product of the voltage of the power supply and the current of the first circuit to obtain a first power; and determining the use status of the cleaning member according to the first power.

[0073] In one embodiment, the product of the voltage of the power supply and the current of the first circuit is directly calculated, and the product can be used as the first power. Figure 2 Compare the ordinates of the points on the straight line in the relationship diagram shown. Figure 2 In the relationship diagram shown, once the first power is determined, the corresponding point can be determined with the first power as the ordinate of the corresponding point, and then the abscissa of the corresponding point can be determined. The abscissa represents the current use state of the cleaning member. Alternatively, the first power can be directly compared with the power threshold corresponding to the cleaning member in different use states. Based on the comparison result, the use state of the cleaning member is determined. For example, the new and old power thresholds of the cleaning member can be determined as P h When the first power is greater than P hWhen the first power is less than or equal to P h , it is believed that the cleaning parts are currently aged and worn, and their cleaning effect cannot meet the use requirements, and the cleaning parts need to be replaced.

[0074] According to the above technical solution, the use state of the cleaning member can be accurately determined by the first power. This solution has high detection efficiency and more accurate detection results.

[0075] Exemplarily, the step of determining the use status of the cleaning member according to the first power may specifically include the following steps: determining the percentage of the remaining use time and the service life of the cleaning member according to the first power.

[0076] For example, 100% can be used to represent the state when the cleaning part has just been replaced, that is, the use state of the cleaning part is new, and its remaining use time is currently 100%*service life. 0% can be used to represent the state when the cleaning part needs to be replaced, that is, the use state of the cleaning part is old, and its remaining use time is currently 0%*service life. In one embodiment, when the percentage of the remaining use time to the service life is 100%, the corresponding power is 20W, and when the percentage of the remaining use time to the service life is 0%, the corresponding power is 18W. When the first power detected is 19W, the percentage of the remaining use time to the service life is 50%.

[0077] Figure 4 The relationship between the total usage time and the first power according to an embodiment of the present application is shown. The total usage time of the cleaning member is the cumulative usage time of the cleaning member from the time of replacement to the current time. It can be understood that at least one cleaning operation is performed from the time the cleaning member is newly replaced to the current time. The total usage time is the sum of the durations of all cleaning operations performed by it. In one embodiment, the current number of times the cleaning member is used is J times, and the usage time of each time is t1, t2, ...t J Total usage time T1 = t1 + t2 + ... + t J .like Figure 4 As shown, after the cleaning element is replaced, the total usage time of the cleaning element can be recorded, and the first power corresponding to the total usage time can also be recorded, and then the relationship diagram can be determined according to the corresponding relationship between the total usage time and the first power.

[0078] During the use of the cleaning element, after the first power is determined, the total use time corresponding to the first power can be determined according to the relationship diagram. It can be understood that the sum of the remaining use time and the current total use time is equal to the service life. Therefore, the remaining use time can be determined according to the total use time and the service life. Furthermore, the percentage of the remaining use time to the service life is determined.

[0079] The above technical solution can accurately determine the percentage of the remaining use time and the service life of the cleaning element through the first power, so that the user can intuitively understand the use status of the cleaning element.

[0080] Exemplarily, the cleaning member detection method 300 may further include the following steps: determining whether the cleaning member is in place according to the first power. It is understood that when the cleaning member is not in place, the motor load is 0. At this time, its output power is significantly reduced compared to when there is a load. Therefore, it is possible to determine whether the cleaning member is in place based on the first power.

[0081] In one embodiment, the in-position power threshold P of the cleaning element can be obtained by pre-testing. b . The current first power P and P b In contrast, if P>P b , then the current cleaning part is in place; if P≤P b , the current cleaning part is not in place. For example, P b =17W, the current first power is 18W, and the current cleaning element is in place.

[0082] In such Figure 2 In the embodiment shown, P4 is the in-position power threshold. The current first power P can be compared with P4 in the relationship diagram. If P>P4, the cleaning element is in position. If P≤P4, the cleaning element is not in position.

[0083] According to the above technical solution, the first power can be used to accurately determine whether the cleaning element is in place. The detection result can be used as the operating condition of the cleaning device to which the cleaning element detection method is applied. For example, when the cleaning device is started, the first power can be used to determine whether the cleaning element is in place. When the cleaning element is not in place, the cleaning device is automatically shut down, and the user is reminded to check the condition of the cleaning element and promptly remind the user to install the cleaning element. In this way, the cleaning device is prevented from running dry, and the user experience is improved.

[0084] Exemplarily, the step of determining the usage status of the cleaning member is performed once each time a preset condition is met.

[0085] The preset conditions can be set according to actual use requirements. For example, it can be set to detect the use status of the cleaning member each time a cleaning operation starts. Alternatively, it can also be set to detect the use status of the cleaning member after each predetermined period of use. Alternatively, it can also be set to detect the use status of the cleaning member after each cleaning operation ends.

[0086] As mentioned above, the preset condition can also be set according to the mode of the cleaning device. The preset condition can be set when the cleaning mode starts or when the self-cleaning mode ends.

[0087] Exemplarily, the cleaning member detection method 300 may further include the following steps: after each acquisition of the first power, based on the first power acquired this time and the first power acquired last time, determining the first power change value, and judging whether the first power change value is less than the change threshold value; accumulating the number of consecutive occurrences of the first judgment result, wherein the first judgment result indicates that the first power change value is less than the change threshold value. The above step of determining the use status of the cleaning member according to the first power is performed when the number of consecutive occurrences of the first judgment result is equal to or greater than the first number threshold value.

[0088] When the first judgment result appears for many times in succession, the first power is in a relatively stable state. When the second judgment result appears, indicating that the first power change value is greater than or equal to the change threshold, it indicates that the first power has changed dramatically. This change is usually not caused by normal aging and / or wear of the cleaning member. The reason for this situation may be that there is suddenly a lot of dirt attached to the cleaning member or the cleaning member is replaced, etc. In this case, the use status of the cleaning member is determined based on the first power, and the detection result is usually difficult to reflect the actual use status of the cleaning member. In order to ensure that the detected use status of the cleaning member is reliable, detection can be performed only when the change of the first power is stable. That is, the step of determining the use status of the cleaning member according to the first power is performed when the number of consecutive occurrences of the first judgment result is equal to or greater than the first number threshold.

[0089] Specifically, after each time the first power is obtained, the difference between the first power obtained this time and the first power obtained last time is calculated to obtain a first power change value, and it is determined whether the first power change value is less than a change threshold. Thus, the above-mentioned first judgment result or the second judgment result can be obtained. The number of consecutive occurrences of the first judgment result can be counted, and when the judgment result is the second judgment result, the number of consecutive occurrences of the first judgment result is reset. In one embodiment, when the first power change value is greater than or equal to the change threshold, that is, when the second judgment result appears, the number of consecutive occurrences M of the first judgment result is set to 0. When the first power change value is less than the change threshold, that is, when the first judgment result appears, the number of consecutive occurrences M of the first judgment result is increased by 1, that is, M=M+1. When M is equal to the first number threshold M m When the cleaning element is used, a step of determining the use status of the cleaning element according to the first power is performed.

[0090] In a specific embodiment, K=0 represents the first judgment result, K=1 represents the second judgment result, and the first numerical threshold M m=7. When in multiple judgment operations, the judgment results of each time are 0, 1, 1, 1, 1, 1, 1, 0, 1... in sequence, the judgment result according to the first judgment operation is the first judgment result, therefore, M=0. Since the judgment results of the 2nd to 7th times are all the first judgment results, M gradually accumulates until M=6. Since the judgment result obtained by the 8th judgment operation is the second judgment result, therefore, M=0 after the 8th judgment operation. Since the judgment result obtained by the 9th judgment operation is the first judgment result, therefore, M=1 after the 9th judgment operation. And so on, until M is greater than or equal to 7, it means that the first judgment results have appeared continuously enough times, the first power is currently stable, and the step of determining the usage status of the cleaning component according to the first power can be executed.

[0091] It can be understood that the first number threshold can be adjusted according to actual needs. The larger the first number threshold is, the longer the time required for the current first power to be stable is; otherwise, the opposite is true.

[0092] According to the above technical solution, when the number of consecutive occurrences of the first judgment result is equal to or greater than the first number threshold, the step of determining the use state of the cleaning member according to the first power is performed. This can prevent the detection result errors caused by factors such as oil stains on the cleaning member, and improve the reliability of the detection result. In addition, since unnecessary detection is reduced, the calculation overhead is reduced and the system life is increased.

[0093] Optionally, the cleaning component detection method 300 further includes step S350 and step S360.

[0094] Step S350, after each execution of the step of determining the use status of the cleaning member, the number of consecutive occurrences of the first detection result is accumulated, wherein the first detection result indicates that the cleaning member is aged and / or worn to a first degree. The first degree may indicate the degree to which the cleaning member needs to be replaced. That is, when the use status of the cleaning member is the first degree, its cleaning effect cannot meet the use requirements.

[0095] Step S360: When the number of consecutive occurrences of the first detection result is equal to the second number threshold, a prompt message is output to remind the user to replace the cleaning component.

[0096] In one embodiment, when the first power is greater than the old and new power thresholds, the number of consecutive occurrences of the first detection result N is initialized, that is, N=0. When the first power is less than or equal to the old and new power thresholds, the number of consecutive occurrences of the first detection result N is incremented by 1, that is, N=N+1. In this way, the number of consecutive occurrences of the first detection result N can be counted. When N is equal to the second number threshold N m When the cleaning parts are replaced, a prompt message is output to remind the user to replace the cleaning parts.

[0097] In a specific embodiment, I=0 represents the second detection result, and I=1 represents the first detection result. The second detection result indicates that the first power is less than or equal to the new and old power threshold, and the cleaning element is determined to be aged or worn to the first degree. The second number threshold N m =3. When the test results for multiple consecutive times are 0, 0, 1, 1, 0, 1, ..., for the first and second tests, since the first and second test results are both the second test results, N is always 0. The third and fourth test results are both the first test results, so after the fourth test, N=2. For the fifth test, since its test result is the second test result, N is reset to 0 again. For the sixth test, since its test result is the first test result, N=1. The above process is repeated until N=3, and the prompt information is output.

[0098] The second number threshold can be adjusted according to the fault tolerance rate. The higher the fault tolerance rate, the larger the second number threshold; otherwise, the opposite is true.

[0099] It is understood that the prompt information can be displayed in the form of graphics or text, or can be output by means of light prompts, voice prompts, etc. In one embodiment, the prompt can be given in the form of graphics or text on the screen of a user terminal connected to the cleaning device network, or by light prompts and / or voice prompts through indicator lights, voice players, etc. on the cleaning device. For example, when the number of consecutive occurrences of the first detection result is equal to the second number threshold, a voice prompt "Please replace the cleaning parts in time" is given.

[0100] According to the above technical solution, by setting a second numerical threshold and outputting a prompt message when the number of consecutive occurrences of the first detection result is equal to the second numerical threshold, the influence of the detection error on the interaction with the user is avoided, and it can be ensured that the cleaning parts have indeed aged and / or worn to the first degree when the prompt message is output, and it has good fault tolerance and reliability.

[0101] As described above, after each judgment that the first power change value is greater than or equal to the change threshold, the number of consecutive occurrences of the first judgment result will be reset. Similarly, after each judgment that the first power change value is greater than or equal to the change threshold, the number of consecutive occurrences of the first detection result is also reset. According to the aforementioned embodiment, the number of consecutive occurrences of the first detection result can be reset to 0. Thus, the number of consecutive occurrences of the first detection result is accumulated again.

[0102] In the above N m =3, if M m=7, then the number of judgments required to output the prompt information is at least 10 times. That is, after obtaining the first judgment result 7 times in a row, the first detection result must be obtained 3 times in a row. If the first detection result is obtained 2 times in a row after obtaining the first judgment result 7 times in a row, then M=9 and N=2. If the second judgment result is obtained in the next judgment, that is, the 10th judgment, then M=0 and N=0. Thus, the number of consecutive occurrences of the first judgment result and the first detection result is accumulated again.

[0103] In the above solution, the specific value of the first power and its change rate are combined to output the prompt information, which further ensures the credibility of the output information.

[0104] A person skilled in the art can easily understand the specific implementation, working principle and beneficial effects of the cleaning device and the cleaning component detection method by reading the above description of the cleaning component detection device 100. For the sake of brevity, it will not be described in detail here.

[0105] 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 invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0106] In the several embodiments provided by the present invention, 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.

[0107] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention 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.

[0108] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly 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 less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0109] 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.

[0110] In addition, those skilled in the art will appreciate that, although some embodiments described 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 invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0111] 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 member detection device and the cleaning equipment according to an embodiment of the present invention. The present invention can also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention can be stored on 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.

[0112] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on 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 a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of 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.

[0113] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A cleaning component detection device, characterized in that: include: Switch tube, current sampling circuit, first voltage sampling circuit, second voltage sampling circuit and control module; The switch tube and the current sampling circuit are used to be connected in series with the motor to form a first circuit, wherein the first circuit is powered by a power supply, the motor is used to drive the cleaning member to rotate, and the current sampling circuit is used to detect the current of the first circuit; The first voltage sampling circuit is used to determine the voltage of the motor; The second voltage sampling circuit is used to detect the voltage of the power supply; The control module is used to control the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, determine the use state of the cleaning member according to the voltage of the power supply and the current of the first circuit; Among them, the usage status includes the degree of aging and the degree of wear.

2. The cleaning member detection device according to claim 1, characterized in that: The switch tube is an N-type metal oxide semiconductor transistor; the N-type metal oxide semiconductor transistor is connected between the motor and the negative electrode of the power supply; or The switch tube is a P-channel metal oxide semiconductor transistor; the P-channel metal oxide semiconductor transistor is connected between the positive electrode of the power supply and the motor.

3. The cleaning member detection device according to claim 1, characterized in that: The switch tube is connected to the current sampling circuit to form a second circuit; the first voltage sampling circuit is connected to both ends of the second circuit to detect the voltage of the second circuit; The control module is further used to determine the voltage of the motor according to the voltage of the second circuit and the voltage of the power supply.

4. The cleaning member detection device according to claim 1, characterized in that: The first voltage sampling circuit is used to be connected to two ends of the motor to detect the voltage of the motor.

5. A cleaning device, characterized in that: The cleaning component detection device comprises the cleaning component detection device according to any one of claims 1 to 4.

6. A cleaning component detection method, characterized in that: include: Using a current sampling circuit to detect the current of a first circuit, wherein the first circuit includes a motor, a switch tube and the current sampling circuit connected in series, and the motor is used to drive the cleaning member to rotate; determining a voltage of the motor; detecting a voltage of a power supply, wherein the power supply is used to supply power to the first circuit; Controlling the on or off of the switch tube according to the voltage of the motor to keep the voltage of the motor constant, and when the voltage of the motor remains constant, determining the use state of the cleaning member according to the voltage of the power supply and the current of the first circuit; Among them, the usage status includes the degree of aging and the degree of wear.

7. The cleaning member detection method according to claim 6, characterized in that: The step of determining the use status of the cleaning element comprises the following steps: calculating a product of a voltage of the power supply and a current of the first circuit to obtain a first power; The use status of the cleaning element is determined according to the first power.

8. The cleaning member detection method according to claim 7, characterized in that: The determining the use status of the cleaning element according to the first power comprises: The percentage of the remaining use time and the service life of the cleaning element is determined according to the first power.

9. The cleaning member detection method according to claim 7, characterized in that: The method further comprises: Whether the cleaning element is in position is determined according to the first power.

10. The cleaning member detection method according to claim 7, characterized in that: The step of determining the use status of the cleaning element is performed once each time a preset condition is met; The method further comprises: After obtaining the first power each time, determining a first power change value based on the first power obtained this time and the first power obtained last time, and judging whether the first power change value is less than a change threshold; Accumulating the number of consecutive occurrences of a first judgment result, wherein the first judgment result indicates that the first power change value is less than a change threshold; Wherein, the step of determining the use status of the cleaning component according to the first power is performed when the number of consecutive occurrences of the first judgment result is equal to or greater than a first number threshold.

11. The cleaning component detection method according to any one of claims 6 to 10, characterized in that: The step of determining the use status of the cleaning element is performed once each time a preset condition is met; The method further comprises the following steps: After each execution of the step of determining the use status of the cleaning member, the number of consecutive occurrences of a first detection result is accumulated, wherein the first detection result indicates that the cleaning member is determined to be aged and / or worn to a first degree; When the number of consecutive occurrences of the first detection result is equal to the second number threshold, a prompt message is output to remind the user to replace the cleaning component.

12. The cleaning component detection method according to any one of claims 6 to 10, characterized in that: The method further comprises the following steps: timing the total usage time of the cleaning element; Determining whether the total usage time reaches a first duration threshold; Wherein, the step of determining the usage status of the cleaning member is performed after the total usage time of the cleaning member reaches the first time threshold.

13. The cleaning component detection method according to any one of claims 6 to 10, characterized in that: The method is used for a cleaning device, the cleaning device having a self-cleaning mode; Wherein, the step of determining the usage status of the cleaning member is performed when the cleaning device is in the self-cleaning mode.

14. The cleaning member detection method according to claim 13, characterized in that: The method further comprises the following steps: timing the current running time of the self-cleaning mode; Determine whether the current running time is greater than a second time threshold; Wherein, the step of determining the usage status of the cleaning component is performed when the current operation time is greater than the second time threshold.

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