A cleaning machine working method, a cleaning machine and a storage medium

Abstract

The present application relates to a kind of cleaning machine working method, water inlet is provided on motor in the cleaning machine, the stator and rotor of the motor have the gap being communicated with water inlet, filter screen is equipped on water inlet.Cleaning machine works, the pollution of filter screen position is judged based on the working parameter of motor, and then the cleaning degree of cleaning machine is determined.The cleaning machine working method can improve the safety of motor operation, and the cleaning degree can be judged by motor working parameter.The present application also relates to a cleaning machine using the cleaning machine working method and a computer readable storage medium storing computer instructions for implementing the cleaning machine working method.

Description

TECHNICAL FIELD

[0001] The application relates to a cleaning machine working method, a cleaning machine and a storage medium. BACKGROUND

[0002] The spraying mechanism in the currently used cleaning machine is usually provided with a spraying arm, a pump water assembly and a motor, and then the motor drives the pump water assembly and the spraying arm to act, so that the spraying work is realized. The spraying mechanism is disclosed in the Chinese Utility Model Patent No. CN216777007U (Application No. 202123010090.7) "Spraying mechanism for cleaning machine and cleaning machine". In addition, a heater is usually arranged in the cleaning machine to heat the cleaning water, so as to improve the cleaning degree. The stator coil will heat during the rotation of the motor, and the heater will also generate a large amount of additional heat after working, which will also cause the temperature of the motor to rise, so that the temperature rise of the motor during work exceeds the national standard. Based on this, the prior art proposes a water-cooled motor, such as the Chinese Invention Patent Application No. CN115566844A (Application No. 202211319758.2) "Water-cooled vertical outer rotor permanent magnet motor", which discloses a motor including a rotating shaft, a water channel structure arranged around the rotating shaft, the water channel structure including a water inlet and a water cavity, the water cavity being in a columnar structure and surrounding the rotating shaft. The stator is arranged around the water channel structure, and the stator structure is in a ring columnar structure and surrounds the water cavity. The water cavity is used to realize water cooling of the stator structure. In order to improve the cooling effect, the Chinese Utility Model Patent No. CN216751410U (Application No. 202123237150.9) "Liquid-cooled heat dissipation device for electric vehicle motor" can directly pass the cooling liquid into the rotor inner cylinder. At that time, if the motor with such structure is used in the cleaning machine, the water entering the interior of the motor usually has a certain degree of pollution, which will cause bacteria to breed in the interior of the motor and affect the cleaning degree of the cleaning machine if it cannot be discharged in time.

[0003] In addition, the existing cleaning machine usually works according to the set working process, and directly discharges water when the work is finished, but for the cleaning object with high pollution degree, there may be the problem of incomplete cleaning. Of course, for this problem, the prior art also proposes a scheme of arranging a turbidity sensor in the cleaning cavity, which is high in cost and poor in detection effect for low turbidity pollution. SUMMARY

[0004] The first technical problem to be solved by the application is to provide a cleaning machine working method which can improve the working safety of the motor and judge the cleaning degree through the working parameters of the motor.

[0005] The second technical problem to be solved by the present application is to provide a cleaning machine applying the working method of the cleaning machine.

[0006] The third technical problem to be solved by the present application is to provide a storage medium storing computer instructions for implementing the working method of the cleaning machine.

[0007] The technical solution adopted by the present application to solve the first technical problem is a working method of a cleaning machine, characterized in that: a water inlet is arranged on a motor in the cleaning machine, and a gap is arranged between a stator and a rotor of the motor and is communicated with the water inlet, and a filter screen is arranged on the water inlet.

[0008] When the cleaning machine is working, the pollution condition of the filter screen position is determined based on the working parameters of the motor, and then the cleaning degree of the cleaning machine is determined.

[0009] Preferably, the pollution condition of the filter screen position is determined according to the phase current parameters of the motor.

[0010] Preferably, the phase current parameters of the motor include the peak value change speed of the phase current and the maximum value of the peak value of the phase current.

[0011] As an improvement, a constant power control method is adopted to control the motor to work.

[0012] Under the condition that there is no pollution in the cleaning machine, a water with a set water volume G0 is fed into the cleaning machine, the motor is controlled to rotate in the positive direction at a set maximum speed, and a corresponding first motor phase current peak curve is recorded, the phase current value change speed corresponding to the first motor phase current peak curve is V1, and the maximum phase current corresponding to the first motor phase current peak curve is I1=Imax1.

[0013] When the cleaning machine is working, a water with a set water volume G0 is fed into the cleaning machine, the motor is controlled to rotate in the positive direction at a set maximum speed, and a corresponding second motor phase current peak curve is recorded, the phase current value change speed corresponding to the second motor phase current peak curve is V2, and the maximum phase current corresponding to the second motor phase current peak curve is I2.

[0014] The second motor phase current peak curve is compared with the first motor phase current peak curve.

[0015] If V2

[0016] If V2

[0017] If V2 > V1 and I2 = Imax2, then the solid contaminant level inside the cleaning machine is determined to be level 3.

[0018] The cleaning efficiency of the cleaning machine is then determined based on the level of solid contaminants within it; the higher the level of solid contaminants, the worse the cleaning efficiency.

[0019] Preferably, after determining the cleaning level of the cleaning machine, water is continuously added to the cleaning machine until the required amount of water for the current cleaning operation is reached, and then the cleaning operation of the cleaning machine is carried out.

[0020] Preferably, the cleaning parameters for the current cleaning operation are determined based on the cleaning efficiency of the cleaning machine.

[0021] To ensure the cleaning effect of the cleaning machine, during the final cleaning cycle, it is determined whether to add an additional cleaning cycle based on the cleaning effect achieved in the previous cleaning cycle.

[0022] As an improvement, when performing an additional cleaning step, the contaminant status at the filter location is determined based on the motor's operating parameters, thereby determining the cleaning efficiency of the cleaning machine corresponding to that cleaning step. Based on the cleaning efficiency of the cleaning machine, it is determined whether to add another cleaning step. This process is repeated until the cleaning efficiency of the cleaning machine meets the requirements or the number of additional cleaning steps N exceeds the preset threshold N0.

[0023] Optionally, when performing an additional cleaning step, the cleaning parameters corresponding to the newly added cleaning step can be used directly; or

[0024] The cleaning parameters for this cleaning cycle are determined based on the cleaning efficiency of the cleaning machine used in the previous cleaning cycle; or

[0025] The contaminant status at the filter location is reassessed based on the motor's operating parameters, thereby determining the cleaning efficiency of the corresponding cleaning machine for that cleaning cycle. The cleaning parameters for that cleaning cycle are then determined based on the cleaning efficiency of the corresponding cleaning machine.

[0026] To ensure that the motor does not overheat during operation, the internal temperature Tj of the motor and the water temperature Ts in the cleaning chamber are monitored in real time during the operation of the cleaning machine.

[0027] When Tj≥T0, T0 is the safe temperature threshold of the motor. The motor is then controlled to alternate between reverse and forward rotation to refresh the water entering the motor until Tj=Ts.

[0028] As an improvement, when performing a cleaning operation with a cleaning time of t0, if Tj≥T0, compare Tj and Ts;

[0029] If Ts / Tj≤ε, where ε is the set proportional coefficient, 0<ε<1, then the cleaning process continues, while the motor is controlled to alternately reverse and rotate forward to refresh the water entering the motor until Tj=Ts;

[0030] If Ts / Tj>ε, it is determined that the temperature difference between the internal temperature of the motor and the water temperature in the cleaning chamber is too small, and drainage is then carried out, and the actual cleaning time t of this cleaning operation is recorded; based on the cleaning time t, a compensation cleaning operation is performed for this cleaning operation.

[0031] As an improvement, the method for compensating for the cleaning work is as follows:

[0032] Calculate t / t0. If t / t0 > σ, where σ is the set time ratio value, 0.5 < σ < 1, and t0 is the set working time for this cleaning operation, then the cleaning operation is determined to be completed. Otherwise, control the cleaning machine to refill with water and continue the cleaning operation for a period of t0 - t.

[0033] To ensure the cleanliness of the motor's interior and prevent water accumulation inside the motor from contaminating the cleaning machine, the motor is reversed after each cleaning cycle to drain the water from the gaps inside the motor.

[0034] Preferably, the control motor reverses for a set time t2 according to the set speed V.

[0035] The technical solution adopted by the present invention to solve the second technical problem mentioned above is as follows: a cleaning machine, including a motor, a memory, and a processor, wherein the motor and the processor are electrically connected, characterized in that: the motor includes a housing and a rotating shaft, a stator, and a rotor disposed within the housing, the rotating shaft protruding from one end of the housing, the rotor being sleeved on the rotating shaft, the stator being sealed on the outer periphery of the rotor and having a gap between it and the rotor, a water inlet connected to the gap being formed on the housing corresponding to the position where the rotating shaft protrudes, a filter screen being covered on the water inlet, computer instructions being stored in the memory, and the processor executing the aforementioned cleaning machine working method by executing the computer instructions.

[0036] To facilitate the acquisition of the motor's internal temperature and the control of overheating, a first temperature sensor is embedded in the stator and connected to the processor via an electrical signal. A second temperature sensor, also connected to the processor via an electrical signal, is installed in the cleaning chamber of the cleaning machine.

[0037] To improve the water absorption and drainage effect of the motor, a spiral groove is provided on the outer wall of the rotor along the circumferential direction.

[0038] The technical solution adopted by the present invention to solve the third technical problem mentioned above is: a computer-readable storage medium, characterized in that: the computer-readable storage medium stores computer instructions, which are used to cause the computer to execute the aforementioned cleaning machine working method.

[0039] Compared with existing technologies, the advantages of this invention are as follows: The cleaning machine operating method of this invention, due to the water-permeable gaps within the motor, causes changes in motor operating parameters based on the varying levels of contaminant accumulation at the filter location. Since the contaminants accumulated at the filter location originate from the water within the cleaning chamber, this reflects the turbidity of the water in the cleaning chamber. Therefore, the cleaning effectiveness can be determined by observing the motor operating parameters. In other words, the cleaning effectiveness can be judged solely by the motor operating parameters. Firstly, cleaning machines using this method do not require a turbidity sensor, reducing costs. Secondly, even when a turbidity sensor is installed in the cleaning machine, it can assist in determining the cleaning effectiveness, thus improving the cleaning result.

[0040] The cleaning machine using this working method, in addition to achieving the aforementioned technical effects, can also use the water inside the cleaning machine to enter the motor to cool it down, preventing the motor from overheating and improving the safety of motor use. Attached Figure Description

[0041] Figure 1 This is a cross-sectional view of the motor in an embodiment of the present invention.

[0042] Figure 2 This is a rotor structure diagram in an embodiment of the present invention.

[0043] Figure 3 This is a flowchart illustrating the working method of the cleaning machine in an embodiment of the present invention.

[0044] Figure 4 This is a graph showing the peak phase current curves of the motor of the cleaning machine under different cleaning conditions in an embodiment of the present invention. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0046] The cleaning machine working method in this embodiment can be applied to a cleaning machine.

[0047] The cleaning machine typically includes an inner tank with a cleaning chamber. It also includes a motor 100, a memory, and a processor. The specific location of the motor 100 is set according to specific needs; for example, the cleaning machine structure disclosed in the applicant's patents can be used. The rotation of the motor 100 enables water pumping and water spraying.

[0048] The motor 100 is electrically connected to the processor and thus operates under the processor's control. In this embodiment, the motor 100 employs a water-cooling design. Figure 1 As shown, the motor 100 typically includes a housing 1 and a rotating shaft 2, a stator 3, and a rotor 4 housed within the housing 1. The rotating shaft 2 extends outward and protrudes from one end of the housing 1. The rotor 4 is mounted on the rotating shaft 2 and rotates synchronously with it. The stator 3 is sealed around the outer periphery of the rotor 4. The stator 3 typically employs a coil structure, and to prevent water ingress into the coil, it is sealed with potting compound. When the electronic coil is energized, the interaction between the stator 3 and the rotor 4 drives the rotor 4 to rotate, which in turn drives the rotating shaft 2 to rotate, thus achieving the desired drive.

[0049] To allow water to enter the gap 12 between the rotor 4 and the stator 3 for cooling the motor 100, a water inlet 11 is formed on the housing 1 corresponding to the position where the shaft 2 passes through, communicating with the gap 12. To prevent impurities in the cleaning water from entering the motor 100, a filter screen 5 is installed over the water inlet 11 to filter impurities. When the motor 100 rotates, the operating parameters of the motor 100 will change depending on the amount of solid impurities filtered by the filter screen 5. In addition, a first temperature sensor 6, which is electrically connected to the processor, is embedded in the stator 3. The first temperature sensor 6 detects the temperature of the stator 3 coil, thereby determining whether the motor 100 is overheating. Furthermore, to detect the water temperature inside the cleaning machine during cleaning, a second temperature sensor, which is electrically connected to the processor, is installed in the cleaning chamber of the cleaning machine to detect the water temperature inside the cleaning chamber.

[0050] In addition, such as Figure 2 As shown, in this embodiment, a helical groove 41 is provided circumferentially on the outer wall of the rotor 4. The helical groove 41 enables the rotor 4 to form an axial flow structure. Thus, when the rotor 4 rotates in one direction, it can draw water from the cleaning chamber into the gap 12 inside the motor 100; when the rotor 4 rotates in the other direction, it can discharge the water from the gap 12 inside the motor 100. That is, the forward and reverse rotation control of the motor 100 enables water intake and drainage of the motor 100. In this embodiment, when the motor 100 rotates forward, water in the cleaning chamber is drawn into the gap 12 inside the motor 100; when the motor 100 rotates in reverse, the water in the gap 12 inside the motor 100 is discharged.

[0051] The memory stores computer instructions that enable the cleaning machine to operate as described below. The processor executes the computer instructions in the memory to perform the cleaning machine operation as described below.

[0052] The cleaning machine can operate using the following cleaning machine working methods.

[0053] The present invention also relates to a computer-readable storage medium storing computer instructions for causing a computer to perform the cleaning machine operation method described below.

[0054] like Figure 3 As shown, the cleaning machine structure applicable to the working method of the cleaning machine in this embodiment is as follows: the motor 100 in the cleaning machine has a water inlet 11, and there is a gap 12 between the stator 3 and the rotor 4 of the motor 100 that communicates with the water inlet 11. A filter screen 5 is provided on the water inlet 11. That is, the cleaning machine can be the cleaning machine as described above.

[0055] The working method of the cleaning machine in this embodiment includes the following steps.

[0056] When the cleaning machine is working, the level of contaminants at the filter screen 5 is determined based on the operating parameters of the motor 100, thereby determining the cleaning efficiency. Since the motor 100 has water-permeable gaps 12, the operating parameters of the motor 100 will change depending on the different levels of contaminant accumulation at the filter screen 5. The contaminants accumulated at the filter screen 5 originate from the water in the cleaning chamber, thus reflecting the turbidity of the water in the cleaning chamber. Therefore, the cleaning efficiency can be determined by the operating parameters of the motor 100. In other words, the cleaning efficiency can be determined solely by the operating parameters of the motor 100. On the one hand, cleaning machines using this method do not require a turbidity sensor, reducing costs. On the other hand, even when a turbidity sensor is installed, it can assist in determining the cleaning efficiency, improving the cleaning effect.

[0057] Specifically, in this embodiment, the contaminant status at the filter 5 location is determined based on the phase current parameters of the motor 100. The phase current parameters of the motor 100 specifically include the rate of change of the phase current peak value and the maximum value of the phase current peak value. Of course, based on the correlation of the motor 100's operating parameters, other operating parameters of the motor 100 can also be used after conversion.

[0058] When judging the contaminant status at the filter 5 position based on the working parameters of motor 100, a constant power control method is used to control motor 100 to work.

[0059] First, under the condition of no contamination inside the cleaning machine, that is, no solid contaminants inside the cleaning machine. This contamination-free condition is usually achieved when the cleaning machine is used for the first time, without any items to be cleaned. A set water volume G0 is added to the cleaning machine. The set water volume G0 is usually less than the water volume used in each stage of the cleaning process. This facilitates the collection and comparison of motor 100 operating parameters under the same water load conditions during the cleaning operation. The motor 100 is controlled to rotate forward at the set maximum speed Vmax. When the motor 100 rotates forward, the water in the cleaning chamber is drawn into its internal cavity. Simultaneously, the corresponding peak current curve of the first phase of the motor 100 is recorded. This peak current curve of the first phase of the motor 100 is shown below. Figure 4 As shown in curve ②, the peak value of the 100-phase current of the motor gradually increases over time and eventually stabilizes at Imax1. The corresponding rate of change of the phase current value corresponding to the peak value curve of the first 100-phase current is V1, and the maximum phase current corresponding to the peak value curve of the first 100-phase current is I1 = Imax1. Specifically, the rate of change of the phase current value V1 varies at different time points. The following comparisons can be made based on the rate of change of the phase current value at each time point.

[0060] During the cleaning operation, the water volume G0 is controlled to be introduced into the cleaning machine to maintain the same water volume as under conditions of no contamination, thus ensuring that the load on motor 100 is basically consistent. Motor 100 is controlled to rotate forward at the set maximum speed Vmax, and the corresponding peak phase current curve of the second motor 100 is recorded. The rate of change of the phase current value corresponding to the peak phase current curve of the second motor 100 is V2, and the maximum phase current corresponding to the peak phase current curve of the second motor 100 is I2.

[0061] The peak current curves of the 100 phases of the second motor are compared with those of the 100 phases of the first motor.

[0062] If V2 < V1, and I2 = Imax1, where Imax1 is the stable peak value of the phase current of motor 100 when the motor 100 can be completely filled with water. The corresponding peak current curve of the second motor 100 in this case is shown below. Figure 4 As shown in curve ③, compared to the peak current curve of the first motor 100 phases, the peak current of the motor 100 phases changes at a slower rate, and the peak current eventually stabilizes at Imax1. This indicates that a certain amount of solid contaminants have accumulated on the filter 5, which slows down the rate at which water enters the gap 12 inside the motor 100, although it is still possible to completely fill the gap 12 inside the motor 100 with water. Based on this, the level of solid contaminants inside the cleaning machine is determined to be Level 1.

[0063] If V2 < V1, and Imax1 < I2 < Imax2, where Imax2 is the stable peak value of the phase current of motor 100 when water cannot enter the motor 100, and Imax2 > Imax1, the corresponding peak current curve of the second motor 100 is as follows: Figure 4 As shown in curve ④, compared to the peak current curve of the first 100 phases of the motor, the peak current of the 100 phases of the motor changes at a slower rate. Figure 4 Curve ③ shown indicates that the rate of change of the peak current of motor 100 phases slowed down further in the early stage. Furthermore, considering the condition that Imax1 < I2 < Imax2, it indicates that solid contaminants caused filter 5 to become clogged in the later stage, preventing complete water intake into motor 100. Based on this, the level of solid contaminants inside the cleaning machine is determined to be Level 2.

[0064] If V2 > V1 and I2 = Imax2, the peak current curve of the 100 phases of the second motor in this case is as follows: Figure 4 As shown in the first curve, compared to the peak current curve of the first motor 100 phases, the peak current of the motor 100 phases changes faster and can reach the stable value that the peak current of the motor 100 phases eventually reaches when water cannot enter the motor 100, indicating that the filter 5 is completely blocked. Based on this, the level of solid contaminants in the cleaning machine is determined to be level 3.

[0065] After determining the level of solid contaminants within the cleaning machine, the cleaning efficiency can be determined based on this level. A higher level of solid contaminant indicates a lower level of cleaning efficiency. The levels are designated as 1, 2, 3, etc., with larger numbers indicating lower cleaning efficiency.

[0066] As can be seen from the above, the cleaning degree of the cleaning machine can be judged by the working parameters of the motor 100. Thus, the cleaning machine using this method does not need to be equipped with a sensor to detect the cleaning degree of the cleaning machine to ensure normal cleaning operation.

[0067] After determining the cleaning degree of the cleaning machine based on the aforementioned method, since there is only G0 water in the cleaning chamber at this time, it is necessary to continue to add water to the cleaning machine until the water volume required for the current cleaning operation is reached, and then the cleaning operation of the cleaning machine is carried out.

[0068] To improve cleaning effectiveness, the cleaning parameters for the current cleaning cycle can be determined based on the cleaning machine's cleaning performance. These parameters include motor speed (100 rpm), water volume, cleaning temperature, and cleaning time. Depending on the specific application, some cleaning parameters for that cycle can be selectively modified based on the cleaning machine's cleaning performance. The required water volume for this cleaning cycle can be the originally set volume or the volume modified based on the cleaning performance.

[0069] During the originally planned final cleaning cycle, the determination of whether to add an additional cleaning cycle is based on the cleaning performance achieved in that cycle. If the fluctuation of the peak current curve of the second motor's 100 phases is within a smaller range compared to the peak current curve of the first motor's 100 phases, the cleaning performance is considered good, and no additional cleaning cycle is needed after the final cycle. Otherwise, an additional cleaning cycle is required to improve the cleaning performance.

[0070] When performing an additional cleaning cycle, the system determines the level of contaminants at the filter 5 position based on the operating parameters of the motor 100. This determines the cleaning efficiency of the cleaning machine for that cycle and whether to add another cleaning cycle based on the cleaning efficiency. This process is repeated until the cleaning efficiency of the cleaning machine meets the requirements or the number of additional cleaning cycles N exceeds a preset threshold N0. If the number of additional cleaning cycles reaches N0, it indicates a potential malfunction in the cleaning machine, prompting the user to request maintenance.

[0071] In addition, when performing an additional cleaning step, determine the cleaning parameters corresponding to the new cleaning step using one of the methods described below.

[0072] Method 1: Clean directly according to the cleaning parameters corresponding to the newly added cleaning work.

[0073] Method 2: Determine the cleaning parameters for this cleaning operation based on the cleaning performance of the cleaning machine used in the previous cleaning operation.

[0074] Method 3: Re-evaluate the contaminant status at position 5 of the filter screen based on the operating parameters of motor 100, and then determine the cleaning efficiency of the cleaning machine corresponding to this cleaning operation. Based on the cleaning efficiency of the cleaning machine corresponding to this cleaning operation, determine the cleaning parameters for this cleaning operation.

[0075] To maintain the cleanliness of the inside of the motor 100 and prevent bacterial growth and contamination of the cleaning chamber due to water retention, the motor 100 is reversed after each cleaning cycle to drain the water from the internal gap 12. In this embodiment, the motor 100 is reversed at a set speed V for a set duration t2 to drain the water from the gap 12.

[0076] During the operation of the cleaning machine, due to the heat generated by the motor 100 itself and the impact of the heating and cleaning process on the motor 100, the motor 100 may overheat. To ensure the safe operation of the motor 100, its temperature needs to be limited to its maximum allowable temperature range. During control, to avoid detection only when the motor 100 reaches its maximum allowable temperature, a safe temperature threshold below the maximum allowable temperature is usually set. When the motor 100 temperature reaches this safe temperature threshold, its internal temperature needs to be cooled down to prevent overheating.

[0077] Normally, even when heated, the water in the cleaning chamber will be below the set safe temperature threshold. However, in this embodiment, the motor 100 has a gap 12 that allows water to enter. Therefore, the water in the cleaning chamber can enter the gap 12 in the motor 100 to cool the motor 100, ensuring the reliability and safety of the motor 100's operation.

[0078] In this embodiment, when the cleaning machine is working, the internal temperature Tj of the motor 100 and the water temperature Ts in the cleaning chamber are detected in real time. When Tj ≥ T0, T0 is the safe temperature threshold of the motor 100. Then, the motor 100 is controlled to alternately rotate in reverse and forward to refresh the water entering the motor 100 until Tj = Ts. Usually, Ts < T0. Therefore, this process can effectively cool down the motor 100 and ensure the reliability and safety of the motor 100.

[0079] Furthermore, when performing a cleaning operation with a cleaning time of t0, if Tj≥T0, first compare Tj and Ts.

[0080] If Ts / Tj≤ε, where ε is the set proportional coefficient, 0<ε<1, such as ε=0.6, it means that the internal temperature of motor 100 is significantly different from the water temperature in the cleaning chamber. The water in the cleaning chamber can quickly cool down motor 100. In this case, the cleaning process continues, while controlling motor 100 to alternately rotate in reverse and forward to refresh the water entering motor 100 until Tj=Ts, thereby achieving the cooling of motor 100.

[0081] If Ts / Tj > ε, it is determined that the temperature difference between the internal temperature of motor 100 and the water temperature in the cleaning chamber is too small, and drainage is then performed, thus ending the cleaning process. The actual cleaning time t of this cleaning process is recorded; a compensatory cleaning process is then performed based on the cleaning time t.

[0082] The method for compensatory cleaning is as follows.

[0083] Calculate t / t0; if t / t0 > σ, where σ is the set time ratio value, 0.5 < σ < 1, e.g., σ = 0.9. t0 is the set working time for this cleaning cycle. If the actual cleaning time t is close to the set working time for this cleaning cycle, the cleaning cycle is basically completed, and no further cleaning is needed. In this case, the cleaning cycle is considered complete. Otherwise, control the cleaning machine to refill with water and continue the cleaning process for a period of t0 - t, thus ensuring the cleaning effect.

[0084] The cleaning machine operating method of this invention utilizes a water-permeable gap 12 within the motor 100. Therefore, the operating parameters of the motor 100 change based on the varying levels of contaminant accumulation at the filter screen 5. Since the contaminants accumulated at the filter screen 5 originate from the water within the cleaning chamber, this reflects the turbidity of the water in the cleaning chamber. Thus, the cleaning effectiveness can be determined by observing the operating parameters of the motor 100. In other words, the cleaning effectiveness can be judged solely by the motor 100's operating parameters. Firstly, cleaning machines using this method do not require a turbidity sensor, reducing costs. Secondly, even when a turbidity sensor is installed in the cleaning machine, it can assist in determining the cleaning effectiveness, improving the overall cleaning result.

[0085] The cleaning machine using this cleaning method, in addition to achieving the aforementioned technical effects, can also cool down the motor 100 by allowing water inside the cleaning machine to enter the motor 100, thereby preventing the motor 100 from overheating and improving the safety of the motor 100 in use.

Claims

1. A method for operating a cleaning machine, characterized in that: The motor (100) in the cleaning machine has a water inlet (11), and there is a gap (12) between the stator (3) and the rotor (4) of the motor (100) that communicates with the water inlet (11). A filter screen (5) is provided on the water inlet (11); a spiral groove (41) is provided on the outer wall of the rotor (4) along the circumferential direction. When the cleaning machine is working, the contaminant status at the filter screen (5) is determined based on the phase current parameters of the motor (100), thereby determining the cleaning degree of the cleaning machine.

2. The working method of the cleaning machine according to claim 1, characterized in that: The phase current parameters of the motor (100) include the rate of change of the phase current peak value and the maximum value of the phase current peak value.

3. The working method of the cleaning machine according to claim 2, characterized in that: The motor (100) is controlled to work using a constant power control method; Under the condition that there is no pollution in the cleaning machine, water of a set volume G0 is introduced into the cleaning machine, and the motor (100) is controlled to rotate forward at the set maximum speed. At the same time, the peak curve of the phase current of the first motor (100) is recorded. The rate of change of the phase current value corresponding to the peak curve of the phase current of the first motor (100) is V1, and the maximum phase current I1 corresponding to the peak curve of the phase current of the first motor (100) is Imax1. When the cleaning machine is cleaning, first control the water to enter the cleaning machine with a set water volume G0, control the motor (100) to rotate forward at the set maximum speed, and at the same time record the corresponding second motor (100) phase current peak curve. The rate of change of the phase current value corresponding to the second motor (100) phase current peak curve is V2, and the maximum phase current corresponding to the second motor (100) phase current peak curve is I2. The peak current curves of the second motor (100 phases) are compared with those of the first motor (100 phases); If V2 < V1 and I2 = Imax1, then the solid contaminant level inside the cleaning machine is determined to be Level 1. If V2 < V1, and Imax1 < I2 < Imax2, Imax2 > Imax1, then the solid contaminant level in the cleaning machine is determined to be level 2. If V2 > V1 and I2 = Imax2, then the solid contaminant level inside the cleaning machine is determined to be level 3. The cleaning efficiency of the cleaning machine is then determined based on the level of solid contaminants within it; the higher the level of solid contaminants, the worse the cleaning efficiency.

4. The working method of the cleaning machine according to claim 3, characterized in that: After determining the cleaning level of the cleaning machine, continue to add water to the cleaning machine until the required amount of water is available for the current cleaning cycle, and then carry out the cleaning operation.

5. The method of operating the cleaning machine according to any one of claims 1 to 4, characterized in that: The cleaning parameters for the current cleaning cycle are determined based on the cleaning efficiency of the cleaning machine.

6. The method of operating the cleaning machine according to any one of claims 1 to 4, characterized in that: During the final cleaning cycle, determine whether to add an additional cleaning cycle based on the cleaning effect achieved by the cleaning machine in the previous cleaning cycle.

7. The working method of the cleaning machine according to claim 6, characterized in that: When performing an additional cleaning operation, the contaminant status at the filter screen (5) is determined based on the working parameters of the motor (100), and the cleaning efficiency of the cleaning machine corresponding to the cleaning operation is determined. Based on the cleaning efficiency of the cleaning machine, it is determined whether to add another cleaning operation. This process is repeated until the cleaning efficiency of the cleaning machine meets the requirements or the number of additional cleaning operations N exceeds the preset threshold N0.

8. The working method of the cleaning machine according to claim 6, characterized in that: When performing an additional cleaning step, clean directly according to the cleaning parameters set for the new cleaning step; or The cleaning parameters for this cleaning cycle are determined based on the cleaning efficiency of the cleaning machine used in the previous cleaning cycle; or The contaminant status at the filter screen (5) is re-evaluated based on the working parameters of the motor (100), and the cleaning efficiency of the cleaning machine corresponding to this cleaning operation is determined. The cleaning parameters of this cleaning operation are then determined based on the cleaning efficiency of the cleaning machine corresponding to this cleaning operation.

9. The method of operating the cleaning machine according to any one of claims 1 to 4, characterized in that: When the cleaning machine is working, the internal temperature Tj of the motor (100) is detected and acquired in real time, and the water temperature Ts in the cleaning chamber is detected in real time. When Tj≥T0, T0 is the safe temperature threshold of the motor (100). Then the motor (100) is controlled to alternately reverse and forward, thereby updating the water entering the motor (100) until Tj=Ts.

10. The working method of the cleaning machine according to claim 9, characterized in that: Perform a cleaning operation with a cleaning time of t0. When Tj ≥ T0, compare Tj and Ts. If Ts / Tj≤ε, where ε is the set proportional coefficient, 0<ε<1, then the cleaning work continues, and the motor (100) is controlled to alternately reverse and forward, thereby updating the water entering the motor (100) until Tj=Ts; If Ts / Tj>ε, it is determined that the temperature difference between the internal temperature of the motor (100) and the water temperature in the cleaning chamber is too small, and drainage is carried out. The actual cleaning time t of this cleaning operation is recorded. Based on the cleaning time t, a compensation cleaning operation is carried out for this cleaning operation.

11. The working method of the cleaning machine according to claim 10, characterized in that: The method for compensating for cleaning work is as follows: Calculate t / t0. If t / t0 > σ, where σ is the set time ratio value, 0.5 < σ < 1, and t0 is the set working time for this cleaning operation, then the cleaning operation is determined to be completed. Otherwise, control the cleaning machine to refill with water and continue the cleaning operation for a period of t0 - t.

12. The method of operating the cleaning machine according to any one of claims 1 to 4, characterized in that: After each cleaning cycle is completed, the control motor (100) is reversed to discharge the water in the internal gap (12) of the motor (100).

13. The working method of the cleaning machine according to claim 12, characterized in that: Control the motor (100) to reverse for a set time t2 according to the set speed V.

14. A cleaning machine, comprising a motor (100), a memory, and a processor, wherein the motor (100) is electrically connected to the processor, characterized in that: The motor (100) includes a housing (1) and a rotating shaft (2), a stator (3), and a rotor (4) disposed within the housing (1). The rotating shaft (2) extends out from one end of the housing (1), and the rotor (4) is sleeved on the rotating shaft (2). The stator (3) is sealed on the outer periphery of the rotor (4) and has a gap (12) between it and the rotor (4). A helical groove (41) is provided circumferentially on the outer wall of the rotor (4). A water inlet (11) is formed on the housing (1) corresponding to the position where the rotating shaft (2) extends out and is connected to the gap (12). A filter screen (5) is provided on the water inlet (11). The memory stores computer instructions. The processor executes the computer instructions to perform the cleaning machine working method according to any one of claims 1-13.

15. The cleaning machine according to claim 14, characterized in that: The stator (3) is embedded with a first temperature sensor (6) that is electrically connected to the processor, and the cleaning chamber of the cleaning machine is equipped with a second temperature sensor that is electrically connected to the processor.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions for causing a computer to perform the cleaning machine operation method according to any one of claims 1-13.

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