Method and device for detecting particle concentration of cleaning equipment, cleaning equipment and cleaning equipment

Abstract

The application relates to a detection method and device for the concentration of particles in a cleaning device, a cleaning device and an apparatus. The method comprises the following steps: obtaining a target voltage value of a detection signal; when the target voltage value of the detection signal is less than a standard voltage value of a standard signal, determining a particle type corresponding to the target voltage value of the detection signal according to a difference between the standard voltage value of the standard signal and the target voltage value of the detection signal; obtaining cumulative values of at least one difference corresponding to the particle type in a preset period; and determining the concentration of the particle type according to the cumulative values, the maximum concentration and / or the minimum concentration of the corresponding type. The different particle concentrations can be accurately and stably obtained by analyzing and processing the data of different particle types in a certain period.

Description

Technical Field

[0001] This application relates to the field of household appliance technology, and in particular to a method, apparatus, equipment and cleaning equipment for detecting particulate matter concentration in cleaning equipment. Background Technology

[0002] With social development and the continuous improvement of people's living standards, people's requirements for living environment are also getting higher and higher. The application of intelligent technology and user comfort in vacuum cleaners and floor scrubbers is becoming more and more popular.

[0003] Most vacuum cleaners and floor scrubbers on the market now include displays showing the concentration of small particles (like dust) and large particles (like wastewater), allowing the machine to adjust its power based on the actual particle concentration. This enables it to operate with higher suction on dirty floors and lower suction on clean floors, saving energy, improving cleaning effectiveness, and intelligently optimizing the user experience.

[0004] However, the consistency of commonly used infrared emitting and receiving diodes is generally poor. Different diodes show slight differences in signal strength even under the same dust-free, stationary state. Furthermore, as usage time increases, dirt or dust accumulates on the surfaces of the infrared emitting and receiving diodes, blocking some infrared emission and resulting in low accuracy in actual signal detection. In addition, the radiated interference generated by the vacuum cleaner motor during operation can cause coupling interference to the infrared receiving diode signal. Therefore, there is an urgent need for a method that can accurately and stably obtain different particulate matter concentrations on vacuum cleaners and floor scrubbers. Summary of the Invention

[0005] Therefore, it is necessary to provide a method, apparatus, equipment, and cleaning equipment for detecting particulate matter concentration in cleaning equipment, so as to accurately and stably obtain different particulate matter concentrations, in order to address the above-mentioned technical problems.

[0006] A method for detecting particulate matter concentration in cleaning equipment, the method comprising:

[0007] Obtain the target voltage value of the detection signal;

[0008] When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The standard signal is a signal in a particulate-free state, and the standard voltage value is the voltage value in a particulate-free state.

[0009] Obtain the cumulative value of at least one difference corresponding to the particulate matter type within a preset period;

[0010] The concentration of particulate matter of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0011] In one embodiment, obtaining the target voltage value of the detection signal includes: obtaining a first voltage value of the detection signal, filtering the first voltage value, and obtaining the filtered target voltage value of the detection signal.

[0012] In one embodiment, acquiring a first voltage value of the detection signal and filtering the first voltage value to obtain the target voltage value of the filtered detection signal includes: periodically acquiring the first voltage value of the detection signal at a preset time interval within a set time period; performing peak filtering on the first voltage value of the detection signal to obtain a corresponding peak filtering result; performing median filtering on the peak filtering result to obtain a corresponding median filtering result; and performing average filtering on the median filtering result to obtain the target voltage value of the filtered detection signal.

[0013] In one embodiment, the particulate matter type includes small particulate matter and / or large particulate matter; determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal includes: when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is small particulate matter; and / or, when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is large particulate matter.

[0014] In one embodiment, the particulate matter concentration includes the corresponding instantaneous concentration; determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes:

[0015] The ratio between the cumulative value and the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter;

[0016] Alternatively, the particulate matter concentration may include the corresponding average concentration; the step of determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: obtaining a count of cycles in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset cycles, and determining the ratio of the cycle count to N as the average concentration of the corresponding type of particulate matter;

[0017] Alternatively, the particulate matter concentration includes the corresponding instantaneous concentration and average concentration; the step of determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes:

[0018] The ratio between the cumulative value and the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter; and,

[0019] Obtain the cycle count for N consecutive preset cycles where the cumulative value is greater than the minimum concentration of the corresponding type, and determine the ratio of the cycle count to N as the average concentration of the corresponding type of particulate matter.

[0020] In one embodiment, the particulate matter type includes large particles and small particles; the step of obtaining the cumulative value of at least one difference corresponding to each of the particulate matter types within a preset period includes: when the particulate matter type corresponding to the target voltage value of the detection signal is large particles, obtaining a first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and obtaining the sum of at least one first difference within a preset time period as the cumulative value of at least one difference corresponding to the large particles; when the particulate matter type corresponding to the target voltage value of the detection signal is small particles, obtaining a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and obtaining the sum of at least one second difference within a preset time period as the cumulative value of at least one difference corresponding to the small particles.

[0021] In one embodiment, after acquiring the target voltage value of the detection signal, the method further includes: acquiring the target voltage values ​​of m consecutive detection signals, calculating the standard deviation corresponding to the target voltage values ​​of the m detection signals; and updating the standard voltage value of the standard signal when the standard deviation is less than the set maximum standard deviation for a set duration.

[0022] In one embodiment, updating the standard voltage value of the standard signal includes: obtaining an average voltage value corresponding to a target voltage value of the detected signal within a set duration period; when the average voltage value is greater than or equal to a minimum average voltage value and less than or equal to a maximum average voltage value, using the average voltage value as the standard voltage value of the standard signal; when the average voltage value is less than the minimum average voltage value, increasing the transmission power of the transmitted signal based on the maximum transmission power, and obtaining the standard deviation and average voltage value of the detected signal within the set duration period after increasing the transmission power; when the standard deviation is less than a set maximum standard deviation and the average voltage value is greater than or equal to... When the first threshold is less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal; when the average voltage value is greater than the maximum average voltage value, the transmission power of the transmitted signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal; wherein, the first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value.

[0023] In one embodiment, when the target voltage value of the detection signal is less than the standard voltage value of the standard signal, determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal includes: when the target voltage value of the detection signal is less than the standard voltage value of the updated standard signal, determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the updated standard signal and the target voltage value of the detection signal.

[0024] A device for detecting particulate matter concentration in cleaning equipment, the device comprising:

[0025] The acquisition module is used to acquire the target voltage value of the detection signal;

[0026] A particulate matter type determination module is used to determine the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal when the target voltage value of the detection signal is less than the standard voltage value of the standard signal. The standard voltage value of the standard signal is the voltage value of the particulate matter-free state.

[0027] The cumulative value acquisition module is used to acquire the cumulative value of at least one difference corresponding to the particulate matter type within a preset period;

[0028] The particulate matter concentration determination module is used to determine the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0029] A cleaning device includes a main control module, an infrared emitting diode driver module, an infrared emitting diode, a signal filtering module, an infrared receiving diode, and a particulate matter concentration output module.

[0030] The main control module controls the infrared emitting diode drive module to output power to the infrared emitting diode, so that the infrared emitting diode emits infrared light with a fixed intensity; when the intensity of the infrared light shining on the infrared receiving diode is different, the infrared receiving diode outputs different detection signals, and the signal filtering module is used to perform hardware filtering on the detection signals output by the infrared receiving diode.

[0031] The main control module is also used to filter the hardware-filtered signal to obtain the target voltage value of the filtered detection signal. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particle type corresponding to the target voltage value of the detection signal is determined according to the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The standard signal is a signal in a particle-free state, and the standard voltage value is the voltage value in a particle-free state. The module also acquires the cumulative value of at least one difference corresponding to the particle type within a preset period. The particle concentration of the corresponding type is determined according to the cumulative value and the maximum and / or minimum concentration of the corresponding type, and the particle concentration is output through the particle concentration output module.

[0032] A computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described above.

[0033] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0034] The aforementioned method, apparatus, equipment, and cleaning equipment for detecting particulate matter concentration in cleaning equipment acquire a target voltage value of a detection signal. When the target voltage value of the detection signal is less than the standard voltage value of a standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The cumulative value of at least one difference corresponding to each particulate matter type within a preset period is then acquired. The concentration of the corresponding particulate matter type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type. Since this embodiment is based on the analysis and processing of data from different particulate matter types within a certain period, it can accurately and stably acquire different particulate matter concentrations. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the internal structure of the cleaning equipment in one embodiment;

[0036] Figure 2 This is a schematic diagram of the circuit principle of the cleaning device in one embodiment;

[0037] Figure 3A This is a flowchart illustrating a method for detecting particulate matter concentration in a cleaning device in one embodiment;

[0038] Figure 3B This is a flowchart illustrating a method for detecting particulate matter concentration in a cleaning device in another embodiment;

[0039] Figure 4 This is a flowchart illustrating the filtering process in one embodiment;

[0040] Figure 5 This is a flowchart illustrating a method for detecting particulate matter concentration in a cleaning device in another embodiment;

[0041] Figure 6 This is a schematic diagram illustrating the updating of the standard voltage value of a standard signal in one embodiment;

[0042] Figure 7 This is a schematic diagram illustrating the updating of the standard voltage value of the standard signal in another embodiment;

[0043] Figure 8 This is a schematic diagram illustrating the updating of the standard voltage value of the standard signal in yet another embodiment;

[0044] Figure 9 This is a schematic diagram of transmit power adjustment in one embodiment;

[0045] Figure 10 This is a schematic diagram of transmit power adjustment in another embodiment;

[0046] Figure 11 This is an equivalent schematic diagram of particulate matter concentration in one embodiment;

[0047] Figure 12 This is a structural block diagram of a particulate matter concentration detection device for a cleaning device in one embodiment;

[0048] Figure 13 This is an internal structural diagram of a cleaning equipment particulate matter concentration detection device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The method for detecting particulate matter concentration in cleaning equipment provided in this application can be applied to, for example... Figure 1 The cleaning equipment shown includes a main control module, an infrared emitting diode driver module, an infrared emitting diode, a signal filtering module, an infrared receiving diode, and a particulate matter concentration output module. Figure 1 As shown,

[0051] The main control module is connected to the infrared emitting diode driver module, the signal filtering module, and the particulate matter concentration output module. The main control module is the core of the entire system's control; it first controls the infrared emitting diode driver module to output power to the infrared emitting diode, causing the diode to emit infrared light of a fixed intensity.

[0052] The infrared emitting diode is connected to an infrared emitting diode driver module. When the driver module drives the infrared emitting diode, the infrared emitting diode works and emits infrared light at a certain angle and wavelength. The light intensity emitted by the center of the infrared emitting diode at 0 degrees is the strongest. Therefore, the infrared emitting diode and the infrared receiving diode are placed on a straight line relative to each other in structure, that is, the infrared light emitted by the infrared emitting diode can be received by the infrared receiving diode to the maximum extent.

[0053] The infrared receiving diode is connected to the signal filtering module. The infrared receiving diode is highly sensitive to infrared light; its output voltage varies depending on the intensity of the infrared light illuminating it. Higher infrared light intensity results in a higher output voltage, and vice versa. When there is no dust or wastewater, the light intensity received by the infrared receiving diode is consistently stable. However, when dust or wastewater passes between the infrared emitting and receiving diodes, it blocks some of the infrared light, causing a decrease in the intensity of light reaching the receiving diode and resulting in fluctuations. By calculating this decrease, the relative concentration of particulate matter (such as dust or wastewater) can be estimated.

[0054] The signal filtering module is connected to the infrared receiving diode. It can be implemented using a low-pass filter to filter the voltage output from the infrared receiving diode, removing some high-frequency noise interference before transmitting it to the main control module. The main control module reads the voltage value returned by the signal filtering module (i.e., the first voltage value of the detection signal) and filters it again to obtain the target voltage value of the filtered detection signal. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the difference between the standard voltage value and the target voltage value of the detection signal determines the particle type corresponding to the target voltage value. It also accumulates at least one difference value corresponding to each particle type within a preset period. Based on the accumulated value and the maximum and / or minimum concentration of the corresponding type, the particle concentration of that type is determined, thus achieving accurate and stable acquisition of different particle concentrations. Finally, the particle concentration output module outputs the particle concentration to other system modules.

[0055] In one embodiment, combined with such Figure 2 The circuit diagram of the cleaning equipment shown further illustrates its working principle. Specifically, as... Figure 2 As shown:

[0056] The infrared emitting diode may specifically include the connector SEND and the infrared emitting diode SEND-DIODE; the infrared receiving diode may specifically include the connector REV and the infrared receiving diode REV-DIODE; the main control module may include the chip U1 and the filter capacitors C3 and C4 at the power supply; the infrared emitting diode driving module may include resistors R8, R9, R11, R12 and R2, capacitors C6 and C7, Zener diode ZD1, connector SEND1 and transistor Q1; the signal filtering module may include resistors R3, R4 and R10, capacitors C5 and C2, connector REV1 and Zener diode ZD2; the particulate matter concentration output module may include resistors R8 and R9.

[0057] The specific working principle is as follows:

[0058] The main control module U1 outputs a square wave with an amplitude of 3.3V, a frequency of 2kHz, and a duty cycle of 30% through pin PIN13. This square wave signal provides a forward bias voltage to the base of transistor Q1 via resistors R8, R9, and R11. C6, C7, and ZD1 form a low-pass filter circuit, which, together with the voltage divider resistors, provides a stable base current to transistor Q1, allowing it to operate in amplification mode. The positive terminal of the infrared emitting diode SEND-DIODE is forward-biased by resistor R2; the negative terminal of SEND-DIODE is controlled by Q1 and connected to GND via R12. Therefore, after the square wave is output from pin PIN13, Q1 begins to conduct, the power supply circuit for SEND-DIODE closes, and SEND-DIODE begins to emit infrared light of a fixed intensity.

[0059] The positive terminal of the infrared receiving diode REV-DIODE is forward-biased by resistor R3, while the negative terminal is connected to GND through voltage divider resistor R10. R3→REV-DIODE→R10 form the power supply circuit for the receiving diode. If the voltage drop across REV-DIODE changes due to the intensity of the received light, the voltage across R10 will change synchronously. Therefore, by measuring the voltage change across R10, the change in light intensity at REV-DIODE can be determined. ZD2 and C5 remove high-frequency noise interference from the signal across R10, and R4 and C2 form an RC low-pass filter circuit for further hardware filtering of the voltage signal across R10. Finally, the filtered voltage signal is connected to PIN20 of the main control module and read by chip U1.

[0060] Chip U1 can calculate the current dust or wastewater concentration by reading the voltage across R10. The concentration information is output from chip U1's serial port module, allowing communication with other chips. The communication information includes three parts: dust concentration, wastewater concentration, and current status. Figure 2 In the circuit shown, R5 and R6 are current-limiting resistors for the communication circuit to prevent interference or electrostatic damage to the chip.

[0061] In one embodiment, such as Figure 3A As shown, a method for detecting particulate matter concentration in cleaning equipment is provided, which can be applied to... Figure 1 The following steps are used as an example to illustrate the process of using the main control module in the cleaning equipment shown:

[0062] Step 310: Obtain the target voltage value of the detection signal.

[0063] The detection signal is the raw signal acquired by the main control module of the cleaning equipment for particulate matter concentration detection. The target voltage value is the original voltage value corresponding to the detection signal after removing noise interference, and it has strong stability.

[0064] Step 320: When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal.

[0065] The particulate matter types include small particles such as dust and large particles such as sewage. The standard signal is the signal output by the infrared receiving diode when it is stationary and free of particulate matter. The standard voltage value is the voltage value in the absence of particulate matter. Since the voltage output by the infrared receiving diode is lower than the standard voltage value when dust is present, knowing the standard voltage value is crucial to determining how much lower the voltage is when particulate matter is present, and thus, the type and concentration of particulate matter can be determined based on this difference. Therefore, in this embodiment, by comparing the target voltage value of the detection signal with the standard voltage value of the standard signal, if the target voltage value of the detection signal is less than the standard voltage value of the standard signal, it can be determined that particulate matter exists in the current working environment of the cleaning equipment. Furthermore, the type of particulate matter corresponding to the target voltage value of the detection signal can be determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, i.e., whether the target voltage value of the detection signal corresponds to small or large particulate matter.

[0066] Step 330: Obtain the cumulative value of at least one difference corresponding to the particulate matter type within the preset period.

[0067] Here, the preset period refers to a pre-defined time period. Since the above steps only determine the presence and state of particulate matter at a specific moment, they do not reflect the continuous process and result of particulate matter concentration changes. Furthermore, since the type of particulate matter corresponding to the target voltage value of the detection signal can be determined based on the difference between the standard voltage value of the standard signal and the target voltage value of each detection signal acquired within the preset period, in this embodiment, the type of particulate matter corresponding to the target voltage value of each detection signal can be determined based on the difference between the standard voltage value of the standard signal and the target voltage value of each detection signal acquired within the preset period. Then, the differences between the standard voltage value of the standard signal and the target voltage value of each detection signal of the same type are summed to obtain a cumulative value of at least one difference corresponding to the particulate matter type.

[0068] Step 340: Determine the concentration of particulate matter of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0069] The maximum concentration for a given type refers to the maximum concentration corresponding to each particulate matter type within a preset period, such as the maximum concentration for small particles and the maximum concentration for large particles within the preset period. Specifically, the corresponding maximum concentration can be set based on the actual application scenario. In this embodiment, the concentration of the corresponding type of particulate matter can be determined based on the cumulative difference between the standard voltage value of the standard signal and the target voltage value of each detection signal for the same particulate matter type within the preset period, and the maximum concentration for that type, thus allowing the determination of the concentrations of different types of particulate matter.

[0070] In the above-mentioned method for detecting particulate matter concentration in cleaning equipment, a target voltage value of the detection signal is acquired. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The cumulative value of at least one difference corresponding to each particulate matter type within a preset period is then acquired. The particulate matter concentration of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type. Since this embodiment is based on the analysis and processing of data from different particulate matter types within a certain period, it can achieve accurate and stable acquisition of different particulate matter concentrations.

[0071] In another embodiment of the invention, such as Figure 3B As shown, step S310 specifically includes:

[0072] Step S310': Obtain the first voltage value of the detection signal, filter the first voltage value, and obtain the target voltage value of the filtered detection signal.

[0073] In this embodiment, the first voltage value of the detection signal is the original voltage value of the raw signal acquired for particulate matter concentration detection. The target voltage value of the detection signal is the voltage value obtained after filtering the original voltage value of the raw signal in this step. Filtering is an operation to remove specific frequency bands from the raw signal, which is an important measure to suppress and prevent interference. In this embodiment, when detecting particulate matter concentration in the working environment of the cleaning equipment, it is first necessary to acquire the first voltage value of the detection signal in the working environment of the cleaning equipment. Simultaneously, to avoid interference from radiation generated during the operation of the cleaning equipment that could affect the accuracy of the detection, this embodiment also needs to filter the acquired first voltage value of the detection signal to obtain the filtered target voltage value of the detection signal, thereby suppressing and preventing interference.

[0074] In the above-mentioned method for detecting particulate matter concentration in cleaning equipment, a first voltage value of the detection signal is acquired, and then filtered to obtain a target voltage value of the filtered detection signal. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. Furthermore, the cumulative value of at least one difference corresponding to each particulate matter type within a preset period is obtained. The particulate matter concentration of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type. Since the target voltage value of the detection signal in this embodiment is obtained by filtering the original signal, interference can be suppressed and prevented. Moreover, since this embodiment is based on the analysis and processing of data from different particulate matter types within a certain period, accurate and stable acquisition of different particulate matter concentrations can be achieved.

[0075] In one embodiment, even under static, dust-free, and stable conditions, the voltage value output by the infrared receiving diode still fluctuates, despite filtering by the hardware signal filtering module. This is because the vacuum cleaner motor generates significant radiated interference during operation, causing the infrared receiving diode's signal to couple with high-frequency interference that the hardware cannot completely filter out. This results in fluctuating voltage value A read by the main control module. The unstable fluctuation of A interferes with the actual information; therefore, the read voltage value A needs to be filtered again. For example... Figure 4 As shown, the first voltage value of the detection signal is acquired, and the first voltage value of the detection signal is filtered to obtain the target voltage value of the filtered detection signal. Specifically, this may include:

[0076] Step 402: Periodically acquire the first voltage value of the detection signal at a preset time interval within a set time period.

[0077] The set time period refers to the set time range. The preset time interval refers to the preset time interval between two acquisitions of the first voltage value of the detection signal, that is, the time period for acquiring the first voltage value of the detection signal, for example, acquiring the first voltage value of the detection signal every 5µs.

[0078] Step 404: Perform peak filtering on the first voltage value of the detection signal to obtain the corresponding peak filtering result.

[0079] Since the normal input voltage value A (i.e., the first voltage value of the detected signal) is in the range of Amax ≥ A ≥ Amin, and peak filtering removes erroneous high voltage spikes that exceed the specified range caused by noise, the peak filtering result Ao is obtained. Specifically, it is determined whether the voltage value A is greater than or equal to the minimum value Amin and less than or equal to the maximum value Amax. If this condition is not met, the data is discarded. Amin and Amax can be measured within a specified range according to the actual application circuit.

[0080] For example, in a practical application circuit, the value of Amax is set to A1, and the value of Amin is set to A2. Therefore, only when A1 ≥ A ≥ A2 is it considered valid data. If the main control module MCU collects A at a rate of 5µs / data, then every 5µs it collects and judges whether a data A exceeds the peak value. If the data A is within the range, it is output as Ao (i.e., the peak filtering result) to the next step; otherwise, the data A is discarded.

[0081] Step 406: Perform median filtering on the peak filtering result to obtain the corresponding median filtering result.

[0082] Specifically, by continuously reading x Ao values ​​(usually an odd number to directly obtain the middle value), the x Ao values ​​are arranged in descending order using bubble sort, resulting in Ao1, Ao2, Ao3…Aox, where the voltage sequence is sequentially increasing. Finally, the data with index x / 2+1 is selected, which is the result of median filtering: Bo = Ao(x / 2+1).

[0083] The resulting Bo (i.e., the median filtering result) is equivalent to the median level of x Ao data points, eliminating some high and low data points and retaining only the middle Ao (x / 2+1). Similarly, after median filtering, interference from motor noise is more effectively filtered out, and the resulting Bo truly reflects the voltage level of the infrared receiver pair at that moment.

[0084] For example, in a real-world project application, if x is 5, it's equivalent to needing to obtain 5 consecutive Ao values, which would take at least 25us. Then, these 5 Ao values ​​are arranged from largest to smallest, resulting in Ao1, Ao2, Ao3, Ao4, and Ao5. Ao3 is the middle value; therefore, Ao3 is assigned to Bo and output to the next step.

[0085] Step 408: Perform average filtering on the median filtering result to obtain the target voltage value of the filtered detection signal.

[0086] Specifically, by continuously reading y Bo, the result Co is obtained by averaging and filtering the y Bo:

[0087] Co=(Bo1+Bo2+Bo3+…+Boy) / y.

[0088] Since Bo has almost completely removed noise interference, averaging the y Bo data points is to reduce the volatility of the effective data and further enhance system stability. Based on the characteristics of the averaging filtering algorithm, the result Co of the averaging filter will not change abruptly but will change slowly, equivalent to a software low-pass filter.

[0089] For example, in practical project applications, if y is 4, it's equivalent to needing to continuously obtain 4 Bo values, requiring at least 100µs. Then, the average value Co of these 4 Bo values ​​is calculated as (Bo1 + Bo2 + Bo3 + Bo4) / 4, and Co is assigned to F (the target voltage value of the detection signal) as the output. This is equivalent to acquiring a target voltage value F of the detection signal every 100µs, and the set time period is the minimum time interval for acquiring one target voltage value F. Therefore, the equivalent sampling frequency of the target voltage value F is 100µs / value, which is fast enough to meet the requirements for dust and / or wastewater detection.

[0090] In the above embodiments, since the target voltage value F of the final output filtered detection signal is obtained by software filtering the first voltage value A of the acquired detection signal, and the entire filtering process includes peak filtering, median filtering and average filtering, all noise interference is removed. Therefore, the target voltage value F of the filtered detection signal is more stable than the first voltage value A of the detection signal before filtering.

[0091] In one embodiment, after acquiring the target voltage value of the detection signal, such as Figure 5 As shown, the above method also includes:

[0092] Step 502: Obtain the target voltage values ​​of m consecutive detection signals, and calculate the standard deviation corresponding to the target voltage values ​​of the m detection signals.

[0093] Step 504: When the standard deviation is less than the set maximum standard deviation for the set duration period, update the standard voltage value of the standard signal.

[0094] The standard signal is the signal output by the infrared receiving diode when the infrared emitting and receiving diodes are in a dust-free, stationary state; the standard voltage value is the voltage value in the dust-free state. However, the consistency of commonly used infrared emitting and receiving diodes is generally limited; different diodes show slight differences in their signals under the same dust-free, stationary state. Therefore, in practical applications, the standard voltage value of the standard signal must be calibrated based on the signal of each pair of diodes in the dust-free, stationary state. Furthermore, with increasing usage time, dirt or dust will accumulate on the surface of the infrared emitting and receiving diodes, blocking some infrared emission. Therefore, the standard voltage value of the standard signal in the dust-free, stationary state needs continuous adjustment. Moreover, in the presence of particulate matter, the received voltage amplitude will be lower than the standard voltage value of the standard signal. Therefore, only by knowing the standard voltage value of the standard signal can we know how much lower the voltage is in the presence of particulate matter, and only then can we determine the particulate matter concentration based on this difference.

[0095] Standard deviation reflects the fluctuation of data. A smaller standard deviation indicates more stable data and a smaller deviation from the center value; a larger standard deviation indicates greater data fluctuation and a larger deviation from the center value. Therefore, by acquiring the target voltage values ​​of m consecutive detection signals and calculating the standard deviations corresponding to these m detection signals, if the standard deviation is less than the set maximum standard deviation for a set duration, the target voltage value F of the filtered detection signal received in the current stage is considered stable, indicating a dust-free or sewage-free state. Therefore, the standard voltage value of the standard signal can be updated. However, if the standard deviation is greater than the maximum standard deviation for stable data, the target voltage value F of the filtered detection signal received in the current stage is considered to be fluctuating, indicating a possible dusty or sewage-containing state. In this stage, the standard voltage value of the standard signal cannot be updated. The maximum standard deviation can be measured within a specified range based on the actual application circuit.

[0096] In one embodiment, updating the standard voltage value of the standard signal specifically includes:

[0097] Obtain the average voltage value corresponding to the target voltage value of the detected signal within a set duration period;

[0098] When the average voltage value is greater than or equal to the minimum average voltage value and less than or equal to the maximum average voltage value, the average voltage value is used as the standard voltage value of the standard signal.

[0099] When the average voltage value is less than the minimum average voltage value, the transmission power of the transmitted signal is increased based on the maximum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is increased. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the standard deviation is less than the set maximum standard deviation within the set duration, but the average voltage value does not meet the condition of being greater than or equal to the first threshold and less than or equal to the second threshold, the process jumps to the step of increasing the transmission power of the transmitted signal based on the maximum transmission power. When the current transmission power exceeds the maximum transmission power, and the condition of being less than the set maximum standard deviation within the set duration and the average voltage value being greater than or equal to the first threshold and less than or equal to the second threshold cannot be met, a prompt signal is output.

[0100] When the average voltage value is greater than the maximum average voltage value, the transmission power of the transmitted signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the standard deviation is less than the set maximum standard deviation within the set duration, but the average voltage value does not meet the condition of being greater than or equal to the first threshold and less than or equal to the second threshold, the process jumps to the step of reducing the transmission power of the transmitted signal based on the minimum transmission power. When the current transmission power is lower than the minimum transmission power, and it is still impossible to meet the condition of the standard deviation being less than the set maximum standard deviation within the set duration, and the average voltage value being greater than or equal to the first threshold and less than or equal to the second threshold, an alert signal is output.

[0101] Wherein, the first threshold and the second threshold are the dust-free standard voltage values ​​of the infrared emitting and receiving diodes in the newly manufactured cleaning equipment. The first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value. Preferably, the first threshold is greater than the minimum average voltage value, and the second threshold is less than the maximum average voltage value, as detailed below. Figures 7 to 10 As shown in the figure, Fsmax is the second threshold and Fsmin is the first threshold. The values ​​of the first threshold and the second threshold are different from the maximum average voltage value and the minimum average voltage value, which can reduce the number of times the power is adjusted and increase the stability of the system.

[0102] The first threshold, second threshold, minimum average voltage value, and maximum average voltage value are the ranges used in updating the standard voltage value of the standard signal. This is because if the standard voltage value of the standard signal is too low or in an abnormal state, directly updating it would lead to incorrect calculation results for the entire system.

[0103] In practical applications, the dust-free standard voltage values ​​of the infrared emitting and receiving diodes in newly manufactured cleaning equipment are typically between 1.0V and 1.2V. This value serves as the factory standard voltage. At this point, the minimum standard voltage value (i.e., the first threshold) Fsmin = 1.0V, and the maximum standard voltage value (i.e., the second threshold) Fsmax = 1.2V. However, after the cleaning equipment has been used for dust removal, a thin layer of dust will accumulate on the transparent window of the infrared emitting and receiving diodes, causing the standard voltage value when dust-free and stationary to drop to 0.6V-0.8V or even lower. If the transparent window is contaminated with opaque stains such as mud, the voltage reading may even be 0V.

[0104] Therefore, adhering dust and dirt can affect the sensitivity of the diode. Actual testing revealed that as the amount of dust increases, the sensitivity decreases when the standard voltage value (when stationary and dust-free) drops below 0.6V. In certain scenarios during normal user operation, there is a chance that the diode may fail to detect small amounts of dust or wastewater, or the concentration output may show a large deviation. This is because the adhering dust significantly reduces the light intensity energy received by the diode; when a small amount of dust or wastewater passes through, the amplitude of the light intensity change caused by the diode becomes very small.

[0105] When the voltage value drops below 0.6V when the device is dust-free and stationary, the power of the emitting diode needs to be increased to maintain a relatively good voltage level. Therefore, Fav = 0.6V is set as the minimum standard voltage value Favmin (i.e., the minimum average voltage value). When the stable standard voltage value is lower than Favmin (i.e., the minimum average voltage value), the emitting power can be increased until it reaches 1.0V-1.2V. This solves most of the sensitivity reduction caused by dust accumulation. By compensating for the corresponding emitting power, the sensitivity attenuation can be greatly reduced, and the detection accuracy remains almost unchanged.

[0106] Power compensation is only performed when Fav is less than 0.6V. If the power is adjusted every time it is too low, the transmitted power increases, which in turn changes the target voltage value F of the detection signal, requiring recalculation of various parameters. For voltage values ​​in the 0.6V-1V range, the accuracy of dust concentration identification in this range still meets the user's basic needs. Therefore, power increase is not necessary, and reducing the range and frequency of adjustments improves system stability.

[0107] Meanwhile, after increasing the power, if the user cleans the transmitting and receiving diodes, the dust-free standard voltage value will exceed the factory value of 1.0V - 1.2V. Based on this, to ensure the stability of the transmission power, Fav = 1.4V is set as the maximum standard voltage value Favmax (i.e., the maximum average voltage value). When the voltage value is greater than this value, the transmission power will be reduced. Similarly, for the voltage values in the range of 1.2V - 1.4V, since the accuracy of dust concentration recognition in this range can still meet the basic needs of users, no power reduction treatment is required.

[0108] Based on this, when the average voltage value Fav can be stably maintained for Umin time (i.e., the set continuous time period): when Favmax ≥ Fav ≥ Favmin, and the standard deviation of the corresponding voltage value within the Umin time is less than the maximum standard deviation, update T (i.e., the standard voltage value of the standard signal) = Fav; when Fav < Favmin, increase the transmission power of the transmitted signal, and obtain the standard deviation and average voltage value of the detected signal within the set continuous time period after increasing the transmission power. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold (i.e., Fsmax ≥ Fav ≥ Fsmin), then update T = Fav again; when Fav > Favmax, reduce the transmission power of the transmitted signal, and obtain the standard deviation and average voltage value of the detected signal within the set continuous time period after reducing the transmission power. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold (i.e., Fsmax ≥ Fav ≥ Fsmin), then update T = Fav again. It can be understood that the power adjustment also has a certain range, usually adjusted between the minimum transmission power and the maximum transmission power. If the transmitted signal cannot meet the requirements even when increased to the maximum transmission power or reduced to the minimum transmission power, an error message will be output to remind the user to clean or replace the components.

[0109] Such as Figure 6As shown, it demonstrates the determination of the standard voltage value in the dust-free static state when Favmax ≥ Fav ≥ Favmin, and the correction process after the change. Specifically, before time U1, the average received voltage in the dust-free static state is FAv1, and it remains stable for Umin time, that is, the corresponding standard deviation is less than the maximum standard deviation (V < Vmax) during Umin time. Therefore, at U1 moment, the standard voltage value T = FAv1 in the dust-free static state. If during the period from U1 to U2, due to dirt or dust adhering to the surface of the receiving diode, the received voltage becomes lower and unstable (i.e., V > Vmax), and it becomes FAv2 after U2. If the standard deviation V < Vmax (i.e., the maximum standard deviation) and remains above Umin time after U2, and Favmax ≥ FAv2 ≥ Favmin are satisfied during Umin time, then at U3 moment, the standard voltage value is updated to T = FAv2, and before the next update, the standard voltage value is always FAv2. It can be understood that before the standard voltage value is updated, the standard voltage value is the value before the update, such as Figure 6 As shown, before U3 moment, the standard voltage value maintains the original FAv1. In an actual application project, when 1.4V ≥ Fav ≥ 0.6V, if the standard deviation V < 1 and remains above 500ms time, then the standard voltage value can be updated to T = FAv2.

[0110] Such as Figure 7 As shown, it demonstrates the determination of the standard voltage value in the dust-free static state when Fav < Favmin, and the correction process after the change. Specifically, before time U1, the average received voltage in the dust-free static state is FAv1, which is less than Favmin. Therefore, at U1, the transmission power of the transmission signal is increased until Fsmax ≥ FAv2 ≥ Fsmin is satisfied at U2. After U2, the standard deviation and the average voltage value corresponding to the detection signal within Umin time are obtained. When the standard deviation is less than the maximum standard deviation (V < Vmax), and Favmax ≥ FAv2 ≥ Favmin are satisfied during Umin time, then at U3 moment, the standard voltage value is updated to T = FAv2.

[0111] Such as Figure 8As shown, it demonstrates the determination of the standard voltage value in the dust-free static state when Fav > Favmax, as well as the correction process after the change. Specifically, before the time U1, the average received voltage in the dust-free static state is FAv1, which is greater than Favmax. Therefore, at U1, the transmission power of the transmitted signal is reduced until Fsmax ≥ FAv2 ≥ Fsmin is satisfied at U2. After U2, the standard deviation and the average voltage value corresponding to the detection signal within the Umin time are obtained. When the standard deviation is less than the maximum standard deviation (V < Vmax), and Favmax ≥ FAv2 ≥ Favmin is satisfied throughout the Umin time, then at the U3 moment, the standard voltage value is updated to T = FAv2.

[0112] As Figure 9 shown, when Fav < Favmin and the transmission power is equal to the maximum transmission power Gmax, when the standard deviation is less than the maximum standard deviation (V < Vmax) and it remains above the Umin time, if Fsmax ≥ Fav ≥ Fsmin still cannot be satisfied, then at the U3 moment, an error message is output to remind the user to clean or replace the components.

[0113] As Figure 10 shown, when Fav > Favmax and the transmission power is equal to the minimum transmission power Gmin, when the standard deviation is less than the maximum standard deviation (V < Vmax) and it remains above the Umin time, if Fsmax ≥ Fav ≥ Fsmin still cannot be satisfied, then at the U3 moment, an error message is output to remind the user to clean or replace the components. In an actual project, the adjustment of the transmission power can be achieved by adjusting the duty cycle of the driving square wave of the infrared emitting diode driving module. The higher the duty cycle, the greater the driving power.

[0114] Specifically, the process of updating the standard voltage value of the standard signal is further described below. For example, by obtaining the target voltage value F of m consecutive detection signals, first calculate the average data Fav of the target voltage value F of the m detection signals, Fav = (F1 + F2 + F3 + … + Fm) / m. In actual implementation, m is taken as 500. Then calculate the sample standard deviation V of the target voltage value F of the m detection signals:

[0115]

[0116] Since the standard deviation reflects the fluctuation of data, the smaller the standard deviation, the more stable the data, and the smaller the deviation from the central value; the larger the standard deviation, the greater the data fluctuation and the greater the deviation from the central value. Therefore, if the standard deviation V is less than the maximum standard deviation Vmax of the stable data, it is considered that the received voltage value F after filtering in the current stage is stable, that is, the current state is dust-free and sewage-free. If the standard deviation V is greater than the maximum standard deviation Vmax of the stable data, it is considered that the received voltage value F after filtering in the current stage is fluctuating, that is, the current state is dusty or sewage-containing, and the standard voltage value T of the standard signal cannot be updated in this stage. Vmax needs to be specified according to the measurement range of the actual application circuit. For example, in some scenarios, Vmax can be taken as 1.

[0117] If the standard deviation V < Vmax lasts for more than Umin time, it is judged that the data has stabilized and it can be regarded that the current state is dust-free and sewage-free. If within the Umin time when the standard deviation V is stable, and at the same time Favmax ≥ Fav ≥ Favmin is satisfied, then update T = Fav; when Fav < Favmin, increase the transmission power of the transmitted signal, and obtain the standard deviation and average voltage value corresponding to the detected signal within the set continuous time period after increasing the transmission power. When the standard deviation is less than the set maximum standard deviation (that is, V < Vmax), and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold (that is, Fsmax ≥ Fav ≥ Fsmin) is satisfied, then update T = Fav; when Fav > Favmax, decrease the transmission power of the transmitted signal, and obtain the standard deviation and average voltage value corresponding to the detected signal within the set continuous time period after decreasing the transmission power. When the standard deviation is less than the set maximum standard deviation (that is, V < Vmax), and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold (that is, Fsmax ≥ Fav ≥ Fsmin) is satisfied, then update T = Fav; if the requirements still cannot be met even after increasing to the maximum transmission power or decreasing to the minimum transmission power, an error message is output to remind the user to clean or replace the components. In actual implementation, Umin is 300 - 600 ms. The updated standard voltage value T of the standard signal = Fav, that is, the standard voltage of the infrared receiving diode in the dust-free and sewage-free state, can be used in subsequent calculations to judge the concentration of particulate matter.

[0118] In one embodiment, when the target voltage value of the detected signal is less than the standard voltage value of the standard signal, the type of particulate matter corresponding to the target voltage value of the detected signal is determined according to the difference between the standard voltage value of the standard signal and the target voltage value of the detected signal, including: when the target voltage value of the detected signal is less than the updated standard voltage value of the standard signal, the type of particulate matter corresponding to the target voltage value of the detected signal is determined according to the difference between the updated standard voltage value of the standard signal and the target voltage value of the detected signal.

[0119] In one embodiment, the particulate matter type includes small particulate matter and / or large particulate matter; then, determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal includes: when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is small particulate matter; and / or, when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than the set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is large particulate matter.

[0120] In one embodiment, the particulate matter concentration includes the corresponding instantaneous concentration; then determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: determining the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the particulate matter of the corresponding type.

[0121] In another embodiment, the particulate matter concentration includes the corresponding average concentration; then, determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: obtaining a period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determining the ratio of the period count to N as the average concentration of the corresponding type of particulate matter.

[0122] In yet another embodiment, the particulate matter concentration includes the corresponding instantaneous concentration and average concentration; determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes:

[0123] The ratio between the cumulative value and the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter; and,

[0124] Obtain the period counts where the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determine the ratio of the period counts to N as the average concentration of the corresponding type of particulate matter.

[0125] The maximum and minimum concentrations for each type refer to the maximum and minimum concentrations corresponding to each particulate matter type within a preset period, such as the maximum and minimum concentrations for small particles and large particles within the preset period. Specifically, the corresponding maximum and minimum concentrations can be set based on the actual application scenario. In this embodiment, the ratio of the cumulative difference between the standard voltage value of the standard signal and the target voltage value of each detection signal for the same particulate matter type within the preset period to the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter. Furthermore, a period count can be obtained where the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and the ratio of the period count to N is determined as the average concentration of the corresponding type of particulate matter.

[0126] In one embodiment, the particulate matter type includes large particles and small particles; obtaining the cumulative value of at least one difference corresponding to each particulate matter type within a preset period may specifically include: when the particulate matter type corresponding to the target voltage value of the detection signal is large particles, obtaining a first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and obtaining the sum of at least one first difference within a preset time period as the cumulative value of at least one difference corresponding to large particles; when the particulate matter type corresponding to the target voltage value of the detection signal is small particles, obtaining a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and obtaining the sum of at least one second difference within a preset time period as the cumulative value of at least one difference corresponding to small particles.

[0127] The following further explains the calculation process for particulate matter concentration. Theoretically, the standard voltage value T of the standard signal is the maximum voltage that the diode can receive under dust-free wastewater conditions. Therefore, if the target voltage value F is larger than the dust-free standard voltage value T, it indicates that the received signal may fluctuate, and thus, this F value can be discarded. Conversely, if the target voltage value F is smaller than the dust-free standard voltage value T, it indicates that dust and wastewater are passing through, thus blocking the light path. Therefore, the type and concentration of particulate matter can be further determined based on the target voltage value F and the dust-free standard voltage value T.

[0128] Specifically, when the target voltage value F is smaller than the dust-free standard voltage value T, the difference D between the standard voltage value T and the target voltage value F is calculated, where D = T – F. D reflects the voltage portion corresponding to the blocked light intensity, and the magnitude of D is directly proportional to the particle concentration. That is, the larger D is, the larger or more numerous the particles passing by at this moment, and the more light intensity is blocked; conversely, the smaller or fewer the particles passing by, the less light intensity is blocked.

[0129] In this embodiment, to accurately reflect the type of particulate matter passing through, test data shows that small particles such as dust have relatively low D values, typically not exceeding 300mV. Therefore, a classification threshold of Dh = 300mV can be set as the dividing line for judging the type of particulate matter. When D is less than Dh, it is determined that small particles such as dust are passing through; when D is greater than Dh, it is determined that large, opaque particles such as sewage and paper scraps are passing through.

[0130] Since D only represents the state value at a certain moment and cannot reflect the continuous process and result of particulate matter concentration changes, the cumulative value Sd can be obtained by accumulating the differences greater than Dh (i.e., the first difference) within the time period P (i.e., the preset period), and the cumulative value Sx can be obtained by accumulating the differences less than Dh (i.e., the second difference). Specifically, the cumulative difference value Sd for large particles and the cumulative difference value Sx for small particles within the time period P are as follows:

[0131] Sx = D1x + D2x + D3x + ... + Dzx

[0132] Sd=D1d+D2d+D3d…+Dzd

[0133] If S represents the sum of the differences D between the target voltage value and the standard voltage value within the time period P, then as follows: Figure 11 As shown, when the sampling frequency range of D is infinitely large, S is equivalent to the area difference between the two functions Y=T and Y=F within the time period P. A larger area indicates more particulate matter blocking the light, resulting in lower actual received light intensity; conversely, less particulate matter blocking the light leads to higher actual received light intensity. Therefore, the sum S represents the concentration of dust and wastewater passing through within the time period P; a larger S indicates more dust and wastewater passing through, and vice versa. In actual projects, the time period P is 10ms. Since one F is generated every 100µs, one D can be calculated simultaneously. Therefore, a total of 100 Ds can be accumulated within 10ms. The sum of Sx and Sd is equal to the sum of these 100 Ds.

[0134] Since the area and concentration of Sd and Sx are directly proportional, Sxmax is defined as the maximum concentration of small particles (i.e., the maximum concentration of small particles) within the time period P. The ratio of Sx to Sxmax is the equivalent concentration of small particles within the time period P, Ox = Sx / Sxmax (i.e., the instantaneous concentration of small particles). Similarly, Sdmax is defined as the maximum concentration of large particles (i.e., the maximum concentration of large particles) within the time period P. The ratio of Sd to Sdmax is the equivalent concentration of large particles within the time period P, Od = Sd / Sdmax (i.e., the instantaneous concentration of large particles).

[0135] In practical applications, Dh = 300mV can be taken as the dividing line for judging the type of particulate matter. Assuming that each D is 300mV, the cumulative D over 10ms is Sxmax, therefore, Sxmax = 300mV * 100. Sdmax is the maximum concentration of large particles within the P time period. Since the average D value of large particles during the test is 1500mV, the cumulative D over 10ms is Sdmax, therefore, Sdmax = 1500mV * 100.

[0136] Therefore, after calculating Ox = Sx / Sxmax and Od = Sd / Sdmax, this data can be output through the particulate matter concentration output module as the real-time concentration (i.e., instantaneous concentration) of different particulate matter over a short period of time. Since P is 10ms, this instantaneous concentration represents the concentration of large and small particulate matter within 10ms. Furthermore, because the 10ms interval is short, the output data can sensitively reflect the current real-time concentration changes.

[0137] In one embodiment, in addition to the instantaneous concentration, the average concentration over a period of time is also important. Therefore, it is necessary to define the average concentration over a period of time (i.e., N preset periods P): Qx (i.e., the average concentration of small particles) and Qd (i.e., the average concentration of large particles). Specifically, Qx and Qd are calculated as follows:

[0138] First, define Sxmin (the minimum concentration corresponding to small particulate matter) and Sdmin (the minimum concentration corresponding to large particulate matter), representing the minimum cumulative concentrations of small dust particles or large wastewater particles, respectively. In actual projects, Sxmin is set to 40mV and Sdmin to 240mV. If the cumulative concentration Sx > Sxmin and Sx is less than or equal to Sdmin within time period P, it indicates that the concentration of small particulate matter, such as dust, is relatively high within time period P, and it is determined that there are no large particulate matter, such as wastewater, within this time period P. If Sd > Sdmin, it indicates that the concentration of large particulate matter, such as wastewater, is relatively high within time period P, which is equivalent to the absence of small particulate matter.

[0139] Over N consecutive cycles, the state of each Sx and Sd is determined. If any Sx > Sxmin, or any Sd > Sdmin, the corresponding particulate matter concentration count G increases by 1. If any Sx is less than or equal to Sxmin, or any Sd is less than or equal to Sdmin, the corresponding G count remains unchanged. In actual projects, N is set to 40, which is equivalent to determining the state of all S's over 4 seconds.

[0140] Finally, after N cycles of determination, the equivalent average concentration of small particles is obtained as Qx = Gx / N; the equivalent average concentration of large particles is obtained as Qd = Gd / N. Q represents the proportion of cycles containing particles G within the N cycles. This proportion is also proportional to the dust concentration over the entire N cycles, thus representing the dust concentration within that cycle. Therefore, Q can be output to other system modules via the particulate matter output module using a certain communication protocol.

[0141] It should be understood that, although Figures 3A-11 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figures 3A-11 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0142] In one embodiment, such as Figure 12 As shown, a device for detecting particulate matter concentration in cleaning equipment is provided, comprising: an acquisition module 1202, a particulate matter type determination module 1204, a cumulative value acquisition module 1206, and a particulate matter concentration determination module 1208, wherein:

[0143] The acquisition module 1202 is used to acquire the target voltage value of the detection signal;

[0144] The particulate matter type determination module 1204 is used to determine the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal when the target voltage value of the detection signal is less than the standard voltage value of the standard signal. The standard voltage value is the voltage value of a particulate matter-free state.

[0145] The cumulative value acquisition module 1206 is used to acquire the cumulative value of at least one difference corresponding to the particulate matter type within a preset period;

[0146] The particulate matter concentration determination module 1208 is used to determine the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0147] In one embodiment, the acquisition module is specifically used to: acquire a first voltage value of the detection signal, filter the first voltage value, and obtain the target voltage value of the filtered detection signal.

[0148] In one embodiment, the acquisition module is specifically used to: periodically acquire a first voltage value of a detection signal at preset time intervals within a set time period; perform peak filtering on the first voltage value of the detection signal to obtain a corresponding peak filtering result; perform median filtering on the peak filtering result to obtain a corresponding median filtering result; and perform average filtering on the median filtering result to obtain a target voltage value of the filtered detection signal.

[0149] In one embodiment, the particulate matter type includes small particulate matter and / or large particulate matter; then the particulate matter type determination module is specifically used to: determine that the particulate matter type corresponding to the target voltage value of the detection signal is small particulate matter when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold; and / or, determine that the particulate matter type corresponding to the target voltage value of the detection signal is large particulate matter when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold.

[0150] In one embodiment, the particulate matter concentration includes a corresponding instantaneous concentration; the particulate matter concentration determination module is specifically used to: determine the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter;

[0151] Alternatively, the particulate matter concentration includes the corresponding average concentration; the particulate matter concentration determination module is specifically used to: obtain the period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determine the ratio of the period count to N as the average concentration of the corresponding type of particulate matter;

[0152] Alternatively, the particulate matter concentration includes the corresponding instantaneous concentration and average concentration; the particulate matter concentration determination module is specifically used to: determine the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter; and obtain the period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determine the ratio of the period count to N as the average concentration of the corresponding type of particulate matter.

[0153] In one embodiment, the particulate matter type includes large particles and small particles; the cumulative value acquisition module is specifically used to: when the particulate matter type corresponding to the target voltage value of the detection signal is large particles, acquire a first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and acquire the sum of at least one first difference within a preset time period as a cumulative value of at least one difference corresponding to the large particles; when the particulate matter type corresponding to the target voltage value of the detection signal is small particles, acquire a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, and acquire the sum of at least one second difference within a preset time period as a cumulative value of at least one difference corresponding to the small particles.

[0154] In one embodiment, the above-mentioned device further includes a standard voltage value update module for a standard signal, which is used to acquire the target voltage values ​​of m consecutive detection signals, calculate the standard deviation corresponding to the target voltage values ​​of the m detection signals, and update the standard voltage value of the standard signal when the standard deviation is less than the set maximum standard deviation for a set duration period.

[0155] In one embodiment, the standard voltage value update module for the standard signal is further configured to: obtain the average voltage value corresponding to the target voltage value of the detected signal within a set duration period; when the average voltage value is greater than or equal to the minimum average voltage value and less than or equal to the maximum average voltage value, use the average voltage value as the standard voltage value of the standard signal; when the average voltage value is less than the minimum average voltage value, increase the transmission power of the transmitted signal based on the maximum transmission power, and obtain the standard deviation and average voltage value corresponding to the detected signal within the set duration period after increasing the transmission power; when the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first... When the average voltage value is less than or equal to the first threshold and the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the average voltage value is greater than the maximum average voltage value, the transmission power of the transmitted signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. Wherein, the first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value.

[0156] In one embodiment, the particulate matter type determination module is further configured to: when the target voltage value of the detection signal is less than the standard voltage value of the updated standard signal, determine the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the updated standard signal and the target voltage value of the detection signal.

[0157] Specific limitations regarding the device for detecting particulate matter concentration in cleaning equipment can be found in the limitations of the detection method for particulate matter concentration in cleaning equipment described above, and will not be repeated here. Each module in the aforementioned device for detecting particulate matter concentration in cleaning equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0158] In one embodiment, a device for detecting particulate matter concentration in a cleaning device is provided. This device can be a terminal, and its internal structure diagram can be as follows: Figure 13 As shown. The particulate matter concentration detection device for cleaning equipment includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for detecting particulate matter concentration in cleaning equipment. The display screen can be an LCD screen or an e-ink screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the cleaning equipment casing, or an external keyboard, touchpad, or mouse.

[0159] Those skilled in the art will understand that Figure 13 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0160] In one embodiment, a device for detecting particulate matter concentration in a cleaning device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0161] Obtain the target voltage value of the detection signal;

[0162] When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined according to the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The standard voltage value of the standard signal is a signal of a particulate matter-free state.

[0163] Obtain the cumulative value of at least one difference corresponding to the particulate matter type within a preset period;

[0164] The concentration of particulate matter of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0165] In one embodiment, when the processor executes the computer program, it further performs the following steps: acquiring a first voltage value of the detection signal, filtering the first voltage value, and obtaining the target voltage value of the filtered detection signal.

[0166] In one embodiment, when the processor executes the computer program, it further performs the following steps: periodically acquiring a first voltage value of a detection signal at preset time intervals within a set time period; performing peak filtering on the first voltage value of the detection signal to obtain a corresponding peak filtering result; performing median filtering on the peak filtering result to obtain a corresponding median filtering result; and performing average filtering on the median filtering result to obtain a target voltage value of the filtered detection signal.

[0167] In one embodiment, the particulate matter type includes small particulate matter and / or large particulate matter; when the processor executes the computer program, it further implements the following steps: when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be small particulate matter; and / or, when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be large particulate matter.

[0168] In one embodiment, the particulate matter concentration includes a corresponding instantaneous concentration; when the processor executes the computer program, it further implements the following steps: determining the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter;

[0169] Alternatively, the particulate matter concentration includes the corresponding average concentration; when the processor executes the computer program, it further implements the following steps: obtaining the period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determining the ratio of the period count to N as the average concentration of the corresponding type of particulate matter;

[0170] Alternatively, the particulate matter concentration may include a corresponding instantaneous concentration and an average concentration; when the processor executes the computer program, it may further implement the following steps: determining the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter; and obtaining a period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determining the ratio of the period count to N as the average concentration of the corresponding type of particulate matter.

[0171] In one embodiment, the particulate matter type includes large particles and small particles; when the processor executes the computer program, it further implements the following steps: when the particulate matter type corresponding to the target voltage value of the detection signal is large particles, a first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one first difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the large particles; when the particulate matter type corresponding to the target voltage value of the detection signal is small particles, a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one second difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the small particles.

[0172] In one embodiment, when the processor executes the computer program, it further implements the following steps: acquiring target voltage values ​​of m consecutive detection signals, calculating the standard deviation corresponding to the target voltage values ​​of the m detection signals; and updating the standard voltage value of the standard signal when the standard deviation is less than the set maximum standard deviation for a set duration.

[0173] In one embodiment, when the processor executes the computer program, it further implements the following steps: acquiring an average voltage value corresponding to a target voltage value of a detected signal within a set duration period; when the average voltage value is greater than or equal to a minimum average voltage value and less than or equal to a maximum average voltage value, using the average voltage value as a standard voltage value of a standard signal; when the average voltage value is less than the minimum average voltage value, increasing the transmission power of the transmitted signal based on the maximum transmission power, and acquiring the standard deviation and average voltage value corresponding to the detected signal within the set duration period after increasing the transmission power; when the standard deviation is less than a set maximum standard deviation, and the average voltage value is greater than or equal to a first... When the average voltage value is less than or equal to the first threshold and the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the average voltage value is greater than the maximum average voltage value, the transmission power of the transmitted signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. Wherein, the first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value.

[0174] In one embodiment, when the processor executes the computer program, it further implements the following steps: when the target voltage value of the detection signal is less than the standard voltage value of the updated standard signal, determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the updated standard signal and the target voltage value of the detection signal.

[0175] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0176] Obtain the target voltage value of the detection signal;

[0177] When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined according to the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The standard voltage value of the standard signal is a signal of a particulate matter-free state.

[0178] Obtain the cumulative value of at least one difference corresponding to the particulate matter type within a preset period;

[0179] The concentration of particulate matter of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type.

[0180] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring a first voltage value of the detection signal, filtering the first voltage value, and obtaining the target voltage value of the filtered detection signal.

[0181] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: periodically acquiring a first voltage value of a detection signal at preset time intervals within a set time period; performing peak filtering on the first voltage value of the detection signal to obtain a corresponding peak filtering result; performing median filtering on the peak filtering result to obtain a corresponding median filtering result; and performing average filtering on the median filtering result to obtain a target voltage value of the filtered detection signal.

[0182] In one embodiment, the particulate matter type includes small particulate matter and / or large particulate matter; when the computer program is executed by the processor, it further implements the following steps: when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is small particulate matter; and / or, when the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold, determining that the particulate matter type corresponding to the target voltage value of the detection signal is large particulate matter.

[0183] In one embodiment, the particulate matter concentration includes a corresponding instantaneous concentration; when the computer program is executed by the processor, it further performs the following steps: determining the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter;

[0184] Alternatively, the particulate matter concentration includes the corresponding average concentration; when the computer program is executed by the processor, it further implements the following steps: obtaining the period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determining the ratio of the period count to N as the average concentration of the corresponding type of particulate matter;

[0185] Alternatively, the particulate matter concentration may include a corresponding instantaneous concentration and an average concentration; when the computer program is executed by the processor, it may further implement the following steps: determining the ratio between the cumulative value and the maximum concentration of the corresponding type as the instantaneous concentration of the corresponding type of particulate matter; and obtaining a period count in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset periods, and determining the ratio of the period count to N as the average concentration of the corresponding type of particulate matter.

[0186] In one embodiment, the particulate matter type includes large particles and small particles; when the computer program is executed by the processor, it further implements the following steps: when the particulate matter type corresponding to the target voltage value of the detection signal is large particles, a first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one first difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the large particles; when the particulate matter type corresponding to the target voltage value of the detection signal is small particles, a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one second difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the small particles.

[0187] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: acquiring target voltage values ​​of m consecutive detection signals, calculating the standard deviation corresponding to the target voltage values ​​of the m detection signals; and updating the standard voltage value of the standard signal when the standard deviation is less than the set maximum standard deviation for a set duration.

[0188] In one embodiment, when the computer program is executed by a processor, it further implements the following steps: acquiring an average voltage value corresponding to a target voltage value of a detected signal within a set duration period; when the average voltage value is greater than or equal to a minimum average voltage value and less than or equal to a maximum average voltage value, using the average voltage value as a standard voltage value of a standard signal; when the average voltage value is less than the minimum average voltage value, increasing the transmission power of the transmitted signal based on the maximum transmission power, and acquiring the standard deviation and average voltage value corresponding to the detected signal within the set duration period after increasing the transmission power; when the standard deviation is less than a set maximum standard deviation, and the average voltage value is greater than or equal to a first... When the average voltage value is less than or equal to the first threshold and the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the average voltage value is greater than the maximum average voltage value, the transmission power of the transmitted signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detected signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. Wherein, the first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value.

[0189] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when the target voltage value of the detection signal is less than the standard voltage value of the updated standard signal, determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the updated standard signal and the target voltage value of the detection signal.

[0190] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0191] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for detecting particulate matter concentration in cleaning equipment, characterized in that, The method includes: A first voltage value of the detection signal is acquired, and the first voltage value is filtered to obtain the target voltage value of the filtered detection signal. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal. The standard signal is a signal in a particulate-free state, and the standard voltage value is the voltage value in a particulate-free state. Obtain the cumulative value of at least one difference corresponding to the particulate matter type within a preset period; The concentration of particulate matter of the corresponding type is determined based on the cumulative value and the maximum and / or minimum concentration of the corresponding type, wherein the particulate matter concentration includes at least one of instantaneous concentration and average concentration; The particulate matter type includes small particulate matter and / or large particulate matter; determining the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal includes: When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be small particulate matter; and / or, When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be large particulate matter.

2. The method according to claim 1, characterized in that, The step of acquiring a first voltage value of the detection signal and filtering the first voltage value to obtain a target voltage value of the filtered detection signal includes: The first voltage value of the detection signal is periodically acquired at preset time intervals within a set time period; The first voltage value of the detection signal is subjected to peak filtering to obtain the corresponding peak filtering result. The peak filtering result is then subjected to median filtering to obtain the corresponding median filtering result. The median filtering result is then subjected to average filtering to obtain the target voltage value of the filtered detection signal.

3. The method according to claim 1, characterized in that, The particulate matter concentration includes the corresponding instantaneous concentration; determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: The ratio between the cumulative value and the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter; Alternatively, the particulate matter concentration may include the corresponding average concentration; the step of determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: obtaining a count of cycles in which the cumulative value is greater than the minimum concentration of the corresponding type within N consecutive preset cycles, and determining the ratio of the cycle count to N as the average concentration of the corresponding type of particulate matter; Alternatively, the particulate matter concentration includes the corresponding instantaneous concentration and average concentration; the step of determining the particulate matter concentration of the corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type includes: The ratio between the cumulative value and the maximum concentration of the corresponding type is determined as the instantaneous concentration of the corresponding type of particulate matter; and, Obtain the cycle count for N consecutive preset cycles where the cumulative value is greater than the minimum concentration of the corresponding type, and determine the ratio of the cycle count to N as the average concentration of the corresponding type of particulate matter.

4. The method according to claim 1, characterized in that, The step of obtaining the cumulative value of at least one difference corresponding to the particulate matter type within a preset period includes: When the particle type corresponding to the target voltage value of the detection signal is large particles, the first difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one first difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the large particles. When the particle type corresponding to the target voltage value of the detection signal is small particles, a second difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is obtained, and the sum of at least one second difference within a preset time period is obtained as the cumulative value of at least one difference corresponding to the small particles.

5. The method according to any one of claims 1 to 4, characterized in that, After acquiring the target voltage value of the detection signal, the method further includes: Obtain the target voltage values ​​of m consecutive detection signals, and calculate the standard deviation corresponding to the target voltage values ​​of the m detection signals; When the standard deviation is less than the set maximum standard deviation for a set duration, the standard voltage value of the standard signal is updated.

6. The method according to claim 5, characterized in that, Updating the standard voltage value of the standard signal includes: Obtain the average voltage value corresponding to the target voltage value of the detected signal within a set duration period; When the average voltage value is greater than or equal to the minimum average voltage value and less than or equal to the maximum average voltage value, the average voltage value is used as the standard voltage value of the standard signal. When the average voltage value is less than the minimum average voltage value, the transmission power of the transmission signal is increased based on the maximum transmission power, and the standard deviation and average voltage value of the detection signal are obtained within a set duration after the transmission power is increased. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. When the average voltage value is greater than the maximum average voltage value, the transmission power of the transmission signal is reduced based on the minimum transmission power, and the standard deviation and average voltage value of the detection signal are obtained within a set duration after the transmission power is reduced. When the standard deviation is less than the set maximum standard deviation, and the average voltage value is greater than or equal to the first threshold and less than or equal to the second threshold, the average voltage value is used as the standard voltage value of the standard signal. Wherein, the first threshold is greater than or equal to the minimum average voltage value, and the second threshold is less than or equal to the maximum average voltage value.

7. The method according to claim 5, characterized in that, When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the particle type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal, including: When the target voltage value of the detection signal is less than the standard voltage value of the updated standard signal, the particulate matter type corresponding to the target voltage value of the detection signal is determined based on the difference between the standard voltage value of the updated standard signal and the target voltage value of the detection signal.

8. A device for detecting particulate matter concentration in cleaning equipment, characterized in that, The device includes: The acquisition module is used to acquire a first voltage value of the detection signal, filter the first voltage value, and obtain a target voltage value of the filtered detection signal. The particulate matter type determination module is used to determine the particulate matter type corresponding to the target voltage value of the detection signal based on the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal when the target voltage value of the detection signal is less than the standard voltage value of the standard signal. The standard signal is a signal in a particulate matter-free state, and the standard voltage value is the voltage value in a particulate matter-free state. The cumulative value acquisition module is used to acquire the cumulative value of at least one difference corresponding to the particulate matter type within a preset period; A particulate matter concentration determination module is used to determine the particulate matter concentration of a corresponding type based on the cumulative value and the maximum and / or minimum concentration of the corresponding type, wherein the particulate matter concentration includes at least one of instantaneous concentration and average concentration; The particulate matter type includes small particulate matter and / or large particulate matter; the particulate matter type determination module is specifically used for: When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be small particulate matter; and / or When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than a set classification threshold, the particulate matter type corresponding to the target voltage value of the detection signal is determined to be large particulate matter.

9. A cleaning device, characterized in that, It includes a main control module, an infrared emitting diode driver module, an infrared emitting diode, a signal filtering module, an infrared receiving diode, and a particulate matter concentration output module. The main control module controls the infrared emitting diode drive module to output power to the infrared emitting diode, so that the infrared emitting diode emits infrared light with a fixed intensity; when the intensity of the infrared light shining on the infrared receiving diode is different, the infrared receiving diode outputs different detection signals, and the signal filtering module is used to perform hardware filtering on the detection signals output by the infrared receiving diode. The main control module is also used to filter the hardware-filtered signal to obtain the target voltage value of the filtered detection signal. When the target voltage value of the detection signal is less than the standard voltage value of the standard signal, the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is determined. When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is less than a set classification threshold, the particle type corresponding to the target voltage value of the detection signal is determined to be small particles. When the difference between the standard voltage value of the standard signal and the target voltage value of the detection signal is greater than the set classification threshold, the particle type corresponding to the target voltage value of the detection signal is determined to be large particles. The standard signal is a signal in a particle-free state, and the standard voltage value is the voltage value in a particle-free state. The module also acquires the cumulative value of at least one difference corresponding to the particle type within a preset period. Based on the cumulative value and the maximum and / or minimum concentration of the corresponding type, the particle concentration of the corresponding type is determined. The particle concentration includes at least one of instantaneous concentration and average concentration. The particle concentration is output through the particle concentration output module.

10. A device for detecting particulate matter concentration in cleaning equipment, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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