Cleaning machine and cleaning control method thereof

Abstract

The invention discloses a cleaning machine and a cleaning control method thereof. The humidity of a rolling brush is obtained in the rotating process of the rolling brush; determining target water spraying flow of the water pump to the rolling brush and target rotating speed of the rolling brush according to the humidity; controlling the water pump to spray water to the rolling brush according to the determined target water spraying flow, and controlling the rolling brush to be adjusted to the target rotating speed. Thus, the rolling brush can keep a good wetting degree, the cleaning effect is improved, meanwhile, reasonable utilization of water resources is achieved, and the water supplementing frequency is reduced.

Description

Technical Field

[0001] The invention belongs to the field of cleaning technology, and particularly relates to a cleaning machine and a cleaning control method thereof. Background Art

[0002] A cleaning machine is a device for cleaning surfaces, equipped with a water pump, a clean water tank, a dirty water tank, a roller brush for cleaning, and a suction mechanism. During the cleaning process, the water pump is controlled to continuously spray water to the roller brush to keep the roller brush moistened to a certain extent, and then the dirty water after cleaning is sucked and recovered through the suction mechanism, thus achieving surface cleaning.

[0003] In the actual use of existing cleaning machines, it is difficult to keep the roller brush wetted well, and the water sometimes flows out too fast or too slow. When the water flows out too fast, excess water remains on the cleaning surface, resulting in water stains, which not only has a poor cleaning effect but also wastes water, increasing the frequency of users replenishing water in the clean water tank. When the water flows out too slowly, the roller brush is not wetted enough, and the effect of cleaning surface stains is poor.

[0004] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0005] Therefore, the present invention aims to solve the technical problem in the prior art that the roller brush of the cleaning machine is unstable in wetting, resulting in waste of water and poor cleaning effect.

[0006] In order to solve the above technical problems, the present invention provides a cleaning control method of a cleaning machine, comprising:

[0007] Get the humidity of the roller brush;

[0008] According to the humidity, a target water spraying flow rate of the water pump to the roller brush and a target rotation speed of the roller brush are set;

[0009] The water pump is controlled to spray water to the roller brush according to the set target water spray flow rate, and the roller brush is controlled to adjust to the target rotation speed.

[0010] In one embodiment, setting the target water spraying flow rate of the water pump to the roller brush and the target rotation speed of the roller brush according to the humidity includes:

[0011] According to the humidity, a target water spraying flow rate of the water pump to the roller brush is set according to a preset inverse proportional function;

[0012] The target rotation speed of the roller brush is set according to the target water spray flow rate.

[0013] In one embodiment, setting the target rotation speed of the roller brush according to the target water spray flow rate includes:

[0014] According to the target water spray flow rate, the target rotation speed of the roller brush is set according to a preset direct proportional function;

[0015] If the target speed is less than or equal to a first preset speed threshold, the target speed is set to the first preset speed threshold.

[0016] In one embodiment, controlling the water pump to spray water to the roller brush according to the set target water spray flow rate includes:

[0017] Obtaining the current water spray flow rate of the water pump;

[0018] The water pump is controlled to gradually switch from the current water spraying flow rate to the set target water spraying flow rate.

[0019] In one embodiment, controlling the roller brush to adjust to the target rotation speed includes:

[0020] Obtaining the current rotation speed of the roller brush;

[0021] The roller brush is controlled to gradually transition from the current rotation speed to the target rotation speed.

[0022] In one embodiment, obtaining the humidity of the roller brush includes:

[0023] Obtaining the humidity of the roller brush at fixed time intervals; or,

[0024] The time interval for obtaining the humidity of the roller brush is adjusted according to the current rotation speed of the roller brush.

[0025] In addition, the present invention also provides a cleaning machine, comprising:

[0026] Roller brush;

[0027] A water pump, used for spraying water to the roller brush;

[0028] A humidity sensor, used for obtaining the humidity of the roller brush during the rotation of the roller brush;

[0029] A controller is connected to the water pump and the humidity sensor, and is used to set a target water spraying flow rate of the water pump to the roller brush and a target rotational speed of the roller brush according to the humidity of the roller brush, control the water pump to spray water to the roller brush according to the set target water spraying flow rate, and control the roller brush to adjust to the target rotational speed.

[0030] In one embodiment, the controller is used to set a target water spraying flow rate of the water pump to the roller brush according to a preset inverse proportional function based on the humidity; and set the target rotation speed of the roller brush according to the target water spraying flow rate.

[0031] In one embodiment, the controller is used to set the target rotational speed of the roller brush according to a preset direct proportional function based on the target water spray flow rate; if the target rotational speed is less than or equal to a first preset rotational speed threshold, the target rotational speed is set to the first preset rotational speed threshold.

[0032] In one embodiment, the controller is further used to obtain the current water spraying flow rate of the water pump, and control the water pump to gradually switch from the current water spraying flow rate to the set target water spraying flow rate.

[0033] The technical solution provided by the present invention has the following advantages:

[0034] The cleaning machine and cleaning control method provided by the present invention obtain the humidity of the roller brush during its rotation; set the target water spray flow rate of the water pump to the roller brush and the target rotation speed of the roller brush according to the humidity; control the water pump to spray water to the roller brush according to the set target water spray flow rate, and control the roller brush to adjust to the target rotation speed. In this way, it is ensured that the rotation speed of the roller brush and the water spray flow rate of the water pump are matched with the humidity of the roller brush. When the roller brush is relatively dry, the roller brush can be wetted faster, and after the roller brush is wetted, it can maintain a better degree of wetness to ensure the cleaning effect; at the same time, the rational use of water resources is achieved, and the increase in the burden of replenishing water caused by waste is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A schematic diagram of a simple module structure of a cleaning machine provided by an embodiment of the present invention;

[0037] Figure 2 A schematic flow chart of a cleaning control method for a cleaning machine provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0040] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0041] Example 1

[0042] See also Figure 1 As shown, this embodiment provides a cleaning machine 100 for surface cleaning. Usually, the cleaning surface is the ground.

[0043] The cleaning machine 100 includes a roller brush 20, a drive motor 40, a water pump 30, a controller 10, and a humidity sensor 50. The cleaning machine 100 is usually also equipped with a clean water tank, a dirty water tank, and a suction mechanism. During the cleaning process, the water pump 30 is controlled to suck the water in the clean water tank and continuously spray it onto the roller brush 20, so that the roller brush 20 is kept wet to a certain extent, and then the dirty water after cleaning is sucked back into the dirty water tank by the suction mechanism, thereby achieving cleaning of the surface.

[0044] Specifically, the driving motor 40 is connected to the roller brush 20 for driving the roller brush 20 to rotate. The water pump 30 is driven by power to spray water onto the surface of the roller brush 20 to wet the roller brush 20. The controller 10 is connected to both the water pump 30 and the driving motor 40, and controls the water flow rate of the water pump 30 to the roller brush 20 by controlling the water pump 30, and controls the speed of the roller brush 20 by controlling the driving motor 40.

[0045] The humidity sensor 50 is disposed near the roller brush 20 and is used to detect the water content information of the roller brush 20, that is, the humidity parameter of the roller brush 20. The humidity sensor 50 is connected to the controller 10 and is used to collect the humidity of the roller brush 20. The controller 10 can obtain the humidity information of the roller brush 20 detected by the humidity sensor 50 and formulate a control strategy for the water pump 30 and the drive motor 40 based on the humidity information.

[0046] It should be noted that the humidity of the roller brush 20 collected by the humidity sensor 50 can be during the rotation of the roller brush 20 or when the roller brush is not rotating, which is not limited here.

[0047] Specifically, the controller 10 is used to set the target water spraying flow rate and the target rotation speed of the roller brush 20 from the water pump 30 according to the humidity of the roller brush 20, control the water pump 30 to spray water to the roller brush 20 according to the set target water spraying flow rate, and control the roller brush 20 to adjust to the target rotation speed. In this way, it is ensured that the rotation speed of the roller brush 20 and the water spraying flow rate of the water pump 30 are both matched with the humidity of the roller brush 20, and the rotation speed of the roller brush 20 and the water spraying flow rate of the water pump 30 are also matched with each other. When the roller brush 20 is relatively dry, the roller brush 20 can be wetted relatively quickly, and after the roller brush 20 is wetted, it can maintain a better degree of wetness to ensure the cleaning effect; at the same time, the rational use of water resources is achieved, and the increase in the burden of replenishing water caused by waste is reduced.

[0048] In a specific implementation, the controller 10 is used to set the target water spraying flow rate of the water pump 30 to the roller brush 20 according to a preset inverse proportional function relationship based on the humidity of the roller brush 20. Specifically, the target water spraying flow rate changes accordingly with the humidity of the roller brush 20. When the humidity of the roller brush 20 gradually increases, the target water spraying flow rate tends to decrease.

[0049] The preset inverse proportional function is obtained through experiments and analysis and is pre-stored in the controller. Let the humidity of the roller brush 20 be S and the target water spray flow be F, then S and F satisfy the following relationship: S*F=k, where k is the constant coefficient k of the preset inverse proportional function, and k is not equal to zero.

[0050] In a specific implementation scenario, the cleaning machine 100 is further provided with a speed detection module, which is provided on the drive motor 40 and is used to detect the speed of the drive motor 40, and to determine the speed of the roller brush 20 by the speed of the drive motor 40 and the known speed reduction ratio. Specifically, the speed detection module is an encoder. Of course, the speed detection module can also be provided on the roller brush 20 to directly detect the speed of the roller brush 20.

[0051] Furthermore, the controller 10 sets the target rotation speed of the roller brush 20 according to the target water spray flow rate of the water pump 30. The target rotation speed is also correlated with the target water spray flow rate. When setting the target rotation speed of the roller brush 20, the controller 10 controls the target rotation speed to be in a positive proportional function relationship with the water spray flow rate within a preset range. Specifically, the controller 10 is used to set the target rotation speed of the roller brush 20 according to a preset positive proportional function according to the target water spray flow rate; if the rotation speed is less than or equal to the first preset rotation speed threshold, the target rotation speed is set to the first preset rotation speed threshold.

[0052] That is to say, the rotation speed of the roller brush 20 is maintained not less than the first preset rotation speed threshold. When the water spray flow rate is less than the preset flow rate threshold, the rotation speed of the roller brush 20 is maintained at the first preset rotation speed threshold. In this way, the cleaning ability of the roller brush 20 is guaranteed.

[0053] In order to ensure that the humidity of the roller brush 20 remains stable, the water spray flow rate of the water pump 30 is continuously changed. Specifically, the controller 10 controls the water pump 30 to spray water to the roller brush 20 according to the set target water spray flow rate in the following manner: obtaining the current water spray flow rate of the water pump 30; controlling the water pump 30 to gradually switch from the current water spray flow rate to the set target water spray flow rate. In other words, the switch from the current water spray flow rate to the target water spray flow rate is a gradual transition, and the water spray flow rate of the roller brush 20 gradually changes to the recommended water spray flow rate, so that the roller brush 20 is gradually wetted.

[0054] In a specific embodiment, the controller 10 controls the roller brush 20 to adjust to the target speed in the following manner: obtaining the current speed of the roller brush 20; controlling the roller brush 20 to gradually transition from the current speed to the target speed. In this way, the speed of the roller brush 20 also gradually changes accordingly, and during the change process, it matches the gradually changing water spray flow rate, and the roller brush 20 is more balanced in wetting.

[0055] The controller 10 may collect the humidity signal detected by the humidity sensor 50 at fixed time intervals, and control the operation of the water pump 30 and the roller brush 20 according to the humidity signal.

[0056] When the rotation speed of the roller brush 20 is faster, its humidity changes faster accordingly. In order to more accurately control the water spray flow of the water pump 30 and the rotation speed of the roller brush 20, in one embodiment, the controller 10 adjusts the time interval for obtaining the humidity of the roller brush 20 according to the current rotation speed of the roller brush 20.

[0057] Specifically, the faster the rotation speed of the roller brush 20 is, the shorter the detection time interval of the humidity sensor 50 is, and the humidity change of the roller brush 20 is captured more timely, so as to timely control the water spray flow of the water pump 30 and the rotation speed of the roller brush 20, so that the humidity of the roller brush 20 is kept more stable and water is saved. When the rotation speed of the roller brush 20 is low, the corresponding water spray flow is also small, and the humidity of the roller brush 20 changes slowly. The detection time interval of the humidity sensor 50 can be appropriately extended, and the frequency of adjusting the rotation speed of the water pump and the roller brush 20 can be reduced, so as to ensure stable operation and reduce the amount of calculation.

[0058] The cleaning machine provided in this embodiment can keep the wetting degree of the roller brush 20 within a reasonable range during the cleaning process, effectively utilize water resources, and improve the cleaning effect.

[0059] Example 2

[0060] A cleaning machine is a device that cleans surfaces. Figure 1As shown, during the cleaning process, the water pump 30 is controlled to continuously spray water to the roller brush 20, so that the roller brush 20 is kept moistened to a certain extent. When the water pump 30 sprays water to the roller brush 20 too quickly, excess water will remain on the cleaning surface, resulting in water stains, which not only has a poor cleaning effect but also wastes water, increasing the frequency of users replenishing water in the clean water tank. When the water is discharged too slowly, the roller brush 20 is not moistened enough, and the effect of cleaning surface stains is poor.

[0061] In order to solve the above problems, the present application also provides a cleaning control method for a cleaning machine. In specific implementation, the present application applies the method to Figure 1 The cleaning machine shown is for illustrative purposes only, but it should not be construed as a limitation of the present method. The inventive concept of the present method is to determine the target water spray flow and target rotation speed of the water pump 30 by collecting the humidity of the roller brush 20. In this way, during the wetting process, the rotation speed of the roller brush 20 maintains a balanced and stable relationship with the water spray flow of the water pump 30. When the water spray flow is large, the rotation speed of the roller brush 20 is also large, and the roller brush 20 can be quickly wetted. After the roller brush 20 is wetted, the rotation speed of the roller brush 20 and the water spray flow remain matched, which can maintain the roller brush 20 within the optimal humidity range, ensure the cleaning effect of the roller brush 20, and save water resources, reducing the burden on users to replenish water.

[0062] The cleaning control method provided in this application is Figure 2 , in specific implementation, including the following:

[0063] S10, obtaining the humidity of the roller brush;

[0064] S20, setting a target water spraying flow rate of the water pump to the roller brush and a target rotation speed of the roller brush according to the humidity;

[0065] S30, controlling the water pump to spray water to the roller brush according to the set target water spray flow rate, and controlling the roller brush to adjust to the target rotation speed.

[0066] The above step of "obtaining the humidity of the roller brush" can be performed during the rotation of the roller brush 20 or when the roller brush 20 is not rotating. When the roller brush 20 is rotating, that is, during the cleaning process, the humidity of the roller brush 20 is obtained so as to control the humidity within a desired range. When the roller brush is not rotating, before the cleaning machine is controlled to start cleaning, the humidity of the roller brush 20 is obtained in advance, and accurate water spraying and rotation speed control are performed according to the humidity of the roller brush 20, so as to timely wet the roller brush 20.

[0067] In one embodiment, the above step of "setting a target water spraying flow rate of the water pump to the roller brush and a target rotation speed of the roller brush according to the humidity" further includes the following contents:

[0068] According to the humidity, a target water spraying flow rate of the water pump to the roller brush is set according to a preset inverse proportional function;

[0069] The target rotation speed of the roller brush is set according to the target water spray flow rate.

[0070] The preset inverse proportional function is obtained through experiments and analysis and is pre-stored in the controller. The target water spray flow rate changes accordingly with the humidity of the roller brush 20. When the humidity of the roller brush 20 gradually increases, the target water spray flow rate tends to decrease.

[0071] In one embodiment, the above step of "setting the target rotation speed of the roller brush according to the target water spray flow rate" includes the following contents when implemented:

[0072] According to the target water spray flow rate, the target rotation speed of the roller brush is set according to a preset direct proportional function;

[0073] If the target speed is less than or equal to a first preset speed threshold, the target speed is set to the first preset speed threshold.

[0074] The rotation speed of the roller brush 20 is maintained at not less than the first preset rotation speed threshold. When the water spray flow rate is less than the preset flow rate threshold, the rotation speed of the roller brush 20 is maintained at the first preset rotation speed threshold. In this way, during the entire cleaning process, the roller brush 20 rotates at not less than the first preset rotation speed threshold, thereby ensuring a certain cleaning ability of the roller brush 20.

[0075] During the entire operation process, the humidity sensor 50 keeps collecting humidity information of the roller brush 20, and the controller 10 can obtain humidity data detected by the humidity sensor 50 at fixed time intervals. In other words, the humidity sensor 50 detects humidity information at fixed time intervals and uploads it to the controller 10. The controller 10 sets the target rotation speed of the roller brush 20 and the target water spray flow rate of the water pump 30 in each sampling period, thereby controlling the operation of the roller brush 20 and the water pump 30.

[0076] However, when the rotation speed of the roller brush 20 is faster, the humidity change is also faster. In order to more accurately control the water spray flow rate of the water pump 30 and the rotation speed of the roller brush 20, in one embodiment:

[0077] The time interval for obtaining the roller brush humidity is adjusted according to the current rotation speed of the roller brush.

[0078] Specifically, the faster the rotation speed of the roller brush 20 is, the shorter the detection time interval of the humidity sensor is, and the humidity change of the roller brush 20 is captured more timely, so as to timely control the water spray flow of the water pump 30 and the rotation speed of the roller brush 20, so that the humidity of the roller brush 20 is kept more stable and water is saved. When the rotation speed of the roller brush 20 is low, the corresponding water spray flow is also small, and the humidity of the roller brush 20 changes slowly. The detection time interval of the humidity sensor can be appropriately extended, and the frequency of adjusting the rotation speed of the water pump 30 and the roller brush 20 can be reduced, so as to ensure stable operation and reduce the amount of calculation.

[0079] In step S20, the target rotation speed and target water spray flow rate of the roller brush are set. If the roller brush is directly controlled to switch to the target rotation speed, the roller brush rotation speed changes too quickly and may not match the real-time water spray flow rate. If the water spray flow rate is still at a low level, the roller brush rotation speed rises to a higher value, resulting in a dry roller brush friction surface, and the cleaning ability does not match the rotation speed, wasting energy.

[0080] In order to solve the above problem, in a real-time example, the step of "controlling the water pump to spray water to the roller brush according to the set target water spray flow rate" includes the following contents:

[0081] Obtaining the current rotation speed of the roller brush;

[0082] The roller brush is controlled to gradually transition from the current rotation speed to the target rotation speed.

[0083] The rotation speed is smoothly and gradually transitioned to the target rotation speed, which is beneficial for the humidity of the roller brush 20 to change steadily with the rotation speed, ensuring the balance and stability of its wetting speed and rotation speed, and reducing energy consumption.

[0084] The humidity change of the roller brush 20 is determined by the water spray flow rate and the rotation speed. Moreover, only when the water spray flow rate and the rotation speed are balanced can the sprayed water be guaranteed to wet the roller brush 20 to a greater extent instead of remaining on the ground. Therefore, in a real-time example, "controlling the water pump to spray water to the roller brush according to the set target water spray flow rate" includes the following contents in specific implementation:

[0085] Obtaining the current water spray flow rate of the water pump;

[0086] The water pump is controlled to gradually switch from the current water spraying flow rate to the set target water spraying flow rate.

[0087] That is to say, the water spraying flow rate of the water pump 30 also changes gradually, and during the gradual change process, it maintains matching with the rotational speed of the roller brush 20, thereby ensuring that the sprayed water wets the roller brush 20 to a greater extent and suppresses the generation of water stains.

[0088] Through the method provided in this embodiment, the water spray flow rate of the water pump 30 and the rotation speed of the roller brush 20 are kept balanced and stable, and the humidity of the roller brush 20 is kept in an optimal range, thereby improving the cleaning ability and saving water resources.

[0089] This embodiment provides a cleaning control method which corresponds to the function of the controller of the cleaning machine described in Embodiment 1. That is, the method provided in this embodiment can be applied to the cleaning machine provided in the above embodiment. The relevant contents can be partially referenced with Embodiment 1.

[0090] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A cleaning control method for a cleaning machine, characterized in that: include: Get the humidity of the roller brush; According to the humidity, a target water spraying flow rate of the water pump to the roller brush and a target rotation speed of the roller brush are set; The water pump is controlled to spray water to the roller brush according to the set target water spray flow rate, and the roller brush is controlled to adjust to the target rotation speed.

2. The cleaning control method according to claim 1, characterized in that: The step of setting the target water spraying flow rate of the water pump to the roller brush and the target rotation speed of the roller brush according to the humidity comprises: According to the humidity, a target water spraying flow rate of the water pump to the roller brush is set according to a preset inverse proportional function; The target rotation speed of the roller brush is set according to the target water spray flow rate.

3. The cleaning control method according to claim 2, characterized in that: The step of setting the target rotation speed of the roller brush according to the target water spray flow rate includes: According to the target water spray flow rate, the target rotation speed of the roller brush is set according to a preset direct proportional function; If the target speed is less than or equal to a first preset speed threshold, the target speed is set to the first preset speed threshold.

4. The cleaning control method according to claim 1, characterized in that: The controlling the water pump to spray water to the roller brush according to the set target water spray flow rate comprises: Obtaining the current water spray flow rate of the water pump; The water pump is controlled to gradually switch from the current water spraying flow rate to the set target water spraying flow rate.

5. The cleaning control method according to claim 1, characterized in that: The controlling the roller brush to adjust to the target speed comprises: Obtaining the current rotation speed of the roller brush; The roller brush is controlled to gradually transition from the current rotation speed to the target rotation speed.

6. The cleaning control method according to claim 1, characterized in that: The step of obtaining the humidity of the roller brush comprises: Obtaining the humidity of the roller brush at fixed time intervals; or, The time interval for obtaining the humidity of the roller brush is adjusted according to the current rotation speed of the roller brush.

7. A cleaning machine, characterized in that: include: Roller brush; A water pump, used for spraying water to the roller brush; A humidity sensor, used for obtaining the humidity of the roller brush during the rotation of the roller brush; A controller is connected to the water pump and the humidity sensor, and is used to set a target water spraying flow rate of the water pump to the roller brush and a target rotational speed of the roller brush according to the humidity of the roller brush, control the water pump to spray water to the roller brush according to the set target water spraying flow rate, and control the roller brush to adjust to the target rotational speed.

8. The cleaning machine according to claim 7, characterized in that: The controller is used to set the target water spraying flow rate of the water pump to the roller brush according to the humidity according to a preset inverse proportional function; and set the target rotation speed of the roller brush according to the target water spraying flow rate.

9. The cleaning machine according to claim 8, characterized in that: The controller is used to set the target rotation speed of the roller brush according to the target water spray flow rate according to a preset direct proportional function; if the target rotation speed is less than or equal to a first preset rotation speed threshold, the target rotation speed is set to the first preset rotation speed threshold.

10. The cleaning machine according to claim 7, characterized in that: The controller is also used to obtain the current water spraying flow rate of the water pump, and control the water pump to gradually switch from the current water spraying flow rate to the set target water spraying flow rate.

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