Method for detecting dirtiness and cleaning apparatus

Abstract

A turbidity detection method and a cleaning device. A detection device is added on a flow path of turbid fluid sucked by the cleaning device, and the detection device is added on the cleaning device. The detection device can detect the turbid fluid to obtain a detection signal. A control module can determine a bubble concentration in the turbid fluid and an initial turbidity of the turbid fluid based on the detection signal of the detection device; and correct the initial turbidity by using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid. When detecting the turbidity of the fluid, the influence of the bubbles in the fluid on the physical properties of the fluid is considered, which helps to reduce the influence of the bubbles in the turbid fluid on the turbidity detection accuracy, and further helps to improve the accuracy of the turbidity detection of the fluid.

Description

Technical Field

[0001] This application relates to the field of household appliance technology, and in particular to a method for detecting turbidity and a cleaning device. Background Technology

[0002] Currently, cleaning equipment is widely used in daily life. People can use cleaning equipment with different functions to complete corresponding cleaning tasks, such as using washing machines to wash clothes, using eyeglass cleaning machines to clean eyeglasses, and using floor cleaning machines to clean floors.

[0003] In practical applications, the cleanliness of the object being cleaned can be determined by detecting the turbidity of the contaminated fluid recovered by the cleaning equipment. In existing technologies, the turbidity of liquids, solid-liquid mixtures, or solid-liquid-gas mixtures can be detected using their light transmittance. However, the inventors have found that in practical applications, not only do impurities in the fluid affect its light transmittance, but air bubbles in the fluid also affect it, resulting in low accuracy when using light transmittance to detect turbidity. Summary of the Invention

[0004] This application provides a method and cleaning equipment for detecting turbidity, thereby improving the accuracy of fluid turbidity detection.

[0005] This application provides a cleaning device, including: a cleaning brush, a suction channel, and a recovery bin connected in sequence; the cleaning device further includes: a detection device and a control module; the detection device is disposed on the flow path of the turbid fluid; The control module is used to determine the bubble concentration and initial turbidity in the turbid fluid based on the detection signal of the detection device; and to correct the initial turbidity using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid.

[0006] This application also provides a method for detecting turbidity, applicable to cleaning equipment, including: Acquire detection signals from detection devices deployed along the flow path of the contaminated fluid recovered by the cleaning equipment; Based on the detection signal, the bubble concentration and initial turbidity of the contaminated fluid are determined; The initial turbidity is corrected by the concentration of air bubbles in the turbid fluid to obtain the turbidity of the turbid fluid.

[0007] In this embodiment, a detection device is added to the flow path of the contaminated fluid drawn in by the cleaning equipment, and a detection device is also added to the cleaning equipment. The detection device can detect the contaminated fluid and obtain a detection signal. Based on the detection signal from the detection device, the control module can determine the bubble concentration and the initial turbidity of the contaminated fluid; and use the bubble concentration in the contaminated fluid to correct the initial turbidity to obtain the turbidity of the contaminated fluid. In this embodiment, when detecting fluid turbidity, the influence of bubbles in the fluid on the fluid's physical properties is taken into account, which helps to reduce the impact of bubbles in the contaminated fluid on the accuracy of turbidity detection, thereby helping to improve the accuracy of fluid turbidity detection. Attached Figure Description

[0008] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1a This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application; Figures 1b-1f This is a schematic diagram illustrating the configuration of the detection device provided in the embodiments of this application; Figure 1g This is a schematic diagram of the structural principle of the turbidity detection circuit provided in the embodiments of this application; Figure 2 This is a schematic flowchart of the turbidity detection method provided in the embodiments of this application. Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0010] To address the issue of low accuracy in existing fluid turbidity detection technologies, some embodiments of this application add a detection device to the flow path of the turbid fluid drawn in by the cleaning equipment, and also add a detection device to the cleaning equipment itself. The detection device can detect the turbid fluid and obtain a detection signal. The control module can determine the bubble concentration and the initial turbidity of the turbid fluid based on the detection signal, and correct the initial turbidity using the bubble concentration to obtain the final turbidity. In these embodiments, the influence of bubbles on the physical properties of the fluid is considered during turbidity detection, which helps reduce the impact of bubbles on the accuracy of turbidity detection, thereby improving the accuracy of fluid turbidity detection.

[0011] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0012] It should be noted that the same reference numerals denote the same object in the following figures and embodiments. Therefore, once an object is defined in one figure or embodiment, it does not need to be discussed further in subsequent figures and embodiments.

[0013] Figure 1a This is a schematic diagram of a cleaning device provided in an embodiment of this application. Figure 1a As shown, the cleaning device S10 includes a cleaning brush 11, a suction channel 12, and a collection bin 13 connected in sequence; the dirty fluid on the object being cleaned is sucked by the nozzle 11a on the cleaning brush 11 and sent into the collection bin 13 through the suction channel 12.

[0014] The cleaning device S10 also includes a water outlet pipe and a solution tank 17 connected in sequence to the nozzle of the cleaning brush 11. Clean fluid in the solution tank 17 is delivered to the nozzle via the water outlet pipe for spraying onto the object being cleaned. The main motor in the cleaning device S10 drives the cleaning brush 11 to perform cleaning operations on the object. During the cleaning process, the clean fluid may become contaminated with dirt from the object, resulting in dirty fluid. Figure 1a As shown by the dashed line, the turbid fluid flows from the suction nozzle 11a on the cleaning brush 11 through the suction channel 12 into the collection bin 13, forming a flow path for the turbid fluid. In this embodiment, the turbid fluid may be a fluid, a solid-liquid mixture, or a solid-liquid-gas mixture.

[0015] In this embodiment, Figure 1a The implementation of the cleaning device S10 shown is merely illustrative. The cleaning device S10 can be a self-propelled mobile cleaning device, or it can be... Figure 1aThe handheld cleaning device shown is further described. The cleaning device S10 can be a cleaning machine for cleaning areas such as floors, carpets, walls, ceilings, or glass, but is not limited to this.

[0016] In this embodiment, considering that fluids with different levels of turbidity have different physical properties, these properties can be optical or electrical. Specifically, the optical properties of a fluid can be one or more of light transmittance, refractive index, and reflectivity. Correspondingly, fluids with different levels of turbidity have different transmittance, refractive index, and reflectivity. For example, the higher the turbidity of a fluid, the lower its light transmittance. The electrical properties of a fluid can be its dielectric constant, conductivity, or resistance. Fluids with different levels of turbidity have different electrical properties. Based on this, the cleaning device S10 may include a control module 20 and a detection device 15.

[0017] In this embodiment, the detection device 15 is disposed in the flow path of the contaminated fluid. The detection device 15 is electrically connected to the control module 20. The detection device 15 can detect the contaminated fluid to obtain a detection signal and provide the detection signal to the control module 20.

[0018] For the detection device 15, the turbidity of the turbid fluid varies, resulting in different physical properties and thus different intensity of the detection signal obtained by the detection device 15. Based on this, the control module 20 can determine the initial turbidity of the turbid fluid based on the detection signal of the detection device 15.

[0019] In practical applications, air bubbles are often present in fluids, and these bubbles affect the fluid's physical properties. For example, air bubbles can block light, reducing the fluid's transmittance and increasing its reflectivity. For fluids without air bubbles, the detection signal fluctuates less. For fluids with air bubbles, the bubbles affect the fluid's physical properties, leading to greater fluctuations in the detection signal. Since the intensity of the detection signal fluctuates significantly over a period of time for fluids with air bubbles, the detection signal detected by the detection device 15 can reflect the air bubble concentration in the contaminated fluid to some extent. Based on this, the control module 20 can determine the air bubble concentration of the contaminated fluid based on the detection signal.

[0020] Furthermore, the control module 20 can use the bubble concentration of the turbid fluid to correct the initial turbidity of the turbid fluid, thereby obtaining the turbidity of the turbid fluid. Since this embodiment takes into account the influence of bubbles in the fluid on the physical properties of the fluid when detecting the turbidity, it helps to reduce the impact of bubbles in the turbid fluid on the accuracy of turbidity detection, thereby helping to improve the accuracy of fluid turbidity detection.

[0021] In this application embodiment, the specific implementation of the detection device 15 is not limited. In some embodiments, the detection device 15 can detect the optical property values ​​of the turbid fluid and convert the optical property values ​​into electrical signals to provide to the control module 20.

[0022] Optionally, the detection device 15 may be disposed in the cavity of the cleaning brush 11, the nozzle 11a of the cleaning brush 11, the suction channel 12, or the collection bin 13, or may be disposed in multiple of these locations. In the embodiments of this application, "multiple" refers to two or more. For example, the detection device 15 may be disposed in the nozzle 11a and the suction channel 12 of the cleaning brush 11, or at least one detection device 15 may be disposed in the cavity of the cleaning brush 11 and the collection bin 13, etc., but is not limited thereto. Figure 1a The example only shows the detection device 15 being placed within the suction channel 12, and its placement is not limited. Optionally, the number of detection devices 15 placed in each part can be one or more.

[0023] like Figure 1b As shown, the detection device 15 includes a light emitter 15a and a light receiver 15b. The light signal emitted by the light emitter 15a reaches the light receiver 15b after passing through the polluted fluid; the light receiver 15b can convert the arriving light signal into an electrical signal and output it as a detection signal to the control module 20.

[0024] The wavelength of the light emitted by the light emitter 15a is within the detectable wavelength range of the light receiver 15b. The light emitter 15a can be a light emitter of various wavelengths, and correspondingly, the light receiver 15b can be a light receiver capable of receiving the wavelength of the light emitted by the light emitter 15a. Optionally, if the light emitter 15a is an infrared light emitter, the light receiver 15b can be an infrared receiver tube; if the light emitter 15a is a laser emitter, the light receiver 15b can be a laser diode; if the light emitter 15a is an LED light emitter, the light receiver 15b can be a color sensor, etc.; but it is not limited to these.

[0025] The light signal emitted by the light emitter 15a can reach the light receiver 15b after passing through a polluted fluid. Optionally, such as... Figure 1b As shown, the light transmitter 15a and the light receiver 15b can be arranged opposite each other. This arrangement means that the light-receiving surface of the light receiver 15b is opposite the light transmitter 15a via a contaminated fluid; that is, the light emitted by the light transmitter 15a is transmitted through the contaminated fluid to reach the light receiver 15b. In this way, the light signal emitted by the light transmitter 15a can reach the light receiver 15b after being transmitted through the contaminated fluid.

[0026] Or, such as Figure 1cAs shown, the light emitter 15a and the light receiver 15b can be arranged on the same side. The arrangement of the light emitter 15a and the light receiver 15b opposite each other means that the light-receiving surface of the light receiver 15b is located on the same side of the polluted fluid as the light emitter 15a. That is, the light emitted by the light emitter 15a is reflected by the polluted fluid and reaches the light receiver 15b. In this way, the light signal emitted by the light emitter 15a can reach the light receiver 15b after being reflected by the polluted fluid.

[0027] In this embodiment of the application, for ease of description and distinction, the cleaning device S10 is described as operating upright. Figure 1a When the working state is shown, the part that the center of gravity of each component points to is defined as the bottom of that component. For example, the part of the recycling bin 13 that the center of gravity of the recycling bin 13 points to is defined as the bottom of the recycling bin 13. Furthermore, when the cleaning device S10 is working, the part that the forward direction of the cleaning device S10 points to in each component is defined as the front A of that component; correspondingly, the side of each component that is opposite to the forward direction of the cleaning device S10 is defined as the back B of that component; thus, the left and right sides of each component are also defined.

[0028] Based on the front-back and left-right orientations of the aforementioned components, for the suction channel 12, the light emitter 15a and the light receiver 15b are positioned opposite each other. This can be understood as the light emitter 15a and the light receiver 15b being positioned at the front and back of the suction channel, respectively; or at the left and right sides of the suction channel, respectively. If the light emitter 15a and the light receiver 15b are positioned on the same side, this can be understood as the light emitter 15a and the light receiver 15b being positioned at the front, back, left, or right side of the suction channel.

[0029] For the recycling bin 13, the light emitter 15a and the light receiver 15b can be respectively installed on the front and back of the recycling bin 13. Figure 1d (As shown); or the light emitter 15a and the light receiver 15b can be placed on the left and right sides of the recycling bin 13, respectively. Figure 1e (As shown). The light transmitter 15a and the light receiver 15b are arranged on the same side, which can be understood as the light transmitter 15a and the light receiver 15b being arranged in front, back, left or right of the recycling bin 13. Figure 1f The example shown only assumes that both the light emitter 15a and the light receiver 15b are located on the left side of the recycling bin 13. Preferably, both the light emitter 15a and the light receiver 15b are located at the bottom of the recycling bin 13, which helps to improve the detection rate of the optical property values ​​of the contaminated fluid. The structural form of the recycling bin 13 is merely illustrative and is not intended to limit its application.

[0030] In this embodiment, the light signal emitted by the light emitter 15a can reach the light receiver 15b after passing through a polluted fluid. The light receiver 15b converts the arriving light signal into an electrical signal, which can be output as a detection signal to the control module 20. The electrical signal output by the light receiver 15b is an analog signal, such as an analog voltage. Because fluids with different levels of turbidity have different optical properties, when the intensity of the light signal emitted by the light emitter 15a is stable, the intensity of the light signal reaching the light receiver 15b after passing through different levels of turbidity will also be different. Consequently, the intensity of the light signal received by the light receiver 15b will differ, resulting in different values ​​of the converted electrical signals. Based on this, the control module 20 can determine the initial turbidity of the polluted fluid according to the electrical signal.

[0031] In practical applications, air bubbles are often present in fluids, and these bubbles affect the fluid's optical properties. For example, air bubbles in a fluid can block light, reducing the fluid's transmittance and increasing its reflectivity. For fluids without air bubbles, the fluctuations in the fluid's optical properties are relatively small. Therefore, the fluctuations in the light signal received by the light receiver 15b are relatively small, and consequently, the fluctuations in the electrical signal converted from the received light signal by the light receiver 15b are also relatively small. For fluids containing air bubbles, since the air bubbles also block light, the optical properties of the light signal emitted by the light emitter 15b change significantly after passing through the air bubbles, resulting in larger fluctuations in the light signal received by the light receiver 15b. Consequently, the fluctuations in the electrical signal converted from the received light signal by the light receiver 15b are also larger. Because the intensity of the light signal received by the light receiver 15b fluctuates significantly over a period of time for fluids with air bubbles, the fluctuations in the electrical signal output by the light receiver 15b are also large. Therefore, the electrical signal output by the visible light receiver 15b can reflect the air bubble concentration in the fluid to some extent. Based on this, the control module 20 can determine the air bubble concentration of the polluted fluid based on the electrical signal.

[0032] Furthermore, the control module 20 can use the bubble concentration of the turbid liquid to correct its initial turbidity and obtain the turbidity of the turbid fluid.

[0033] The cleaning device provided in this embodiment takes into account the influence of air bubbles in the fluid on the optical properties of the fluid when detecting the turbidity of the turbid fluid. This helps to reduce the impact of air bubbles in the turbid fluid on the accuracy of turbidity detection, thereby helping to improve the accuracy of fluid turbidity detection.

[0034] In some embodiments, such as Figure 1a and Figure 1gAs shown, the control module 20 may include a detection circuit 16 and a processing system 14. The detection circuit 16 is electrically connected between the optical receiver 15b and the processing system 14, and the processing system 14 is also electrically connected to the optical receiver 15b. The optical receiver 15b can output electrical signals to the detection circuit 16 and the processing system 14. The detection circuit 16 can convert the electrical signals output by the optical receiver 15b into digital signals and output them to the processing system 14.

[0035] The processing system 14 may include a processor and peripheral circuitry. The processor can be any hardware processing device capable of executing the logic described above. Optionally, the processor can be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Microcontroller Unit (MCU); it can also be a Field-Programmable Gate Array (FPGA), a Programmable Array Logic (PAL), a General Array Logic (GAL), a Complex Programmable Logic Device (CPLD), or other programmable devices; or an Advanced Reduced Instruction Set Computing (RISC) processor (ARM) or a System on Chip (SOC), etc., but is not limited to these. Figure 1g The illustration only shows the processing system 14 including a microprocessor unit (MCU) and does not constitute a limitation.

[0036] In the embodiments of this application, the specific implementation of the detection circuit is not limited. Optionally, as shown... Figure 1g As shown, the detection circuit 16 may include a voltage comparator. One input terminal of the voltage comparator ( Figure 1g (Illustrated with only one input terminal shown), which can be electrically connected to the optical receiver 15b; the other input terminal can be used to input a set voltage threshold. When the voltage value of the electrical signal output by the optical receiver 15b is greater than the set voltage threshold, the voltage comparator outputs a high level; when the voltage value of the electrical signal output by the optical receiver 15b is less than the set voltage threshold, the voltage comparator outputs a low level, thereby converting the electrical signal into a digital signal. Additionally... Figure 1g In the above, resistor R1 is a voltage sampling resistor. The processing system 14 can collect the voltage across resistor R1 as the electrical signal output by the optical receiver 15b.

[0037] Because the intensity of the light signal received by the light receiver 15b fluctuates significantly over a period of time in a fluid containing bubbles, the corresponding fluctuation in the electrical signal output by the light receiver 15b is also large. This fluctuating electrical signal is converted into a square wave signal by the detection circuit 16. The pulses included in the square wave are generated by the light signal passing through the bubbles. The digital signal can reflect the bubble concentration in the fluid to a certain extent. Based on this, the bubble concentration in the turbid fluid can be determined according to the digital signal per unit time.

[0038] Optionally, the processing system 14 can count pulses of the digital signal within a unit time to determine the number of pulses contained in the digital signal within that unit time; wherein, the number of pulses reflects the bubble concentration in the turbid fluid. The more pulses, the greater the bubble concentration in the turbid fluid; the fewer pulses, the smaller the bubble concentration in the turbid fluid. If the number of pulses is 0, the bubble concentration in the turbid fluid is 0, that is, there are no bubbles in the turbid fluid. Here, unit time refers to the detection unit time, which can be determined by the flow rate of the turbid fluid. In this embodiment, the specific value of the unit time is not limited, such as 30s, 1min, 2min, 5min, or 10min, etc., but is not limited to these.

[0039] Accordingly, the processing system 14 can also determine the initial turbidity of the turbid fluid based on the electrical signal per unit time.

[0040] Optionally, when determining the initial turbidity of the turbid fluid, the processing system 14 can calculate the average electrical signal value of the electrical signal per unit time; and use the average electrical signal value to quantify the turbidity of the turbid fluid to obtain the initial turbidity of the turbid fluid.

[0041] In practical applications, considering that the flow path of the turbid fluid itself may also contain a certain degree of dirt, and this dirt can affect the intensity of the light signal received by the optical receiver 15b to some extent, leading to a certain error in the subsequent determination of the turbidity of the turbid fluid. In this embodiment, in order to reduce the impact of the dirt in the flow path of the turbid fluid on the detection results, the cleaning equipment can be calibrated before the cleaning equipment S10 performs the cleaning task on the object being cleaned; and the electrical signal output by the optical receiver 15b during the calibration process can be acquired as the first calibration electrical signal.

[0042] Furthermore, to reduce detection errors, a cleaning fluid test can be performed on the object being cleaned. The cleaning fluid can be the same fluid as the cleaning solution in the solution tank 17 of the cleaning equipment. The cleaning solution can be water or a cleaning liquid. The cleaning fluid test involves using the suction nozzle on the cleaning brush of the cleaning equipment to draw in the cleaning fluid and send it into the recovery tank 13 through the suction channel. During this process, the light signal generated by the light emitter 15a reaches the light receiver 15b after passing through the drawn-in fluid. The light receiver 15b converts the arriving light signal into an electrical signal and outputs it to the processing system 14. The processing system 14 can acquire the electrical signal output by the light receiver 15b during the cleaning fluid test as a second calibration electrical signal.

[0043] Furthermore, the processing system 14 can use the first calibration electrical signal and the second calibration electrical signal to normalize the average electrical signal value of the electrical signal within the aforementioned unit time to obtain the initial turbidity of the turbid fluid. The formula for calculating the initial turbidity can be expressed as: (1) In equation (1), Indicates the initial turbidity of the contaminated fluid; This refers to the electrical signal value output by the optical receiver during the calibration process of the cleaning equipment before the cleaning equipment S10 performs the cleaning task on the cleaning object; that is, the first calibration electrical signal. This represents the electrical signal output by the photodetector during the clean fluid test, i.e., the second calibration electrical signal; This represents the average electrical signal value per unit time during the actual fluid turbidity measurement described above.

[0044] Furthermore, the processing system 14 can correct the initial turbidity using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid. Optionally, the processing system 14 can correct the initial turbidity using the number of pulses N contained in the digital signal per unit time to obtain the turbidity of the turbid fluid, reducing the influence of bubbles in the fluid on turbidity detection. Optionally, the initial turbidity can be subtracted by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid; and / or, the initial turbidity can be divided by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid. The formula for calculating the turbidity of the turbid fluid can be expressed as: (2), or, (3), or, (4) in, The turbidity of the contaminated fluid is indicated by N, which represents the number of pulses contained in the digital signal per unit time. This represents the proportionality coefficient. In equation (4), and These represent the weights of the correction methods in equations (2) and (3) above when correcting for turbidity.

[0045] Among them, the calculation formulas in equations (2), (3) and (4) above, which use the bubble concentration in the turbid fluid to correct the turbidity of the turbid fluid, are only illustrative examples. Other calculation formulas may be used in actual applications.

[0046] For cleaning equipment, the turbidity of the contaminated fluid recovered from the object being cleaned reflects, to some extent, the cleanliness of the object. The higher the turbidity of the contaminated fluid recovered from the object, the dirtier the object is. Based on this, the processing system 14 can determine the cleanliness of the object being cleaned according to the turbidity of the contaminated fluid.

[0047] Optionally, the processing system 14 can match the turbidity of the contaminated fluid with a known correspondence between turbidity and the cleanliness level of the object being cleaned, and determine the cleanliness level corresponding to the turbidity of the contaminated fluid as the cleanliness level of the object being cleaned. The cleanliness level of the object being cleaned reflects its cleanliness.

[0048] Furthermore, the processing system 14 can adjust the operating state of the cleaning equipment S10 according to the cleanliness of the object being cleaned. For example, the processing system 14 can adjust the power of the water pump of the cleaning equipment to a power suitable for the cleanliness of the object being cleaned. Accordingly, the processing system 14 can preset a correspondence between cleanliness level and water pump power. Based on this correspondence, the processing system 14 can determine the power of the water pump according to the cleanliness level of the object being cleaned. Preferably, the higher the cleanliness level, the lower the power of the water pump and the lower the water output of the cleaning equipment, indicating that the object being cleaned is cleaner.

[0049] For example, the processing system 14 can also adjust the power of the main motor and / or floor brush motor of the cleaning equipment to match the cleanliness of the object being cleaned. Accordingly, the processing system 14 can preset a correspondence between cleanliness levels and the power of the main motor and / or floor brush motor. Based on this correspondence, the processing system 14 can determine the power of the main motor and / or floor brush motor according to the cleanliness level of the object being cleaned. Preferably, the higher the cleanliness level, the lower the power of the main motor and / or floor brush motor, and the lower the water absorption capacity of the cleaning equipment, indicating a cleaner object being cleaned. In the embodiments of this application, the main motor draws the dirty fluid through the suction nozzle 11a on the floor brush of the cleaning equipment and sends it into the collection bin of the cleaning equipment through the suction channel on the cleaning equipment. The floor brush motor drives the cleaning brush to clean the object being cleaned.

[0050] For example, the processing system 14 can also adjust the task execution time of the cleaning equipment to match the cleanliness level of the object being cleaned. Accordingly, the processing system 14 can preset a correspondence between cleanliness levels and cleaning times. Based on this correspondence, the processing system 14 can determine the cleaning time according to the cleanliness level of the object being cleaned. Preferably, the higher the cleanliness level, the lower the power of the main motor and / or the floor brush motor, and the shorter the cleaning time, indicating a cleaner object being cleaned.

[0051] Optionally, if the processing system 14 determines that the cleanliness of the object being cleaned meets the standards, it can control the cleaning equipment S10 to stop working. Meeting the cleanliness standards for the object being cleaned can mean that the cleanliness level of the object being cleaned is the highest cleanliness level. Optionally, if the cleanliness level of the object being cleaned is the highest cleanliness level, the processing system 14 can control the water pump, main motor, and / or floor brush motor to stop, etc.

[0052] In other embodiments, the processing system 14 may also output the cleanliness level of the object being cleaned. The cleaning device S10 may include a display component. The processing system 14 can then display the cleanliness level of the object being cleaned via the display component.

[0053] Optionally, the display component may include: an LED display screen, an OLED display screen, or a thin-film LED display screen, etc. Optionally, the display component may include: multiple display tubes. If the multiple display tubes are of different colors, then under the control of the processing system 14, the multiple display tubes can display combinations of different colors, brightness, and shapes (or patterns). The shapes displayed by the multiple display tubes can also be understood as patterns. The combinations of different colors, brightness, and shapes characterize the cleanliness of the cleaning equipment. In this embodiment, the combinations of different colors, brightness, and shapes include: different colors but the same shape; the same color but different shape; the same color but different brightness; the same shape but different brightness; or different colors, brightness, and shapes. The shape displayed by the multiple first display tubes mainly depends on the number and distribution of the first display tubes in the lit state. Of course, besides characterizing the cleanliness of the cleaning object through the combination of colors, brightness, and shapes displayed by the multiple first display tubes, the cleanliness of the cleaning object can also be represented simply by the number of display tubes in the lit state. In an optional embodiment, the cleanliness of the cleaning object is represented by the number of display tubes in the lit state. For example, the more indicator tubes in a lit state among multiple indicator tubes, the lower the cleanliness of the object being cleaned; and so on.

[0054] It is worth noting that the above embodiment... Figures 1a-1g The structure and implementation of the cleaning equipment provided, as well as the form and placement of its components, are merely illustrative and not restrictive. Furthermore, except... Figures 1a-1gIn addition to the components shown, the cleaning device S10 may also include communication components, rollers, drive components, etc., depending on application requirements. Figures 1a-1g Not shown in the image. Figures 1a-1g The diagram only shows some components and does not mean that the cleaning device S10 must include them. Figures 1a-1g The fact that all components are shown does not mean that the cleaning device S10 can only include... Figures 1a-1g The components shown.

[0055] In addition to the cleaning equipment provided in the above embodiments, this application also provides a turbidity detection method. The turbidity detection method provided in this application is described below from the perspective of a processing system.

[0056] Figure 2 This is a schematic flowchart illustrating a turbidity detection method provided in an embodiment of this application. Figure 2 As shown, the method includes: 201. Acquire the detection signal from the detection device deployed on the flow path of the contaminated fluid recovered by the cleaning equipment.

[0057] 202. Based on the detection signal, determine the bubble concentration and initial turbidity of the turbid fluid.

[0058] 203. The initial turbidity is corrected by the concentration of air bubbles in the turbid fluid to obtain the turbidity of the turbid fluid.

[0059] In this embodiment, the cleaning equipment can be a cleaning machine for cleaning areas such as floors, carpets, walls, ceilings, or glass, but is not limited to these. The contaminated fluid is drawn in by the suction nozzle on the cleaning brush of the cleaning equipment and sent into the collection bin of the cleaning equipment through the suction channel. A detection device is positioned in the flow path of the contaminated fluid. For a description of the structure and arrangement of the detection device, please refer to the relevant content of the above embodiments, and it will not be repeated here.

[0060] In this embodiment, a detection device is added to the flow path of the turbid fluid drawn in by the cleaning equipment, and a detection device is also added to the cleaning equipment. The detection device detects the turbid fluid and obtains a detection signal. Accordingly, this detection signal can be acquired, and based on the detection signal, the bubble concentration in the turbid fluid and the initial turbidity of the turbid fluid can be determined. The initial turbidity is corrected using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid. In this embodiment, the influence of bubbles in the fluid on the physical properties of the fluid is taken into account when detecting fluid turbidity, which helps to reduce the impact of bubbles in the turbid fluid on the accuracy of turbidity detection, thereby helping to improve the accuracy of fluid turbidity detection.

[0061] In some embodiments, the detection device includes a light emitter and a light receiver. A light signal emitted by the light emitter travels through a polluted fluid to the light receiver; the light receiver can convert the arriving light signal into an electrical signal. Accordingly, in step 201, the light emitter can be controlled to emit a light signal; this light signal travels through a polluted fluid to the light receiver; furthermore, the electrical signal converted from the arriving light signal by the light receiver can be acquired as the aforementioned detection signal.

[0062] In some embodiments, the cleaning device is further equipped with a detection circuit. The implementation structure and connection method of the detection circuit can be found in the relevant content of the above-described device embodiments. In this embodiment, the detection circuit can receive an electrical signal output by a photodetector and convert the electrical signal into a digital signal. Accordingly, step 202 can be implemented as follows: using the detection circuit to convert the electrical signal into a digital signal; determining the bubble concentration in the turbid fluid based on the digital signal per unit time; and determining the initial turbidity of the turbid fluid based on the electrical signal per unit time.

[0063] Optionally, one possible implementation for determining the bubble concentration in the turbid fluid based on the digital signal per unit time is as follows: pulse counting is performed on the digital signal per unit time to determine the number of pulses contained in the digital signal per unit time; wherein, the number of pulses reflects the bubble concentration in the turbid fluid. The more pulses, the greater the bubble concentration in the turbid fluid; the fewer pulses, the smaller the bubble concentration in the turbid fluid. If the number of pulses is 0, the bubble concentration in the turbid fluid is 0, that is, there are no bubbles in the turbid fluid.

[0064] Optionally, one possible implementation for determining the initial turbidity of a turbid fluid based on the electrical signal per unit time is as follows: calculate the average electrical signal value per unit time; and use the average electrical signal value to quantify the turbidity of the turbid fluid to obtain the initial turbidity of the turbid fluid.

[0065] In practical applications, considering that the flow path of the turbid fluid itself may contain a certain degree of contamination, which can affect the intensity of the light signal received by the optical receiver, leading to errors in the subsequent determination of the turbidity of the fluid. In this embodiment, to reduce the impact of contamination in the flow path of the turbid fluid on the detection results, the cleaning equipment can be calibrated before performing the cleaning task on the object being cleaned; and the electrical signal output by the optical receiver during the calibration process can be obtained as the first calibration electrical signal.

[0066] Furthermore, to reduce detection errors, a cleaning fluid test can be performed on the object being cleaned. The cleaning fluid can be the same fluid as the cleaning solution in the solution tank of the cleaning equipment. The cleaning solution can be water or a cleaning liquid. The cleaning fluid test involves using the suction nozzle on the cleaning brush of the cleaning equipment to draw in the cleaning fluid and send it through a suction channel into a recovery tank. During this process, the light signal generated by the light emitter reaches the light receiver after passing through the drawn-in fluid. The light receiver converts the arriving light signal into an electrical signal and outputs it to the processing system. Accordingly, the electrical signal output by the light receiver during the cleaning fluid test can be acquired as a second calibration electrical signal.

[0067] Furthermore, the average electrical signal value of the electrical signal within the aforementioned unit time can be normalized using the first calibration electrical signal and the second calibration electrical signal to obtain the initial turbidity of the turbid fluid.

[0068] Furthermore, the initial turbidity can be corrected using the bubble concentration in the contaminated fluid to obtain the turbidity of the fluid. Optionally, the initial turbidity can be corrected using the number of pulses N contained in the digital signal per unit time to obtain the turbidity of the fluid, reducing the influence of bubbles in the fluid on turbidity detection. Optionally, the initial turbidity can be subtracted from the number of pulses by a set proportion to obtain the turbidity of the fluid; and / or, the initial turbidity can be divided by the number of pulses by a set proportion to obtain the turbidity of the fluid; and so on.

[0069] For cleaning equipment, the turbidity of the contaminated fluid recovered from the object being cleaned reflects, to some extent, the cleanliness of the object. The higher the turbidity of the contaminated fluid recovered from the object, the dirtier the object. Therefore, the cleanliness of the object can be determined based on the turbidity of the contaminated fluid. Furthermore, the operating status of the cleaning equipment can be adjusted according to the cleanliness of the object. For specific implementation methods of adjusting the operating status of the cleaning equipment based on the cleanliness of the object, please refer to the relevant content of the above-described equipment embodiments, which will not be repeated here.

[0070] In other embodiments, the cleanliness level of the object being cleaned can also be output. Optionally, the cleanliness level of the object being cleaned can be displayed via a display component. For details on how the cleanliness level of the object being cleaned is displayed, please refer to the relevant content in the above-described device embodiments, which will not be repeated here.

[0071] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 201 and 202 can be device A; or the execution subject of step 201 can be device A, and the execution subject of step 202 can be device B; and so on.

[0072] Furthermore, some processes described in the above embodiments and accompanying drawings include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 201, 202, etc., are merely used to distinguish different operations and do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel.

[0073] Accordingly, embodiments of this application also provide a computer-readable storage medium storing computer instructions, which, when executed by one or more processors, cause one or more processors to perform the steps in the above-described turbidity detection method.

[0074] The cleaning equipment provided in this application embodiment can be a cleaning machine for cleaning areas such as floors, carpets, walls, ceilings, or glass, but is not limited thereto. The following describes the turbidity detection method provided in this application embodiment by way of specific application scenarios.

[0075] Application Scenario 1: The cleaning equipment can be implemented as a floor scrubber. In this application scenario, the floor scrubber also includes: a water outlet pipe and a solution tank connected in sequence to the nozzles of the floor brush. The clean fluid in the solution tank is sent to the nozzles through the water outlet pipe for spraying onto the floor.

[0076] The motor in the floor brush drives the brush to clean the floor, and the clean fluid on the floor turns into dirty fluid during the cleaning process. The dirty fluid on the floor can be sucked up by the suction nozzle on the floor brush and sent into the collection bin through the suction channel.

[0077] The detection device, positioned along the flow path of the contaminated fluid, includes a light emitter and a light receiver. The light signal emitted by the emitter travels through the contaminated fluid to the light receiver; the light receiver converts the arriving light signal into an electrical signal and outputs it to the processing system and detection circuit in the floor cleaning machine. The detection circuit then converts the received electrical signal into a digital signal.

[0078] For the processing system in a floor cleaning machine, the initial turbidity of the contaminated fluid can be determined based on the electrical signal per unit time; and the bubble concentration in the contaminated fluid can be determined based on the digital signal per unit time. Furthermore, the initial turbidity can be corrected using the bubble concentration in the contaminated fluid to obtain the final turbidity. The processing system can also determine the cleanliness of the floor based on the turbidity of the contaminated fluid. Because the influence of bubbles on the optical properties of the fluid is considered when detecting turbidity, it helps reduce the impact of bubbles on the accuracy of turbidity detection, thereby improving the accuracy of fluid turbidity detection and, consequently, the accuracy of subsequent floor cleanliness detection.

[0079] Application Scenario 2: The cleaning equipment can be implemented as a window cleaning robot. In this application scenario, the window cleaning robot also includes: a water outlet pipe and a solution tank connected in sequence to the nozzles of the glass cleaning component. The clean fluid in the solution tank is delivered to the nozzles through the water outlet pipe for spraying onto the glass.

[0080] The motor in the glass cleaning unit drives the unit to clean the glass, and the clean fluid on the glass turns into dirty fluid during the cleaning process. The dirty fluid on the glass can be sucked up by the nozzle on the cleaning brush and sent into the collection bin through the suction channel.

[0081] The detection device, positioned along the flow path of the contaminated fluid, includes a light emitter and a light receiver. The light signal emitted by the emitter travels through the contaminated fluid to the light receiver; the light receiver converts the arriving light signal into an electrical signal and outputs it to the processing system and detection circuit in the floor cleaning machine. The detection circuit then converts the received electrical signal into a digital signal.

[0082] For the processing system in a window cleaning robot, the initial turbidity of the contaminated fluid can be determined based on the electrical signal per unit time; and the bubble concentration in the contaminated fluid can be determined based on the digital signal per unit time. Furthermore, the initial turbidity can be corrected using the bubble concentration in the contaminated fluid to obtain the final turbidity of the fluid. The processing system can also determine the cleanliness of the glass based on the turbidity of the contaminated fluid. Because the influence of bubbles on the optical properties of the fluid is considered when detecting the turbidity, the impact of bubbles on the accuracy of turbidity detection is reduced, thus improving the accuracy of fluid turbidity detection and consequently, the accuracy of subsequent glass cleanliness detection.

[0083] It should be noted that the terms "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0084] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0088] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0089] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0090] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0091] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0092] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning device, characterized in that, include: The cleaning brush, suction channel, and recycling bin are connected in sequence. The cleaning equipment also includes: a detection device and a control module; the detection device is disposed in the flow path of the contaminated fluid; The control module is used to determine the bubble concentration and the initial turbidity of the turbid fluid based on the detection signal of the detection device; and to correct the initial turbidity using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid. Wherein, the detection signal is an electrical signal; when the control module determines the bubble concentration in the turbid fluid based on the detection signal from the detection device, it is used to: The electrical signal is converted into a digital signal; pulses are counted on the digital signal per unit time to determine the number of pulses contained in the digital signal per unit time; wherein the number of pulses reflects the bubble concentration in the turbid fluid.

2. The cleaning equipment according to claim 1, characterized in that, The detection device includes a light emitter and a light receiver; wherein the light signal emitted by the light emitter reaches the light receiver after passing through the polluted fluid; the light receiver converts the arriving light signal into an electrical signal, which is then output to the control module as the detection signal.

3. The cleaning equipment according to claim 2, characterized in that, The control module includes: a detection circuit and a processing system; the optical receiver outputs the electrical signal to the detection circuit and the processing system. The detection circuit is used to: convert the electrical signal into a digital signal and output it to the processing system; The processing system is used to: count pulses of a digital signal within a unit time period to determine the number of pulses contained in the digital signal within the unit time period; and determine the initial turbidity of the turbid fluid based on the number of pulses.

4. The cleaning equipment according to claim 3, characterized in that, The processing system, when correcting the initial turbidity using the bubble concentration in the turbid fluid, is specifically used for: The initial turbidity is subtracted by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid; And / or, the initial turbidity is divided by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid.

5. The cleaning equipment according to claim 3, characterized in that, The processing system, in determining the initial turbidity of the contaminated fluid, is specifically used for: Calculate the average electrical signal value per unit time. The turbidity of the turbid fluid is quantified using the average electrical signal value to obtain the initial turbidity of the turbid fluid.

6. The cleaning equipment according to claim 5, characterized in that, The processing system is also used for: Before the cleaning equipment performs a task on the object being cleaned, the cleaning equipment is calibrated; and the electrical signal output by the optical receiver during the calibration process is acquired as the first calibration electrical signal. In addition, the electrical signal output by the optical receiver during the clean fluid test is used as the second calibration electrical signal; The processing system, when quantifying the turbidity of the contaminated fluid using the average electrical signal value, is specifically used for: The average electrical signal value is normalized using the first calibration electrical signal and the second calibration electrical signal to obtain the initial turbidity of the turbid fluid.

7. A method for detecting turbidity, applicable to cleaning equipment, characterized in that, include: Acquire detection signals from detection devices deployed along the flow path of the contaminated fluid recovered by the cleaning equipment; Based on the detection signal, the bubble concentration and initial turbidity of the contaminated fluid are determined; The initial turbidity is corrected using the bubble concentration in the turbid fluid to obtain the turbidity of the turbid fluid; Wherein, the detection signal is an electrical signal; based on the detection signal, determining the bubble concentration of the turbid fluid includes: The electrical signal is converted into a digital signal using a detection circuit; Pulse counting is performed based on the digital signal within a unit time to determine the number of pulses contained in the digital signal within the unit time, wherein the number of pulses reflects the bubble concentration in the turbid fluid.

8. The method according to claim 7, characterized in that, The acquisition of detection signals from detection devices deployed along the flow path of the contaminated fluid recovered by the cleaning equipment includes: The light emitter in the detection device is controlled to emit a light signal; the light signal passes through the polluted fluid and then reaches the light receiver in the detection device. The electrical signal converted from the arriving optical signal by the optical receiver is obtained and used as the detection signal.

9. The method according to claim 8, characterized in that, Based on the detection signal, the initial turbidity of the contaminated fluid is determined, including: The initial turbidity of the turbid fluid is determined based on the electrical signal within the unit time.

10. The method according to any one of claims 7-9, characterized in that, The step of correcting the initial turbidity using the bubble concentration in the turbid fluid includes: The initial turbidity is subtracted by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid; And / or, the initial turbidity is divided by a set proportion of the number of pulses to obtain the turbidity of the turbid fluid.

11. The method according to claim 9, characterized in that, Determining the initial turbidity of the turbid fluid based on the electrical signal per unit time includes: Calculate the average electrical signal value per unit time. The turbidity of the turbid fluid is quantified using the average electrical signal value to obtain the initial turbidity of the turbid fluid.

12. The method according to claim 11, characterized in that, Also includes: The cleaning equipment is calibrated before it performs the cleaning task on the object being cleaned. The electrical signal output by the optical receiver during the calibration process is acquired and used as the first calibration electrical signal. In addition, the electrical signal output by the optical receiver during the clean fluid test is acquired as the second calibration electrical signal; The quantification of the turbidity of the polluted fluid using the average electrical signal value includes: The average electrical signal value is normalized using the first calibration electrical signal and the second calibration electrical signal to obtain the initial turbidity of the turbid fluid.

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