Surface engagement sensing for surface cleaning device

Abstract

The invention relates to surface engagement sensing for a surface cleaning device. A surface cleaning device includes an air passage having a suction inlet. The motor is configured to generate an airflow through the air passage. One or more operating parameters of the motor may vary when the suction inlet is engaged with or disengaged from a surface. A power level of the motor may be controlled based at least in part on a change in one or more operating parameters of the motor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 594,595, filed on October 31, 2023, entitled “SURFACE ENGAGEMENT SENSING FOR A SURFACE CLEANING APPARATUS,” and U.S. Provisional Application No. 63 / 653,540, filed on May 30, 2024, entitled “SURFACE CLEANING APPARATUS WITH POWERCONTROL,” under 35 U.S.C. § 119(e), the disclosures of which are hereby incorporated by reference in their entirety. Technical Field

[0003] The subject disclosure relates to a surface cleaning apparatus and, more particularly, to a surface cleaning apparatus having power saving operation. Background Art

[0004] Cleaning devices that utilize suction to clean surfaces require a significant amount of power consumption. During use, the suction nozzle is typically moved into and out of contact with the surface. During use, when the suction nozzle is moved out of contact with the surface, unnecessary power consumption continues to be generated. Unnecessary power consumption wastes power resources, and since many modern cleaning devices are battery powered, larger batteries are required, which have a shorter than necessary battery life. Summary of the invention

[0005] One aspect of the present disclosure relates to detecting when the suction port (e.g., suction nozzle) of a cleaning device engages and / or disengages with the surface being cleaned by the suction port. The cleaning device may optionally include a battery-powered motor to generate suction, and when the suction nozzle disengages from the surface being cleaned, the power supplied to the motor may be reduced (e.g., relative to a baseline power). Reducing the power supplied to the motor when the suction nozzle disengages reduces the power drawn from the battery when the suction nozzle disengages from the surface being cleaned. The electric power supplied to the motor when the suction port engages with the surface may be increased relative to the power supply to the motor when the suction port disengages from the surface. Therefore, compared with existing control devices that may unnecessarily increase the power supplied to the motor when the suction port disengages from the surface, the present disclosure can reduce power consumption when the suction port disengages from the surface, thereby improving energy efficiency. If the device is battery-powered, the reduction in power consumption may also extend battery life.

[0006] A cleaning device or equipment according to one or more aspects of the present disclosure may include a controller configured to detect or determine when the suction port of the device is engaged and / or disengaged from the surface being cleaned. The determination may utilize one or more operating parameters, such as engine revolutions per minute (RPM), the electrical power used by the motor, the current of the motor, the power change of the motor and / or the current change of the motor, the motor power change rate, the motor RPM, the motor current and / or other power indicators or operating parameters. The detection of the engagement and / or disengagement of the suction port may involve detecting the change of one or more operating parameters of the motor. The operating parameters of the motor may have a first expected range of one or more operating parameters when the suction port is engaged with the surface, and a second expected range of one or more operating parameters when the suction port is disengaged from the surface being cleaned. The controller may be configured to determine that the suction port is engaged if one or more operating parameters in the operating parameters are within a first range, and the controller may be configured to determine that the suction port is disengaged if one or more operating parameters in the operating parameters are within a second range. The controller may also be configured to detect or determine engagement and / or disengagement of the suction port from a surface using changes and / or rates of change of the operating parameters as the suction port engages and / or disengages from a surface. Detection of engagement and / or disengagement may optionally include utilizing a time criterion or delay (such as debounce) whereby changes in one or more parameters of the motor must meet a predefined criterion within a predefined time period to meet the predefined criterion indicating a change from an engaged state to a disengaged state and / or vice versa.

[0007] According to one aspect of the present disclosure, a surface cleaning device includes a housing including a debris holding container. The surface cleaning device also includes a suction nozzle having an intake port, an air passage at least partially defined by the debris holding container and the intake port, and a motor operably connected to a fan in the air passage. The motor selectively generates an airflow through the air passage and includes a clean engagement state at a first power usage performance and a clean disengagement state at a second power usage performance different from the first power usage performance. A power supply provides a power level to the motor, and a control system is operably connected to the motor. The control system is configured to detect a baseline shift of a power indicator from the first power usage performance to the second power usage performance when the motor is started. The control system is further configured to generate a reduction signal to the power supply to reduce the power level provided to the motor in a power limiting mode.

[0008] According to another aspect of the present disclosure, a surface cleaning device includes a housing including a debris holding container. The surface cleaning device also includes a suction nozzle having an inlet, an air passage at least partially defined by the debris holding container and the inlet, and a motor operably connected to a fan in the air passage. The motor selectively generates an airflow through the air passage and includes a clean engagement state at a first power usage performance and a clean disengagement state at a second power usage performance different from the first power usage performance. A power supply provides a power level to the motor, and a control system is operably connected to the motor. The control system is configured to detect a baseline shift in the current consumption of the motor caused by switching from the first power usage performance to the second power usage performance when the motor is started. The control system is further configured to generate a reduction signal to the power supply to reduce the power level provided to the motor in a power limiting mode.

[0009] According to yet another aspect of the present disclosure, a surface cleaning device includes a housing including a debris holding container. The surface cleaning device also includes a nozzle having an inlet, an air passage at least partially defined by the debris holding container and the inlet, and a motor operably connected to a fan in the air passage. The motor selectively generates an airflow through the air passage and includes a clean engagement state at a first power usage performance and a clean disengagement state at a second power usage performance different from the first power usage performance. A power supply provides a power level to the motor, and a control system is operably connected to the motor. The control system is configured to detect a baseline shift in the revolutions per minute (RPM) of the motor caused by switching from the first power usage performance to the second power usage performance when the motor is started. The control system is further configured to generate a reduction signal to the power supply to reduce the power level provided to the motor in a power limiting mode.

[0010] According to one aspect of the present invention, a cleaning device comprises a battery and a motor operatively connected to the battery. The cleaning device also comprises an air duct with a suction port, and an impeller that is fluidly connected to the air duct and operatively connected to the motor, whereby the motor can be actuated so that the impeller produces suction at the suction port. The cleaning device also comprises a controller, which is configured to cause the motor to operate in a first mode and a second mode, wherein when the suction port is engaged with a surface, the second mode provides a suction force increased relative to the first mode at the suction port. The controller is also configured to cause the motor to switch from the first mode to the second mode based at least in part on a first engagement criterion. The controller is further configured to cause the motor to switch from the second mode to the first mode based at least in part on a second engagement criterion. The first engagement criterion and the second engagement criterion include a change in electrical power used by the motor, wherein the change in electrical power is associated with the engagement of the suction port with the surface, whereby if the suction port is engaged with the surface, the controller causes the motor to switch from the first mode to the second mode, and if the suction port is disengaged from the surface, the controller causes the motor to switch from the second mode to the first mode.

[0011] Another aspect of the present disclosure is a device for cleaning a surface. The device includes an air passage having a suction port, the suction port being configured to engage with a surface to clean the surface. An impeller is in fluid communication with the air passage, and a motor is operably connected to the impeller, whereby the motor causes air to flow in the air passage to generate suction at the suction port. The device includes a controller configured to cause the device to selectively operate in a first mode or a second mode, wherein the suction at the suction port in the second mode is increased relative to the suction at the suction port in the first mode. The controller is configured to change from the first mode to the second mode and / or from the second mode to the first mode based at least in part on a power change criterion. The power change criterion includes a rate of change of the electrical power of the motor.

[0012] These and other features, advantages and objects of the present disclosure will be further understood and appreciated by those skilled in the art with reference to the following description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In the attached picture:

[0014] Figure 1 is a schematic diagram of a surface cleaning apparatus according to one aspect of the present disclosure;

[0015] Figure 2 is an enlarged view of a surface cleaning device in a cleaning engagement according to one aspect of the present disclosure;

[0016] Figure 3is an enlarged view of a surface cleaning device in a cleaning engagement according to one aspect of the present disclosure;

[0017] Figure 4 is a graphical representation of a baseline shift in motor current draw according to one aspect of the present disclosure;

[0018] Figure 5 is a graphical representation of a baseline deviation of motor revolutions per minute (RPM) according to one aspect of the present disclosure;

[0019] Figure 6 is a graphical representation of a progressive baseline change in a power index between a wet cleaning surface and a dry cleaning surface according to one aspect of the present disclosure;

[0020] Figure 7 is a schematic diagram of a control system in a surface cleaning device according to one aspect of the present disclosure;

[0021] Figure 8 is a flow chart illustrating a method of controlling power saving operation in a surface cleaning apparatus according to one aspect of the present disclosure;

[0022] Fig. 9 is a perspective view of a surface cleaning apparatus configured as a portable deep cleaner device according to one aspect of the present disclosure;

[0023] Fig.10 is a perspective view of a surface cleaning apparatus configured as an upright vacuum cleaner device according to one aspect of the present disclosure;

[0024] Fig.11 is a schematic diagram of a surface cleaning apparatus according to one aspect of the present disclosure;

[0025] Fig.12 is an enlarged view of the suction port of the surface cleaning device in an engaged state;

[0026] Fig.13 is an enlarged view of the suction port of the surface cleaning device in a disengaged state;

[0027] Fig.14 is a flow chart illustrating the operation of a surface cleaning apparatus according to one aspect of the present disclosure;

[0028] Fig.15 is a graph showing examples of motor power values ​​during warm-up, calibration, engagement, disengagement, and power-off;

[0029] Fig.16 is a first part of a flow chart according to one aspect of the present disclosure;

[0030] Fig.17 yes Fig.16The second part of the flowchart;

[0031] Fig.18 yes Fig.16 and Fig.17 The third part of the flowchart;

[0032] Fig.19 is a graph showing the calibration after a cold start of the motor;

[0033] Fig. 20 is a diagram showing engagement detection;

[0034] Fig.21 is a diagram showing detachment detection;

[0035] Fig. 22 is a graph showing a high power mode (HPM) power variation (∆P) signal;

[0036] Fig.23 is a graph showing a low power mode (LPM) power variation (∆P) signal;

[0037] Fig.24 is a perspective view of a surface cleaning apparatus configured as a portable deep cleaner device according to one aspect of the present disclosure; and

[0038] Fig.25 is a perspective view of a surface cleaning apparatus configured as an upright vacuum cleaner device according to one aspect of the present disclosure.

[0039] The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles described herein. DETAILED DESCRIPTION

[0040] The presently illustrated embodiment consists primarily of a combination of method steps and apparatus components associated with a surface cleaning apparatus having power saving operation. Therefore, apparatus components and method steps have been indicated where appropriate by conventional symbols in the accompanying drawings, and only those specific details relevant to understanding the embodiments of the present disclosure are shown so as not to obscure the present disclosure by details that are readily apparent to those of ordinary skill in the art having the benefit of the description herein. In addition, the same reference numerals in the specification and drawings represent the same elements.

[0041] For the purpose of the description herein, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal" and their derivatives shall refer to the above. Figure 1The disclosure is oriented as such. Unless otherwise indicated, the term "front" shall refer to the surface closest to the intended viewer, and the term "rear" shall refer to the surface farthest from the intended viewer. However, it should be understood that the disclosure may assume various alternative orientations unless expressly indicated to the contrary. It should also be understood that the specific structures and processes shown in the drawings and described in the following specification are merely exemplary embodiments of the concepts defined in the appended claims. Therefore, specific dimensions and other physical characteristics related to the embodiments disclosed herein should not be considered limiting unless the claims expressly state otherwise.

[0042] The terms "include", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element preceded by "includes..." does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0043] The present disclosure generally relates to detecting when the suction port (e.g., suction nozzle) of a cleaning device engages and / or disengages with the surface being cleaned by the suction port. The cleaning device may optionally include a battery-powered motor to generate suction, and when the suction nozzle disengages from the surface being cleaned, the power supplied to the motor may be reduced (e.g., relative to a baseline power). Reducing the power supplied to the motor when the suction nozzle disengages reduces the power drawn from the battery when the suction nozzle disengages from the surface being cleaned. The electric power supplied to the motor when the suction port engages with the surface may be increased relative to the power supply to the motor when the suction port disengages from the surface. Therefore, compared with existing control devices that may unnecessarily increase the power supplied to the motor when the suction port disengages from the surface, the present disclosure can reduce power consumption when the suction port disengages from the surface, thereby improving energy efficiency. If the device is battery-powered, the reduction in power consumption may also extend battery life.

[0044] A cleaning device or equipment according to one or more aspects of the present disclosure may include a controller configured to detect or determine when the suction port of the device is engaged and / or disengaged from the surface being cleaned. The determination may utilize one or more operating parameters, such as engine revolutions per minute (RPM), the electrical power used by the motor, the current of the motor, the power change of the motor and / or the current change of the motor, the motor power change rate, the motor RPM change rate, the motor current change rate and / or other power indicators or operating parameters. The detection of the engagement and / or disengagement of the suction port may involve detecting the change of one or more operating parameters of the motor. The operating parameters of the motor may have a first expected range of one or more operating parameters when the suction port is engaged with the surface, and a second expected range of one or more operating parameters when the suction port is disengaged from the surface being cleaned. The controller may be configured to determine that the suction port is engaged if one or more operating parameters in the operating parameters are within a first range, and the controller may be configured to determine that the suction port is disengaged if the operating parameters are within a second range. The controller may also be configured to utilize the change and / or rate of change of the operating parameter when the suction port is engaged and / or disengaged from the surface to detect or determine the engagement and / or disengagement of the suction port from the surface. The detection of engagement and / or disengagement may optionally include utilizing a time standard or delay (such as de-jittering), whereby the change of one or more parameters of the motor must meet a predefined standard within a predefined time period to meet the predefined standard indicating a change from an engaged state to a disengaged state and / or vice versa. For example, in use, the suction port may cause at least some changes in the electric power, current and / or other operating parameters of the motor to occur on the surface being cleaned, even if the suction port may nominally engage with the surface. Moreover, in use, the suction port may move across the surface in a cleaning stroke, and then the suction port may move in a direction substantially opposite to the direction during cleaning while the suction port is spaced apart from the surface, and then another cleaning stroke is performed while the suction port is engaged with the cleaned surface. Therefore, when the user is cleaning the surface, it may be repeatedly engaged and disengaged from the cleaned surface. One aspect of the present disclosure is a time delay or debounce feature that the controller can utilize to ensure that brief fluctuations in the operating parameters of the motor do not lead to an incorrect determination that the user is not actively using the device to clean a surface, thereby ensuring that appropriate suction is maintained while the device is in use even if the suction port momentarily disengages from a surface while the device is in use. Accordingly, it should be understood that the engagement and / or disengagement criteria used by the controller to cause the motor to operate at increased and decreased power levels can take into account at least some disengagement cycles of the suction port while the device is in use.

[0045] refer to Figures 1 to 3, reference numeral 10 generally indicates a surface cleaning device according to one aspect of the present disclosure. It should be understood that the following description of the surface cleaning device 10 is also applicable to the following combination Figures 11 to 23 Surface cleaning device 610 is described in more detail. Therefore, unless otherwise explicitly stated herein, the features of cleaning devices 10 and 610 can be used in any combination in a cleaning device according to the present disclosure. Surface cleaning device 10 includes a housing 12, which includes a debris holding container 14. Surface cleaning device 10 also includes a suction nozzle 15 having a suction port 16. An air passage 18 is at least partially defined by the debris holding container 14, the suction nozzle 15 and the suction port 16. The motor 20 is operably connected to a fan 22 in the air passage 18. The motor 20 selectively generates an airflow 24 through the air passage 18, and includes a cleaning engagement state (a first power usage performance (a first operating parameter profile)). Figure 2 ) and a clean disengagement state ( Figure 3 ). Thus, the first power curve generally corresponds to an engaged state, and the second power curve generally corresponds to a disengaged state. One or more operating parameters or indicators (e.g., motor RPM, motor current, motor electrical power, changes in motor electrical power or current, etc.) may be measured to determine whether the suction port 16 is engaged or disengaged from a surface, and changes or rates of change in one or more of the operating parameters may be utilized to detect changes from an engaged state or condition to a disengaged state or condition and vice versa.

[0046] The power supply 26 provides a power level for the motor 20, and a controller such as a control system 200 is operably connected to the motor 20. The control system 200 can be configured to detect a baseline shift of a power index or parameter from a first power usage performance (a first power curve) to a second power usage performance (a second power curve) when the motor 20 is started. For example, the power index or parameter can include a motor RPM and / or a motor current and / or a motor electric power, and a first power index or parameter (e.g., a first RPM and a first current) can define a first power curve indicating that the suction port 16 is engaged with a surface, and a second power index or parameter (e.g., a second RPM and a second current) can define a second power curve indicating that the suction port 16 is disengaged from the surface. Therefore, the power index or parameter can be measured, and the control system 200 can use the measured parameters to determine whether the suction port 16 is engaged or disengaged. The change and / or rate of change of the motor operating parameters can also be used to determine or detect the transition from an engaged state to a disengaged state and / or vice versa. The control system 200 is further configured to generate a reduction signal to the power supply 26 to reduce the power level provided to the motor 20 in the power limiting mode.

[0047] Reference now Figure 1 , the surface cleaning device 10 removes debris or other contents from the cleaning surface 28, and guides the debris or other contents to the debris holding container 14 through the air passage 18. The surface cleaning device 10 includes a user interface 30 that provides two or more power settings (e.g., off and on). In some embodiments, the surface cleaning device 10 may include a high power setting or a low power setting that can be accessed through the user interface 30 based on user preferences and / or the characteristics of the cleaning surface 28. The user interface 30 may be located on the housing 12 and / or the suction nozzle 15. The surface cleaning device 10 may include a battery 32 that is at least partially used as a power source 26. The battery 32 may be charged by an alternating current from an electrical outlet to a charging module 34, which may or may not be directly located on the battery 32. However, it should be understood that in some embodiments, household alternating current is at least partially used as a power source 26 to supplement or replace the battery 32. At least one sensor 36 may be located near the motor 20, and the at least one sensor is configured to monitor a power indicator. The control system 200 can adjust the power level provided to the motor 20 through software components (e.g., software), hardware components (e.g., power regulation module 37), or a combination thereof. In some embodiments, a flexible suction hose 38 extends from the housing 12 to the suction nozzle 15 and at least partially defines the air passage 18. The flexible suction hose 38 can be configured to connect a variety of different accessory tools, which can be selected based on the characteristics of the cleaning surface 28 (e.g., carpet, tile, wood) and the debris or other contents (e.g., dirt, hair, liquid) to be removed. It should be understood that for the purposes of this disclosure, when the accessory tool is connected to the flexible suction hose 38, the suction nozzle 15 and the suction port 16 can be defined by the accessory tool, as shown. It should also be understood that in other configurations, the suction nozzle 15 can be defined by the housing 12 (e.g., in a handheld vacuum cleaner or an upright vacuum cleaner).

[0048] Continue to refer Figure 1, the surface cleaning device 10 may include a fluid delivery and recovery system 42. The fluid delivery and recovery system 42 may include a supply tank 44 containing a cleaning fluid 45. A fluid delivery line 46 extends from the supply tank 44 to a fluid outlet port 48. A pump 50 may be operably coupled to the supply tank 44 and / or the fluid delivery line 46. Therefore, the user interface 30 may include one or more options for operating the pump 50 and delivering the cleaning fluid 45 to the cleaning surface 28. In operation, the cleaning fluid 45 delivered to the cleaning surface 28 may then be removed and directed (e.g., through the air passage 18) to the debris holding container 14. A valve 52 may be located between the supply tank 44 and the pump 50 or between the fluid outlet port 48 and the pump 50 for selectively opening and closing the fluid delivery line 46. In some embodiments, the fluid delivery line 46 may extend along a flexible suction hose 38 so that the cleaning fluid 45 is delivered near the suction nozzle 15.

[0049] Reference now Figure 2 and Figure 3 During operation, the suction port 16 is typically moved into and out of contact with the cleaning surface 28 during the cleaning process. For example, when cleaning various household appliances, furniture, or moving between cleaning tasks, the user typically must lift the suction nozzle 15, and therefore, the suction port 16 is out of contact with the cleaning surface 28. In this way, when the suction port 16 is in contact with the cleaning surface 28 ( Figure 2 ), the motor 20 is in a cleaning engagement state and a first power usage performance. As described above, the first power usage performance (first power curve) may include one or more operating parameters of the motor, the one or more operating parameters including one or more of the electrical power or current, or the change in electrical power or current and / or RPM of the motor 20 when the suction port 16 is engaged with the surface being cleaned. However, when the suction port 16 is out of contact with the cleaning surface 28 ( Figure 3), the motor 20 is in a clean disengagement state and a second power usage performance. The second power usage performance (second power curve) may include the electric power or current of the motor 20 when the suction port 16 is disengaged from the cleaned surface, or the change and / or RPM of the electric power or current. The control system 200 may be further configured to detect a baseline shift of the power indicator from the second power usage performance to the first power usage performance. In response, the control system 200 may generate an increase signal to the power supply 26 to increase the power level provided to the motor 20 in the power unrestricted mode. Since the control system 200 is able to identify the difference between the first power usage performance and the second power usage performance, it is also possible to identify whether the suction port 16 is in contact with the cleaning surface 28. By identifying when the suction port 16 is not in contact with the cleaning surface 28, power consumption can be reduced by the power restriction mode. As discussed in more detail below, identifying when the suction port 16 is in contact and / or out of contact with the cleaning surface 28 may include identifying a change and / or rate of change of one or more operating parameters (e.g., RPM, electric power and / or current) in the operating parameters of the motor, the change and / or rate of change indicating that the engagement state is changed or converted to the disengagement state and vice versa.

[0050] Continue to refer Figure 2 and Figure 3 In embodiments where the battery 32 is used as the power source 26, the power saving operations described herein can extend battery life and / or reduce battery storage capacity requirements. The power limited mode can include significantly reducing the power level provided by the power source 26. In some embodiments, the power limited mode can completely shut down the power level provided by the power source 26 so that the motor 20 does not receive any power or receives a negligible amount of power. In some embodiments, the power limited mode can reduce the power level provided by the power source 26 so that the motor 20 continues to operate with less power. The power limited mode may require 70% or less power than the power unlimited mode, for example, 60% or less, 50% or less, 40% or less, 30% or less, 20% or less, or 10% or less.

[0051] Reference now Figures 2 to 5, in the clean engagement state and the first power usage performance, the motor 20 runs at a higher revolution per minute (RPM) and requires less current consumption (e.g., AC current or DC current) than in the clean disengagement state and the second power usage performance. Therefore, one or both of the RPM and current consumption of the motor 20 can be monitored as a power indicator. In some embodiments, one or more sensors 36 may include at least one of a series shunt resistor (e.g., for measuring RPM) or a current sensing amplifier (e.g., for measuring current consumption). During operation, when the motor 20 remains in a state of disengagement and engagement (i.e., when the suction port 16 remains in contact with or out of contact with the cleaning surface), the power indicator is in a relatively stable baseline. However, when the suction port 16 moves into contact with or out of contact with the cleaning surface 28, the motor 20 changes between the clean engagement state or the clean disengagement state. Respectively, the power indicator undergoes a baseline shift. The baseline shift of the power indicator is a rapid change (e.g., increase or decrease) of the baseline of the power indicator within a predetermined threshold. In some embodiments, the predetermined threshold value can be an increase or decrease of more than 5% of the baseline, such as more than 10%, more than 15%, more than 20%, more than 25%, more than 30%. The baseline of the power indicator can be monitored for baseline deviation (e.g., by the control system 200), thereby limiting the power consumption in the disengaged state by generating a reduction signal to the power supply 26. In this way, when the surface cleaning device 10 is operated in the power limiting mode, the power consumption can be reduced. Therefore, the power limiting mode can reduce the overall power consumption of the surface cleaning device 10 during the cleaning process. In some embodiments, the baseline of the power indicator is determined by averaging multiple measurements over a time period, rather than by a single measurement from one or more sensors 36.

[0052] Continue to refer Figures 2 to 5 For fast baseline excursions, monitoring of the power indicator (i.e., by one or more sensors 36) can occur repeatedly by detecting one or both of the RPM and current consumption over a short period of time. More specifically, in some scenarios, as the battery 32 is depleted, the baseline of the power indicator may drift. Depending on the architecture of the control system 200, baseline drift may cause the power indicator to gradually become higher or lower. In this way, detecting fast baseline drift minimizes baseline changes due to drift. A fast baseline excursion can be defined as a baseline excursion that occurs within a time period that can be 0.1 seconds or less, between 0.1 seconds and 1 second, 0.5 seconds or less, between 0.5 seconds and 2 seconds, less than 1 second, at least 1 second, less than 2 seconds, less than 15 seconds, less than 30 seconds, or between 1 second and 5 seconds.

[0053] In some embodiments, the control system 200 is further configured to generate a reduction signal after the first delay period. The delay period can include de-jittering, which requires a predefined operating condition to last for a period of time before determining whether a state change from engagement to disengagement and vice versa has occurred. In this way, after the suction port 16 is disengaged from the cleaning surface 28, the motor 20 remains in the power-unrestricted mode in a short period of time. In the case where the suction port 16 is disengaged from the cleaning surface 28 in a short period of time (that is, when a scrubbing action or rapid repositioning of the suction port 16 is required), the delay period is particularly useful for further saving of power resources and operational convenience. More specifically, the delay period can prevent the additional power resources that may be needed to start the motor 20, and the inconvenience that the user must wait for the motor 20 to start from the power-restricted mode to enter the power-unrestricted mode.

[0054] The delay period may be 0.5 seconds or less, at least 0.5 seconds, less than 1 second, at least 1 second, less than 2 seconds, less than 5 seconds, or between 0.5 seconds and 2 seconds. In some embodiments, the power limiting mode may include a first power limiting mode that reduces the power level and a second power limiting mode that completely shuts down the power level. In such embodiments, the control system 200 may generate a first reduction signal (e.g., after a first delay period) to reduce the power level, and generate a second reduction signal after a second delay period to completely shut down the power level. The first delay period may be shorter in time than the second delay period. For example, the first delay period may be 0.5 seconds or less, at least 0.5 seconds, less than 1 second, at least 1 second, less than 2 seconds, less than 5 seconds, or between 0.5 seconds and 2 seconds, and the second delay period may be more than twice as long as the first delay period (e.g., at least four times as long). It should be understood that in the case where a baseline shift is detected before the second delay period expires, a second reduction signal will not be generated.

[0055] Reference now Figure 4 and Figure 5 , the control system 200 is configured to continuously determine a baseline for the power indicator (e.g., by averaging several measurements) regardless of the state or power mode of the motor 20. The power indicator can be determined by measuring the current consumption ( Figure 4 )、RPM( Figure 5) or both current consumption and RPM to obtain a baseline. In this way, the first power usage performance and the second power usage performance can be identified in both the power limited mode and the power unrestricted mode by the rapid change of the baseline of the power indicator (for example, within a predetermined threshold). For example, when the motor 20 is running in the power limited mode under the second power usage performance, the baseline of the power limited mode under the second power usage performance is determined. Once the suction port 16 contacts the cleaning surface 28, the baseline of the power limited mode under the second power usage performance will quickly change to the baseline of the power limited mode under the first power usage performance, and will be identified as a baseline offset by the control system 200. Once identified, the control system 200 is configured to generate an increase signal so that the motor 20 runs under the first power usage performance in the power unrestricted mode. The baseline of the power unrestricted mode under the first power usage performance can then be determined. When continued to be used, once the suction port 16 moves to be out of contact with the cleaning surface 28, the baseline of the power unrestricted mode under the first power usage performance will quickly change to the baseline of the power unrestricted mode under the second power usage performance, and will be identified as a baseline offset by the control system 200. Once identified, the control system 200 is configured to generate a reduction signal so that the motor 20 operates at the second power usage performance in the power limited mode. In this way, during operation, the motor 20 can be continuously switched between the power limited mode (i.e., in the cleaning disengaged state) and the power unlimited mode (i.e., in the cleaning engaged state).

[0056] Continue to refer Figure 4 and 5, the control system 200 can be configured to operate the motor 20 initially in a power-limited mode or in a power-unlimited mode. Regardless of which mode the motor 20 initially operates in, the control system 200 can still detect a baseline offset and initiate the power-saving operation described herein. For example, in a scenario where the motor 20 initially operates in a power-limited mode and the suction port 16 has been in contact with the cleaning surface 28 when the motor 20 is started, the power-saving operation described herein is self-correcting. More specifically, the motor 20 can continue to operate in a power-limited mode, and when the suction port 16 moves to disengage from the cleaning surface 28, the RPM decreases and the current consumption increases. The reduction in RPM and / or the increase in current consumption are associated with the second power usage performance, and therefore, the motor 20 will continue to operate in the power-limited mode. However, when the suction port 16 moves back to contact with the cleaning surface 28, the RPM increases and the current consumption decreases. The increase in RPM and / or the reduction in current consumption are associated with the first power usage performance, and the control system 200 will generate an increase signal to the power supply 26 to increase the power level provided to the motor 20 in the power-unlimited mode. In a scenario where the motor 20 is initially operating in an unlimited power mode and the suction port 16 is not in contact with the cleaning surface 28 when the motor 20 is started, a similar self-correction step may be initiated.

[0057] Continue to refer Figure 4 and Figure 5 , it should be understood that the principle operation of the power saving operation described herein can still be achieved regardless of the number of available power settings, the characteristics of the cleaning surface 28, or the different operating scenarios of the accessory tools. More specifically, the surface cleaning device 10 running in any combination of the above-mentioned scenarios will show a relatively stable baseline of the power index until switching between the engaged state and the disengaged state when a baseline offset can be detected. In some embodiments, the control system 200 may be configured to identify various accessory tools. More specifically, the control system 200 may include a pre-saved predictive behavior model, which includes a baseline behavior of the power index in one or both of the first power usage performance and the second power usage performance, which can be compared with the baseline of the power index during use. Once the attachment is identified, the control system 200 may be configured to change the operating settings, provide additional settings on the user interface 30, etc.

[0058] Reference again Figures 1 to 3In addition to power saving operations, the control system 200 may be configured to perform additional functions in response to detecting and characterizing a change in the baseline of the power indicator. For example, the control system 200 may be configured to detect a semi-progressive change in the baseline of the power indicator at the first power usage performance over a threshold time period and infer a dryness level of the cleaned surface. For example, when the cleaning surface 28 is wet (such as after the use of a cleaning liquid or a spill), the control system 200 may be configured to detect a semi-progressive change in the baseline of the power indicator to infer a dryness level.

[0059] Reference now Figure 6 , when the suction port 16 is in contact with the wet cleaning surface 28, there is a significant amount of suction between the suction port 16 and the cleaning surface 28, which results in an even greater number of revolutions per minute (RPM) and even less current consumption than at the first power usage performance and the second power usage performance associated with the dry cleaning surface 28. In this way, the control system 200 can be configured to infer the dryness level of the cleaning surface 28 by monitoring the semi-progressive change of the baseline of the power indicator over a threshold time period. In some embodiments, the semi-progressive change of the baseline of the power indicator can be depicted and compared with a pre-saved predictive behavior model of the wet power indicator behavior and the dry power indicator behavior. In other embodiments, the control system 200 can be configured to infer the dryness level of the cleaned surface 28 by detecting a change in the baseline of the power indicator above a threshold amount. More specifically, there may be a predicted range of RPM or current consumption that indicates that the cleaning surface 28 is dry when the suction port 16 is in contact with the cleaning surface 28. In yet other embodiments, the control system 200 may be configured to infer the dryness level of the cleaned surface 28 by detecting a change in the baseline of the power indicator above a threshold amount and within a threshold time period. More specifically, the first power indicator performance may be depicted within a threshold time period for a change in the power indicator above the threshold amount. In this way, rapid baseline drift and drift of the baseline due to battery exhaustion can be addressed and eliminated. For example, the threshold time period may be greater than (i.e., more gradual) the rapid changes associated with the engaged state and the disengaged state and less than (i.e., more abrupt) the drift associated with the battery 32 exhaustion. The control system 200 may be further configured to generate a notification signal to the user to convey that the surface 28 is wet, dry or semi-dry. For example, the notification signal may be the illumination of a light source (not shown) and / or other types of communication processes (e.g., sounds or graphics on the user interface 30).

[0060] refer to Figure 7, the control system 200 of the suction cleaning device 10 may include at least one electronic control unit (ECU) 202. At least one ECU 202 may be located in the housing 12. At least one ECU 202 may include a processor 204 and a memory 206. The processor 204 may include any suitable processor 204. Additionally or alternatively, each ECU 202 may also include any suitable number of processors in addition to or different from the processor 204. The memory 206 may include a single disk or multiple disks (e.g., a hard disk drive), and include a storage management module that manages one or more partitions within the memory 206. In some embodiments, the memory 206 may include flash memory, semiconductor (solid-state) memory, etc. The memory 206 may include a random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), or a combination thereof. The memory 206 may include instructions that, when executed by the processor 204, cause the processor 204 to perform at least a function associated with a component of the suction cleaning device 10. Thus, the motor 20, the power source 26, the response to input from the user interface 30, the one or more sensors 36, and the fluid delivery and recovery system 42 may be controlled by the control system 200. Thus, the memory 206 may include a monitoring module 208, a joining curve dictionary 210, a drying curve dictionary 212, and a filtering module 214.

[0061] Continue to refer Figure 7 , the monitoring module 208 may include pre-saved information regarding changes in the baseline of the power indicator above a predetermined threshold and over a period of time (i.e., rapid changes) that are compared to measurements received by the one or more sensors 36. When the measurements received by the one or more sensors 36 meet the criteria for a rapid baseline excursion, the monitoring module 208 may include instructions for switching between a power-restricted mode and a power-unrestricted mode. The measurements may be saved (e.g., temporarily) and depicted by instructions for performing (e.g., by the processor 204) functions related to averaging the baseline of the power indicator, inferring the dryness level of the surface being cleaned, power indicator drift due to battery 32 depletion, and accessory tool identification.

[0062] The engagement curve dictionary 210 may include one or more pre-saved predictive behavior models of a baseline of a power indicator between a first power usage performance and a second power usage performance and an accessory tool behavior. In some embodiments, the engagement curve dictionary 210 may compare the depicted measurements from the monitoring module 208 with the pre-saved predictive behavior models. In some embodiments, the pre-saved predictive behavior model may include a predicted baseline of a power indicator under one or more of the first power usage performance and the second power usage performance, which may be compared with the measured behavior of the baseline of the power indicator to determine whether the motor 20 is in the first power usage performance or the second power usage performance. In this way, the control system 200 may generate a decrease signal or an increase signal due to comparing the measured curve with one of the pre-saved predictive behavior models, rather than due to a baseline shift. In some embodiments, the engagement curve dictionary 210 may include pre-saved predictive behavior models of varying air path restrictions (e.g., baselines) corresponding to different accessory tools, which may be compared with the measured behavior of the baseline of the power indicator to determine whether the accessory tool is attached and identify the accessory tool. In response to detecting and identifying an accessory tool, the engagement curve dictionary may include instructions for changing operating settings, providing additional settings on the user interface 30, and the like.

[0063] The drying curve dictionary 212 may include one or more pre-saved predictive behavior models of the power indicator between wet conditions and dry conditions. The drying curve dictionary 212 may compare the depicted measurement values ​​from the monitoring module 208 with the pre-saved predictive behavior models. In some embodiments, the drying curve dictionary 212 may also include or may alternatively include threshold information, such as a threshold amount of change in the power indicator between wet conditions and dry conditions within a threshold time period. The drying curve dictionary 212 may also include instructions for generating a notification signal to a user to communicate that the surface 28 is wet, dry, or semi-dry.

[0064] In some embodiments, the filtering module 214 can receive a baseline or baseline offset detection signal (e.g., from one or more sensors 36) (e.g., before utilizing modules 208 to 212) and filter out various noises before comparing with the engagement curve dictionary 210 and / or the drying curve dictionary 212. More specifically, the filtering module 214 can include instructions for implementing one (e.g., a single-pole high-pass filter) or multiple (e.g., a multi-pole high-pass filter) high-pass filter operations that allow high frequencies (e.g., frequencies above a threshold) of the detection signal to pass therethrough. For example, frequencies below 0.25 Hz may be filtered out by the high-pass filter operation. In some embodiments, the one or more high-pass filter operations can include multiple high-pass filter operations that are stacked or replicated at the same or gradually decreasing or increasing threshold frequencies to achieve a sharper attenuation above the threshold.

[0065] The filter module 214 may include instructions for implementing a moving average operation of the detection signal, which averages a plurality of detection signals through one or more high-pass filter operations to derive a simple moving average and eliminate irregularities. For example, a plurality of detection signals may be 10 or more detection signals, 15 or more detection signals, 20 or more detection signals, or 30 or more detection signals. The filter module 214 may include instructions for implementing one (e.g., a single-pole low-pass filter) or a plurality of (e.g., a multi-pole low-pass filter) low-pass filter operations, which allow the low frequency (e.g., frequency below a threshold) of the detection signal to pass therethrough. For example, a frequency higher than 3 Hz may be filtered out by a high-pass filter operation. In some embodiments, one or more low-pass filter operations may include a plurality of low-pass filter operations, which are stacked or replicated with the same or gradually decreasing or increasing threshold frequencies to achieve a sharper attenuation below the threshold.

[0066] The filtering module 214 may include instructions for implementing a de-jittering operation on the filtered detection signal, which de-jittering operation samples multiple filtered detection signals and / or moving averages (e.g., 5 or more) to achieve consistency within a threshold to further remove samples or sample groups that are inconsistent due to irregularities or noise. After the detection signal has been filtered, the control system 200 can monitor the filtered detection signal for baseline shift, compare it with the engagement curve dictionary 210, and / or compare it with the drying curve dictionary 212 (e.g., a pre-saved predictive behavior model or threshold associated with the engagement curve dictionary 210 and / or the drying curve dictionary 212). In some embodiments, the filtered detection signal comparison can be used to determine whether the surface cleaning device 10 is in a clean engagement state or a clean disengagement state (based on a pre-saved predictive behavior model of a power indicator). In this way, switching between a reduced power level and an unrestricted power level can be achieved by comparing the filtered detection signal instead of detecting a baseline shift.

[0067] It should be understood that the control system 200 can have various other configurations to achieve power saving operation.For example, in some embodiments, the control system 200 can include a logic-based configuration or other processing-based configuration to perform the functions described herein.

[0068] Reference now Figure 8 , showing a control surface cleaning device (such as Figures 1 to 3 The surface cleaning device 10 may include a housing 12 including a debris holding container 14. The surface cleaning device 10 also includes a nozzle 15 having a suction inlet 16, an air passage 18 at least partially defined by the debris holding container 14 and the nozzle 15 having the suction inlet 16, and a motor 20 in operative communication with a fan 22 within the air passage 18. The motor 20 selectively generates an airflow 24 through the air passage 18 and includes a cleaning engagement state ( Figure 2 ) and a clean detached state at a second power usage performance different from the first power usage performance ( Figure 3 Power source 26 provides a power level to motor 20, and control system 200 is in operative communication with motor 20. Method 300 conserves power resources (eg, extends battery life) when surface cleaning device 10 is in the cleaning disengaged state and suction port 16 is not in contact with cleaning surface 28.

[0069] Method 300 includes: at step 302, detecting a baseline shift of a power indicator from a first power usage performance associated with the suction port contacting the cleaning surface 28 to a second power usage performance associated with the suction port 16 being out of contact with the cleaning surface 28 when the motor is started. For example, the control system 200 can be communicated with a sensor 36 that measures the power indicator to detect the baseline shift. More specifically, the sensor 36 can include at least one of a series shunt resistor (e.g., for measuring RPM) or a current sensing amplifier (e.g., for measuring current consumption). In this way, one or more of RPM and current consumption can be used as a power indicator.

[0070] The method 300 also includes generating a reduction signal to the power source 26 to reduce the power level provided to the motor in the power limiting mode at step 304. More specifically, the control system 200 can be in communication with the power source 26 and send the reduction signal to the power source. In the power limiting mode, when the suction port 16 is out of contact with the cleaning surface 28, less energy resources are consumed.

[0071] Step 304 may include deferring generating or sending a reduction signal to power source 26 until after the delay period at step 306. For example, control system 200 may communicate with power source 26 after the delay period and send a reduction signal to the power source (eg, power conditioning module).

[0072] The method 300 also includes detecting a baseline shift of the power indicator from the second power usage performance to the first power usage performance at step 308. For example, the control system 200 may communicate with the sensor 36 that measures the power indicator to detect the baseline shift.

[0073] Method 300 also includes generating an increase signal to power source 26 to increase the power level provided to motor 20 in the unlimited power mode at step 310. More specifically, control system 200 may be in communication with power source 26 and send an increase signal to the power source (eg, a power conditioning module).

[0074] Step 310 may include deferring generating or sending an increase signal to power source 26 until after the delay period at step 312. For example, control system 200 may communicate with power source 26 after the delay period and send an increase signal to the power source (eg, power conditioning module).

[0075] The method 300 also includes, at step 314, detecting a baseline shift of the power indicator from the first power usage performance to the second power usage performance. For example, the control system 200 can be in communication with the sensor 36 that measures the power indicator to detect the baseline shift. More specifically, the sensor 36 can include at least one of a series shunt resistor (e.g., for measuring RPM) or a current sensing amplifier (e.g., for measuring current consumption). In this way, one or more of RPM and current consumption can be used as a power indicator. After step 314, the method 300 can continue (e.g., loop back) to step 304.

[0076] Reference now Fig. 9 and Fig.10 , it should be understood that certain features of the surface cleaning apparatus 10 are exemplary in nature. Therefore, it should be understood that the features, functions, and methods described herein can be used in conjunction with a variety of surface cleaning device configurations. For example, the present disclosure can be implemented in conjunction with conventional vacuum cleaners, hand-held vacuum cleaners, cleaners with liquid distribution, dry cleaners, and any logically related type of vacuum-based cleaning system. Now referring to Fig. 9 , the surface cleaning device 10 is configured as a portable deep cleaner apparatus 400. The portable deep cleaner apparatus 400 can have a variety of uses, including general cleaning of the surface 28, but also provides additional components and functionality that are particularly suitable for decontamination of the surface 28 (such as carpet) by introducing fluids, heat and / or other cleaning agents to the surface 28 during the cleaning process. The portable deep cleaner apparatus 400 may include a base 402 (e.g., a flat base) defined by a housing 12 positioned on the cleaning surface 28. A handle 404 may be connected to the housing 12 (e.g., opposite the base) for lifting the portable deep cleaner apparatus 400 and moving the portable deep cleaner apparatus between locations during the cleaning process. It should also be understood that the suction cleaning device 10 may include a variety of different components, functionality, and materials, such as the device shown in U.S. Patent No. 9,474,424, which is incorporated herein by reference in its entirety. Now referring to Fig.10, the suction cleaning device 10 can be configured as an upright vacuum cleaner device 500. The upright vacuum cleaner device 500 can have a variety of uses, including general cleaning of the surface 28, but also provides additional components and functions that are particularly suitable for larger areas than, for example, portable deep cleaning devices. The upright vacuum cleaner device 500 can also include components that facilitate the introduction of fluids, heat and / or other cleaning agents to the surface 28 during the cleaning process. The upright vacuum cleaner device 500 can include a handle 502 extending from the housing 12 opposite the suction nozzle 15. The suction nozzle 15 can be defined by a base assembly 504 and can also include a flexible suction hose 38 or a ridged cylinder (not shown) for connection to various accessory tools. One or more wheels 506 are rotatably connected to the housing 12 to facilitate the movement of the suction cleaning device 10 around the cleaning surface 28. It should also be understood that the suction cleaning device 10 can include a variety of different components, functions and materials, such as the device shown in U.S. Patent No. 10,188,252, which is incorporated herein by reference in its entirety.

[0077] Further references Figures 11 to 13 According to another aspect of the present disclosure, the surface cleaning device 610 includes a housing 612 and a debris holding container 614. The surface cleaning device 610 also includes a suction nozzle 615 having a suction port 616. The air passage 618 can be at least partially defined by the debris holding container 614, the suction nozzle 615, and the suction port 616. The motor 620 is operably connected to an impeller (such as a fan 622) so that the motor 620 can be actuated to selectively generate an airflow 624 through the air passage 618 to generate suction at the suction port 616. The power supply 626 provides a power level (e.g., electrical power) to the motor 620, and the control system 800 is operably connected to the motor 620. It should be understood that the present disclosure is not limited to the specific configuration of the motor 620, the fan 622, and the air passage 618.

[0078] As discussed in more detail below, the control system 800 may be configured to detect the engagement state of the suction port 616 ( Fig.12 )、Disengagement state of the suction port 616( Fig.13) and transitions between an engaged state and a disengaged state (engagement and disengagement), and automatically transitions the motor 620 between a high power ("power boost") mode and a low power mode based at least in part on predefined criteria that take into account changes in power used by the motor 620 due to engagement and / or disengagement with the surface 628 being cleaned. The control system 800 may be configured to automatically switch the motor 620 from the low power mode to the high power mode based on a first engagement criterion, and to transition the motor 620 from the high power mode to the low power mode based at least in part on a second engagement criterion. The first engagement criterion and the second engagement criterion may include a rate of change (∆P) of electrical power used by the motor 620. For example, the first engagement criterion may include a first rate of change of power (derivative of power), and the second engagement criterion may include a second change in power used by the motor 620 (derivative of power).

[0079] refer to Fig.11 , the surface cleaning device 610 is configured to remove debris or other contents from the cleaning surface 628, and guide the debris or other contents to the debris holding container 614 through the air passage 618. The surface cleaning device 610 includes a user interface 630, which provides two or more power settings (e.g., off and on). The user interface 630 can be located on the housing 612 and / or the suction nozzle 615. The surface cleaning device 610 can optionally include a high power ("power boost") setting and / or a low power setting that can be accessed through the user interface 630, so that the user can select a high power mode or a low power mode. As discussed in more detail below, the high power setting and / or the low power setting of the user interface 630 can optionally override the automatic switching between the high power mode and the low power mode, which may have occurred due to the engagement and / or disengagement of the suction port 616 with the surface. User interface 630 may optionally include an “auto power” input feature or setting whereby a user may select to allow controller 800 to automatically switch between high power mode and low power mode based at least in part on predefined engagement criteria and / or disengagement criteria.

[0080] The surface cleaning apparatus 610 may include a battery 632 that is at least partially used as the power source 626. The battery 632 may be configured to be charged using AC current from an electrical outlet to a charging module 634, which may or may not be located directly on the battery 632. However, the present disclosure is not limited to battery-powered operation, and household AC current may (optionally) be used at least partially as the power source 626 to supplement or replace the battery 632.

[0081] The surface cleaning apparatus 610 may include at least one sensor 636, which may be located near the motor 620, and which is configured to monitor (measure) the power (P) used by the motor 620. For example, the sensor 636 may measure current (I) and voltage (V), so that the power (P) may be determined using an equation of the form P=V*I. The control system 800 may adjust the power level provided to the motor 620 using software components (e.g., software), hardware components (e.g., power regulation module 637), or a combination thereof. It should be understood that the control system 800 may include substantially any suitable arrangement of hardware and / or software, and the present disclosure is not limited to a specific configuration of hardware and / or software.

[0082] The surface cleaning device 610 may optionally include a flexible suction hose 638 extending from the housing 612 to the suction nozzle 615 and at least partially defining the air passage 618. The flexible suction hose 638 may be configured to connect to a variety of different accessory tools, which may be selected based on the characteristics of the cleaning surface 628 (e.g., carpet, tile, wood), the debris or other contents to be removed (e.g., dirt, hair, liquid), and / or user preferences. It should be understood that for the purposes of this disclosure, when the accessory tool is connected to the flexible suction hose 638, the suction nozzle 615 and the suction port 616 may be defined by the accessory tool, as shown. It should also be understood that in other configurations, the suction nozzle 615 and the suction port 616 may be at least partially defined by the housing 612 (e.g., in a handheld vacuum cleaner or an upright vacuum cleaner) or other suitable arrangements.

[0083] Continue to refer Fig.11 , the surface cleaning device 610 may optionally include a fluid delivery and recovery system 642. The fluid delivery and recovery system 642 may include a supply tank 644 containing a cleaning fluid 645. A fluid delivery line 646 extends from the supply tank 644 to a fluid outlet port 648. A pump 650 is operably coupled to the supply tank 644 and / or the fluid delivery line 646. Therefore, the user interface 630 may include one or more options for operating the pump 650 and delivering the cleaning fluid 645 to the cleaning surface 628. In operation, the cleaning fluid 645 delivered to the cleaning surface 628 may be subsequently removed and directed (e.g., through the air passage 618) to the debris holding container 614. A valve 652 may be located between the supply tank 644 and the pump 650 or between the fluid outlet port 648 and the pump 650 for selectively opening and closing the fluid delivery line 646. A fluid delivery line 646 may optionally extend along the flexible suction hose 638 so that the cleaning fluid 645 is delivered near the suction nozzle 615 .

[0084] refer to Fig.12 and Fig.13 During operation, the suction port 616 can move into contact (engagement) and out of contact (engagement) with the cleaning surface 628 during the cleaning process. For example, the user can lift the suction nozzle 615, and thus, the suction port 616 can be out of contact with the cleaning surface 628. As described above, the control system 800 can be configured to detect the engagement state ( Fig.12 ) and / or when a transition from a disengaged state to an engaged state is detected, the motor 620 is operated in a high power mode. The control system 800 may be configured to operate in a high power mode when a disengaged state ( Fig.13 ) and / or when a transition from an engaged state to a disengaged state is detected, the motor 620 is made to operate in a low power mode. Generally speaking, the high power mode and the low power mode can provide approximately constant power to the motor 620, wherein, relative to the low power mode, the increased power (P) is supplied to the motor 620 in the high power mode. When in the high power mode and / or the low power mode, the control system 800 can maintain approximately constant power (P) using open loop control or closed loop control. Alternatively, the controller 800 can be configured to maintain a constant motor RPM in the high power mode and the low power mode using open loop control and closed loop control. As discussed in more detail below, when the suction port 616 is engaged and / or disengaged from the surface, the power (P) may change or fluctuate in the high power mode and / or the low power mode. The control system 800 can be configured to utilize the rate of change of power (e.g., the derivative of power to time) to determine whether the suction port 616 is engaged and / or disengaged and / or transitioned between the engaged state and the disengaged state to automatically switch between the high power mode and the low power mode. The rate of change of power may generally be referred to herein as ∆P.

[0085] Further references Fig.14 , control system 800 may be configured to control motor 620 using process 100 . Fig.14 This is a high-level overview of process 100. Figures 15 to 17 Detailed description. The control system 800 may include a motor driver (e.g., a power regulation module 637) that drives the motor 620 to a selected state using hardware and / or software. After startup 702, at 704, the motor 620 is operated in a high power mode and a low power mode and calibrated when the suction port 616 is disengaged to measure current (I) and / or power (P), so that a baseline (expected) current (I) and / or power (P) of the motor 620 in a high and / or low disengagement mode / state can be determined. Fig.15An example of power variation during operation is also shown. After calibration, at 606, the system operates in a low power mode and monitors surface engagement, which may include a first power variation criterion. The first power variation criterion may include a power level having a rate of change above or below a predefined first threshold rate of change and / or a rate of change during use. As shown in step 708, if the first power variation criterion is not detected / satisfied, the process returns to step 706. However, if the first power variation criterion is detected / satisfied at 708, the system operates in a high power mode, as shown in 710, and the system monitors surface disengagement (e.g., a second power variation criterion). The second power variation criterion may include a power level having a rate of change above or below a predefined second threshold rate of change. As shown in 712, if the second power variation criterion is not detected / satisfied, the system continues to operate in a high power mode and monitors disengagement (step 710). If the second power variation criterion is detected / satisfied at 712, the process returns to 706, and the system operates in a low power mode and monitors the first power variation criterion. When the user selects to close on the user interface 630, the process 700 ends.

[0086] As above combined Fig.11 As discussed, the control system 800 may include a motor driver. The motor driver may be configured to utilize pulse width modulation (PWM) of a switch drive voltage (V) (e.g., on a GPIO line) to operate the motor 620 over a range of speeds from off to full speed. As discussed in more detail below, a ramp curve (e.g., in software) may be utilized to adjust the transition of the motor between speeds.

[0087] Generally speaking, if the duty cycle of the voltage (V) provided by the motor driver to the motor 620 remains constant and the airflow remains constant, the load of the motor 620 in an open air environment is constant and the amount of work required to be done by the motor is constant, which means that the output current (I) is also constant.

[0088] Similarly, if the airway (e.g., air passageway 618) remains completely blocked / occluded (e.g., suction port 16 is fully engaged / sealed with a surface), the current (I) supplied by the motor driver to the motor 620 will likewise remain substantially constant. Thus, the current (I) (and / or power P) supplied by the motor driver to the motor 620 may be an approximation of the airway blockage, the engagement of the suction port 616 with the surface 628, and, in turn, the active use of the surface cleaning device 610 by the user.

[0089] Battery 632 ( Fig.11) may include a rechargeable battery that allows the surface cleaning device 610 to be used without being plugged into a power source. In general, as the battery 632 is depleted, the voltage available to operate the motor 620 may change (e.g., decrease). To compensate for the reduced voltage (V) of the battery 632, the controller 800 may be configured (e.g., using software) to provide voltage compensation to compensate for the voltage loss over time by adjusting the duty cycle of the motor 622 to provide consistent suction (e.g., motor RPM) over a battery charging cycle (e.g., from full to empty). By adjusting the duty cycle of the voltage supplied to the motor 620, the same effective motor power can be maintained as the battery voltage decreases. However, as the battery voltage decreases, if constant power is maintained, the current consumed by the motor 620 increases.

[0090] Table 1 shows examples of engagement and disengagement voltages (V) and currents (I) in high and low modes.

[0091] Voltage high_E high_D low_E low_D 28.08001000300500 27.58201020320520 27.08401040340540

[0095] Table 1: Voltage-current mapping table

[0096] In Table 1, High_E indicates that the high power mode is engaged (e.g., the suction port 616 is fully engaged with the surface 628). Similarly, High_D indicates that the high power mode is disengaged, Low_E indicates that the low power mode is engaged, and Low_D indicates that the low power mode is disengaged. As shown in Table 1, as the voltage (V) decreases (e.g., due to battery discharge), the current (I) may increase due to voltage compensation utilized by the control system 800 to maintain suction as the battery voltage drops. Table 1 represents the measured (test) results of one device. However, it should be understood that Table 1 is only an example of one possible arrangement, and the current (I) and voltage (V) may be different for different devices and operating conditions.

[0097] In general, according to one aspect of the present disclosure, simple control of the motor 620 can utilize a voltage-current mapping table (e.g., similar to Table 1), and the motor voltage and current levels can be sampled periodically. At a given voltage level and motor state (high power mode or low power mode) in the table, the system can compare whether the last measured current is closer to the engaged state or the disengaged state. If the last measured current is closer to the disengaged state and the motor 620 is currently in the high power mode, the system can transition to the low power mode. If the last measured current is closer to the engaged current level (e.g., Table 1), the system can transition to the high power mode. It should be understood that the current (I) in Table 1 can be multiplied by the voltage (V) to provide power (P) instead of current (I). In general, Table 1 is an example of the expected or baseline current (I) or power (P) for the high power mode and the low power mode when the suction port 616 is engaged or disengaged.

[0098] Automatic mode switching between high power mode and low power mode may be undesirable if the system causes cleaning device 610 to operate in a mode that was not anticipated or desired by the user.

[0099] Some potential "failures" that could occur include:

[0100] • Scenario A: The user is actively cleaning, and the device (cleaning apparatus 610) is in high power mode. The device incorrectly determines that it is no longer being actively used and switches to low power mode.

[0101] • Scenario B: User is not actively cleaning, and the device is in low power mode. The device incorrectly determines that it is being actively used and switches to high power mode.

[0102] • Scenario C: User is not actively cleaning and the device is in low power mode. The user attempts to clean, but the device does not detect this and remains in low power mode.

[0103] • Scenario D: The user has completed cleaning with the device in high power mode. The device does not detect that cleaning is no longer active and remains in high power mode.

[0104] • Scenario E: There is a noticeable delay between mode switching and user action.

[0105] • Scenario F: Mode switching behavior is erratic and does not appear to be related to any user behavior.

[0106] Noise can also cause problems. For example, a simple algorithm based only on voltage and current (such as Table 1) may fail in scenarios A, B, and F due to the random noise of the current. Smoothing by creating a moving average can at least partially address the noise problem, although at the expense of a slight lag in detection.

[0107] If a simple algorithm is used, response time may also be a consideration. Due to the physics of the system, the surface cleaning device 610 may already have some hysteresis. For example, experimental data show that the delay time between the current sample (measurement result) and the actual engagement of the suction port 616 with the surface 628 may be in the range of 10ms to 20ms. In general, the surface cleaning device 610 is preferably configured to change from a low power mode to a high power mode and vice versa, wherein the hysteresis does not exceed a predefined limit (e.g., 500ms, 600ms, 700ms, 800ms, 900ms or 1,000ms). However, it should be understood that these are only examples, and the change of the power mode may be shorter than 500ms or longer than 1,000ms, and the present disclosure is not limited to a specific transition time limit.

[0108] Additionally, automatic mode changes based solely on current (or power) may not fully account for how a user cleans with a tool (e.g., nozzle 615). A user may use a tool to clean a surface multiple times, picking up the tool between cleanings. Through the algorithm, this may result in many detections of engagement and disengagement in a short time span, which may appear to the user as scenarios A or F. Also, a user may not completely occlude the airway with a tool while cleaning. Instead, a range of occlusions may occur as the angle of the tool changes while the user cleans. This means that a single value at peak engagement may never be reached, resulting in failures such as scenario C.

[0109] In addition, a single voltage-current (or power) mapping table (e.g., Table 1) may not fully account for production variations from one product to another, variations due to motor use (lifetime), and variations due to changes in the air passage 618. For example, long-term changes in the air passage 618 due to blockages or holes in the air passage may make a fixed voltage-current (or power) mapping table inaccurate. Still further, various cleaning surfaces 628 (e.g., carpets vs. hard surfaces) may cause more or less occlusion of the suction port 616, making the fixed (predefined) voltage-current mapping may be inaccurate.

[0110] Nevertheless, when the suction port 616 is engaged or disengaged from the cleaning surface 628, the magnitude of the current (and power) consumed by the motor 620 will tend to change rapidly. Since power (P) is the product of current (I) and voltage (V), the power (P) supplied to the motor 620 also tends to change significantly when the suction port 616 is engaged and disengaged from the cleaning surface 628. Therefore, detecting the engagement and disengagement of the suction port 616 with the cleaning surface 628 can be based at least in part on the rate of change (∆P) of the power of the motor 620 (i.e., the derivative of power with respect to time), where the power (P) can be the product of the voltage (V) and the current (I). As described above, the control system 800 can be configured to provide voltage compensation, so that the current (I) flowing to the motor 620 increases as the voltage (V) of the battery 632 decreases, thereby providing a constant power (P) as the voltage (V) changes (decreases). Thus, utilizing changes in power (∆P) (rather than just current) to detect engagement and disengagement reduces or eliminates false detection of engagement and disengagement that might otherwise result from current changes based on voltage compensation.

[0111] Figures 16 to 18 Shown above combined Fig.14 A more detailed flow chart of process 700 is discussed. Fig.16 Steps 718, 720, 722, 724, 726, and 728 generally correspond to Fig.14 The calibration step 704. Fig.16 As shown, after starting 702, the motor 620 is turned on at 716. This can be done using the user interface 630 ( Fig.11 ). The user interface 630 may include an LED or other device that communicates with the user. For example, the user interface 630 may include an LED that flashes on and off to signal the user not to perform cleaning when the device 610 performs calibration 704 immediately after startup 702.

[0112] After turning on the motor at step 716, the controller 800 operates the motor 620 in high power mode (after ramping up) and waits for the motor 620 to warm up. After the motor warms up, at step 720, the controller 800 disengages the suction port 616 from the surface (e.g., Fig.13 ) while measuring the voltage (V) and current (I) in high power mode. It should be understood that the "measured" voltage may include the voltage of the signal from the motor driver to the motor 620. As described above, the user interface 630 may include a flashing LED or other feature that communicates to the user not to engage the cleaning surface during the calibration process to ensure that the suction port 616 remains disengaged.

[0113] The measured voltage (V) and current (I) are then used to determine a baseline high disengagement power level at step 722. The high disengagement power level criterion may be determined using an equation of the form P = V*I. The criterion may be based on an average value of the voltage and current over a short period of time.

[0114] At step 724, the controller 800 switches the motor 620 to the low power mode using the ramp-down function. At step 726, when the motor 620 is in the low power mode and the suction port 616 is disengaged from the surface, the controller 800 measures the voltage (V) and the current (I). At step 728, when the motor 620 is in the low power mode and the suction port 616 is disengaged, the controller 800 uses the voltage (V) and the current (I) to determine the baseline low disengagement power (or current) level. The controller 800 can utilize the average power and / or current in the short time period during the calibration process to determine the baseline value. As discussed in more detail below, the baseline high disengagement power level and the baseline low disengagement power level (and / or the current associated with the high disengagement power level and the low disengagement power level) can be used in combination with the power change rate to "double check" (confirm) the engagement and / or disengagement of the suction port 616 with the cleaning surface 628.

[0115] Reference again Fig.16 , after determining the baseline low disengagement power (or current) level at step 728, the controller 800 operates in a low power (power boost ready) mode, as shown at step 730. While in the low power mode (step 730), the controller 800 repeatedly measures the current (I) and voltage (V) at short time intervals (∆T) while the motor 620 is in the low power mode. ∆T may be 10 ms or other suitable time intervals. As shown at steps 732 and 734, the controller 800 determines the power (P) measured at each time interval and calculates the power derivative (∆P) at each time interval. At step 736, each new power derivative (∆P) is added to a circular buffer and the oldest ∆P value is removed from the circular buffer. Then, at step 737, a moving average of the power derivative (∆P) is calculated using the ∆P values ​​stored in the circular buffer. The circular buffer may store any suitable number of ∆T values. In some cases, a circular buffer storing 50 individual ∆P values ​​has been found to be suitable. The controller 800 may be configured to avoid the use of floating point math to reduce the processing and / or memory requirements of the controller 800. For example, the values ​​of current (I), voltage (V), and power (P) may be multiplied by 100 or 1,000. For example, the calculation of power may be moved up (multiplied) to account for precision, thereby avoiding the use of floating point math in determining the average ∆P value. Thus, power values ​​(e.g. Fig.15 ) can include a power (P) multiplied by a large number (100 or 1,000).

[0116] Furthermore, the moving average of the power derivative (∆P) determined at step 737 may be limited to a low end and / or high end to facilitate data analysis. Thus, if the calculated ∆P is below a lower bound, the controller 800 replaces the calculated ∆P with the lower bound value. Similarly, if the calculated ∆P value exceeds an upper bound, the controller 800 replaces the calculated ∆P with the upper bound value.

[0117] At step 738, the controller 800 determines whether the moving average of ∆P meets a predefined threshold ∆P-based criterion for surface engagement. The criterion utilized at step 738 may include a first predefined criterion, and the controller 800 may switch the motor from a low power mode to a high power mode if the first predefined criterion is met. The first predefined criterion may include a power derivative (∆P) that is greater than or less than a predefined threshold. Thus, the first predefined criterion may be met if the average ∆P exceeds an upper (positive) threshold or the average ∆P is less than a lower (negative) threshold. For example, if the criterion includes a threshold of 600, the criterion (indicating engagement) will be met when the moving average ∆P is equal to or greater than 601, or equal to or less than -601. The threshold ∆P value (criterion) may (optionally) be determined empirically. For example, the surface cleaning device 610 may be used in various tests, and the threshold ∆P value (criterion) may be adjusted to reduce or eliminate incorrect determinations of whether the suction port is engaged (or disengaged) from the surface. Moreover, it should be understood that the threshold ∆P criterion does not necessarily need to include positive and negative numbers of equal magnitude. For example, the threshold ∆P criteria may include -550 and +650. Further still, a single (e.g., positive) ∆P threshold criterion may be used, and the absolute value of a moving average of ∆P may be utilized. Furthermore, the size of the ∆P threshold criterion number may vary, and may be larger if the "raw" number is multiplied by a larger number (e.g., 1,000) to reduce or eliminate floating point math operations.

[0118] Reference again Fig.16 If the moving average of ∆P does not meet the first predefined criterion at 738, the process returns to step 730 and calculates the power (P) for the next time interval, updates the circular buffer with the new ∆P, and calculates the moving average of ∆P again.

[0119] If the moving average of ∆P does meet the first predefined criteria at step 738, the process continues to steps 740 and 742, and debouncing is implemented. The debouncing utilized at steps 740 and 742 may vary depending on the needs of the particular application. In general, a short debouncing time may be utilized at steps 740 and 742 to detect engagement so that the device 10 switches from a low power mode to a high power mode shortly after the user engages the suction port 616 with the cleaning surface 628. It should be understood that debouncing is not required, and the controller 800 may be configured to automatically change from a low power mode to a high power mode when the moving average of ∆P meets the predefined criteria. The debouncing window (time) utilized at steps 740 and 742 may include, for example, 0.05 seconds, 0.1 seconds, 0.5 seconds, 1.0 seconds, or longer. The debouncing time may be selected based on, for example, observations of various users on various surfaces. If the debounce time is very short (or zero), random motor noise or other power variations may cause an erroneous engagement determination, resulting in one or both of the scenarios B and F discussed above. In general, if scenario C is a lower priority than scenarios B and F, debounce while the motor 20 is in a low power mode may be utilized at step 740.

[0120] Further references Fig.17 , at step 742, the controller 800 determines whether the moving average of ∆P continues to meet the predefined criteria for surface engagement during the debounce time. The debounce delay determines whether the first predefined criteria for surface engagement has been met, thereby reducing or eliminating false or incorrect determinations that engagement has occurred. If the first predefined criteria (∆P) is not met during the debounce time at step 742, the process returns to step 730 ( Fig.16 ), and the system operates in low power mode.

[0121] If the ∆P criteria are met during the debounce process at step 742, the process continues to step 744. In some cases, the ∆P-based criteria in steps 738 and 740 may result in an incorrect determination that the intake port 616 is engaged, even though the intake port 616 is not actually engaged. Step 744 double-checks the "engaged" determination at step 742 using a baseline power (or current) criterion.

[0122] At step 744, the controller 800 determines whether the power P and / or current (I) meet the baseline low disengagement power (or current) standard (e.g., during the debounce window). As described above, if the suction port 616 continues to disengage from the cleaning surface 628, the power (P) and current (I) of the motor 620 remain relatively constant. However, if the suction port 616 continues to engage with the surface (e.g., without movement), the power (P) and current (I) may also remain constant. If the user engages the suction port 616 with the cleaning surface 628 very slowly, or moves the suction port 616 away from the cleaning surface 628 very slowly, the power (P) and current (I) of the motor 620 may also remain constant. Further, even if the suction port 616 remains disengaged, noise or random variations in power (P) may occur, causing the average ∆P to be higher than the threshold ∆P standard. Step 744 may include comparing the measured power (P) or measured current (I) (e.g., during the debounce time) to an expected (baseline) power or current for the low power disengaged state. The criteria may include a value within, for example, 5% of the baseline low power disengaged power (or current) measured at step 726. Thus, if the power (P) at step 744 is within, for example, 5% of the baseline low power disengaged value, the controller 800 determines that the inlet 616 is disengaged (despite satisfying the threshold ∆P criteria for engagement at steps 738 and 742) and the debounce window (time) is cleared at 746 and the process returns to step 730. It should be understood that the 5% range with respect to the power or current values ​​measured during the calibration process is merely an example of one possible baseline criteria.

[0123] If the baseline low power (or current) criteria are met at step 744 , the process continues to step 748 and the controller 800 ramps the motor 620 to the high power mode.

[0124] At step 750 , when the motor 620 operates in the high power mode, the controller 800 repeatedly measures the current (I) and the voltage (V), and calculates the power P at each time interval.

[0125] At step 752 , the controller 800 calculates the power derivative ΔP for each time interval and stores the new ΔP value in a circular buffer and deletes the oldest ΔP value from the circular buffer.

[0126] At step 754, the controller 800 determines whether the moving average of the ∆P values ​​stored in the circular buffer satisfies a predefined criterion for surface detachment. The predefined criterion utilized at step 754 may include a second (threshold) power change criterion (power derivative), as described above in conjunction with step 712 ( Fig.14). The predefined criteria for surface disengagement may include an average ∆P that is small enough to indicate that the suction port 616 is not in use and is not engaging the cleaning surface 628. To reiterate, if the average ∆P is greater than a predefined threshold, or less than a predefined negative threshold, the controller 800 determines that the suction port 616 is engaged and the disengagement criteria have not been detected / met. For example, if the high power thresholds are +1,000 and =1,000, the controller 800 in this example will (at least initially) determine that the suction port 616 is engaged if the average ∆P is greater than 1,000, and the controller 800 will also (at least initially) determine that the suction port 616 is engaged if the average ∆P is less than -1,000. The low power ∆P threshold and the high power ∆P threshold may or may not be equal. Generally, better results may be obtained if the low power ∆P threshold is less than the high power ∆P threshold. Therefore, in the examples of steps 738 and 754, the low ∆P threshold and the high ∆P threshold are 600 and 1,000, respectively. However, these are merely examples, and the low ∆P threshold and the high ∆P threshold may be adjusted as needed for some applications.

[0127] Fig.15 An example of disengagement is shown. After cleaning 760, the user may disengage the suction port 616 from the cleaning surface, resulting in a constant power P (and current) as shown at 765. Therefore, when the disengagement voltage V is constant, the derivative of the power P (average ∆P) is small, indicating that the suction port 616 is not engaged, but disengaged. The threshold ∆P criteria for disengagement in low power mode and high power mode can be determined empirically and can be large enough to avoid erroneous "engaged" determinations due to random noise and power fluctuations.

[0128] Reference again Fig.17 , if the average ∆P does not meet the high power ∆P threshold criteria at step 754 , the process returns to step 750 , and the controller 800 continues to repeatedly measure current (I), voltage (V) and calculate power (P).

[0129] If the predefined threshold high power ∆P criterion is met at step 754, the process continues to step 756 and debounce is applied to avoid erroneously determining that the suction port 616 is disengaged. Fig.15 As shown, the power P may vary significantly during cleaning 660. Debounce delays determining the disengagement state by a period of time (eg, 1.0 seconds, 1.5 seconds, 2.0 seconds, etc.) to avoid incorrectly determining (based on a brief disengagement) that a disengagement has occurred.

[0130] Reference again Fig.17, at step 758, the process determines whether the average ∆P value meets the predetermined high power ∆P threshold criteria for disengagement during the debounce time window. If the average ∆P value does not meet the disengagement criteria during the debounce period (e.g., both engagement and disengagement are rapid), the process returns to step 750 and the controller 800 continues to monitor for disengagement. However, if the predetermined high power ∆P threshold criteria are met at step 758, the process continues to step 766. At step 766, the controller 800 determines whether the power (P) and / or current (I) meet the baseline disengagement power and / or current criteria. The baseline disengagement power criteria may include a power (P) (or current (I)) that is within, for example, 5% of the baseline high disengagement power or current measured during the calibration process at step 720. As discussed above, if the user maintains the suction port 616 engaged with the cleaning surface 628 for a period of time, the average ∆P value (step 758) may be small, resulting in an incorrect initial determination at step 758 that the suction port 616 is disengaged. Step 766 provides an additional power (or current) based criterion that must also be met to determine that the suction port 616 is disengaged. It should be understood that the 5% range of the power or current values ​​measured during the calibration process is only an example of a possible baseline criterion. If the power (current) criterion is not met at step 766, the debounce window is cleared at 776 and the process returns to step 750 without switching to low power mode.

[0131] If the power-based criteria for disengagement are met at step 766, the process continues to step 768 and the controller 800 switches the motor from the high power mode to the low power mode. The controller 800 is preferably configured to ramp the voltage supplied to the motor 620 from the high power mode to the low power mode (and vice versa) over a period of time to avoid sudden changes in the power level supplied to the motor 620. The controller 800 may be configured to "ignore" or otherwise not consider changes in power levels during the ramp from high power to low power (and from low power to high power) to avoid incorrectly determining that power changes due to the ramp are indicative of an engaged state.

[0132] Reference again Fig.18, at step 770, the controller 800 measures the voltage (V) and current (I) of the motor in the low power mode, and then determines an updated baseline low disengagement power (or current) level at step 772. Steps 770 and 772 provide an updated calibration of the baseline low disengagement power (or current) level for a short period of time after the suction port 616 is disengaged. This calibration is performed because the user does not typically engage the surface immediately after disengagement, so a low power disengagement condition can be assumed. If the power to the device 610 is turned off at step 774, the process ends at 778. If the power is not turned off, the process returns to step 730 and the current (I) and voltage (V) are measured at short time intervals to monitor the power changes that meet the engagement criteria at step 738, as discussed above.

[0133] Fig.15 An example of power levels during use is shown. After turning on the device 610 at 768, the motor is ramped to high power at 717, and a baseline high disengagement power (or current) level is then determined at 722. The controller 800 then ramps the motor 20 down to a low power mode at 723, and the controller 800 then determines a baseline low disengagement power (or current) at 728.

[0134] After calibration, the controller 800 initially operates the motor 620 in a low power mode. If the suction port 616 then engages a surface, the power controller 800 detects the engagement at 731 and the controller 800 may quickly ramp the power up to a peak 780 at 779. Fig.25 In the example at 760, this is a series of peaks 761 and valleys 762 that occur subsequently, respectively, during use 760. Peaks 761 and valleys 762 may be caused by, for example, a user engaging the suction port 616 with a surface, then pulling the suction port 616 along the surface, then disengaging the suction port 616 from the surface as the suction port 616 moves forward, and then reengaging the suction port 616 with the cleaning surface. While the suction nozzle 616 is disengaged for a period of time 765, the power value remains relatively constant, thereby (at least initially) satisfying the threshold disengagement criterion. If the baseline power (or current) criterion for disengagement is also met (e.g., during the period of time 765), the controller 800 ramps down the power at 782. At 782, the power value remains relatively constant while the suction nozzle 616 is disengaged for a period of time 765. Fig.15 In the example of FIG. 6 , the device 610 is operated in a low power mode while disconnected for a short period of time 786, and the device 610 is then powered off at 788. A baseline low disconnected power (or current) may be calculated at 786, and if the updated value calculated at 786 is sufficiently different from the value calculated during the initial calibration at 728, the value determined during the initial calibration may be replaced.

[0135] Fig.19Calibration 704 is shown according to another aspect of the present disclosure. In this example, the power is off during an initial time period 715. The motor 620 is turned on at 716, and the motor 620 is ramped from the low power mode to the high power mode, as shown at 779. In the example shown, the ramp 779 is 1300 ms. However, it should be understood that the ramp time may vary depending on the needs of a particular application. Fig.19 In the example of , when ramp up 779 is completed, motor preheat is completed at 790. However, after the ramp 779 for motor preheat, the motor 620 may continue to operate in the high power mode for a period of time.

[0136] After preheating is completed at 790, the motor 620 runs for a period of time 792, and the controller 800 measures a baseline high disengagement power (or current) level. The high disengagement power level may include the average power supplied to the motor 620 over the period of time. In the example shown, the high disengagement power level is determined using a period of 1,000 ms. However, the period of time may vary according to the needs of a particular application. The power level then ramps down at 793 between points 794 and 796. The ramp 793 may be, for example, 200 ms or other suitable period of time. The controller 800 then causes the motor 620 to run in a low power mode 798 for a period of time (e.g., 1,000 ms) and measures a baseline low disengagement power (or current) level. The controller 800 then transitions to a high power mode ("Power_Boost_Ready") at 799, and the controller 800 then repeatedly measures current (I) and voltage (V) at short time intervals 730 in the low power mode.

[0137] Fig.19 The power level in (vertical axis) corresponds to the power signal from the motor driver to the motor 620. It should be appreciated that the power level may comprise a relatively large value if the power level is multiplied by, for example, 1,000 to reduce floating point math operations.

[0138] refer to Fig. 20 , in calibration 704 ( Fig.19), the device 610 may operate at the low disengagement power level 730 for a period of time while repeatedly measuring current (I) and voltage (V), and calculating the power derivative (∆P) and average ∆P to determine whether the threshold high power engagement criteria have been met. In the example shown, surface engagement begins at 802, and the power level is reduced at 804 until the detection baseline is reached at 806. During engagement 760, if the ∆P and baseline criteria are met during debounce (e.g., 50 ms), the controller 800 detects engagement at 808, and the controller 800 then ramps the voltage supplied to the motor 620, as shown at 810. At 812, the motor 620 is in high power mode, and continues to operate in high power mode at 814. The controller 800 repeatedly measures current (I) and voltage (V) during operation 814 to determine whether the high power mode disengagement criteria are met.

[0139] Further references Fig.21 , the device 610 may operate in a high power mode (POWER_BOOST_ENGAGED) during time 814. In this example, the user begins to disengage the inlet 616 at 816. As the inlet disengages, the power level will increase as shown at 818 until the disengagement detection baseline is reached at 820. A debounce is then implemented at 822 (e.g., 2,000ms or other suitable time). If the average ∆P and baseline power (or current) criteria for disengagement are met at 824, the controller 800 will ramp down the voltage supplied to the motor 620 as shown at 826. Fig.21 In the example of , the ramp is 200 ms. However, nearly any suitable ramp time may be utilized. The controller 800 then operates the motor 620 at the low disengagement power level for a period of time (e.g., 1,000 ms), as shown at 828, and the controller 800 then updates (calibrates) the baseline low disengagement power (or current) level. After updating the baseline low disengagement power level, the controller 800 operates the low power mode ("Power_Boost_Ready") at 830. It should be understood that Figures 19 to 21 are illustrative, and actual power levels (eg, power signals to motor 620) may have Figures 19 to 21 Waves, curves and other such irregularities are not shown.

[0140] Fig. 22 shows an example of a high power mode (HPM) signal generated during the test, and Fig.23 An example of a low power mode (LPM) signal is shown. Fig. 22 and Fig.23The signal includes an average ∆P value calculated using a rolling window (e.g., a circular buffer of 50 ∆P values). In general, disengagement signals tend to be relatively small, while disengaging, engaging, and engaging signals tend to be significant. Therefore, the signal amplitude (average ∆P) can provide an indication of the engagement and disengagement of the suction port from the surface.

[0141] What is disclosed herein may be further summarized in the following paragraphs and may be characterized by any and all combinations of the various aspects described therein.

[0142] According to one aspect of the present disclosure, a surface cleaning device includes a debris holding container. The surface cleaning device also includes an intake port, an air passage at least partially defined by the debris holding container and the intake port, and a motor configured to drive a fan to generate an airflow through the air passage. The motor defines a first power usage curve corresponding to a clean engagement state, and a second power usage curve corresponding to a clean disengagement state. The second power usage curve is different from the first power usage curve. An electric power source is configured to provide electric power to the motor. A controller is operably connected to the motor. The controller is configured to detect a transition from the first power usage curve to the second power usage curve based at least in part on a change in at least one power indicator, and to reduce the level provided to the motor when a transition from the first power usage curve to the second power usage curve is detected.

[0143] According to another aspect, the control system may be further configured to detect a transition from the second power usage curve to the first power usage curve based at least in part on a change in at least one power indicator, and to increase power supplied to the motor when the transition from the second power usage curve to the first power usage curve is detected.

[0144] According to yet another aspect, the control system can be further configured to increase power after a delay period if the controller determines that predefined debounce criteria are met.

[0145] According to yet another aspect, the delay period may include a first delay period, and the controller is configured to shut off power to the motor after a second delay period greater than the first delay period.

[0146] According to another aspect, the power indicator may include at least one operating parameter selected from the group consisting of a current of the power, an electrical power of the motor, a rate of change of current of the motor, and a rate of change of electrical power of the motor.

[0147] According to yet another aspect, the power indicator may include at least a selected one of an RPM of the motor and a current draw of the motor.

[0148] According to another aspect, the controller may be configured to utilize changes in the power indicator over a predefined time interval to determine whether the suction port has moved into engagement with a surface and / or moved out of engagement with a surface.

[0149] According to another aspect of the present disclosure, a cleaning device includes a battery and a motor operatively connected to the battery. The cleaning device also includes an air duct with a suction port, and an impeller that is fluidly connected to the air duct and operatively connected to the motor, whereby the motor can be actuated so that the impeller generates suction at the suction port. The cleaning device also includes a controller configured to cause the motor to operate in a first mode and a second mode, wherein when the suction port is engaging with a surface, the second mode provides an increased suction relative to the first mode at the suction port. The controller is also configured to cause the motor to switch from the first mode to the second mode based at least in part on a first engagement criterion. The controller is further configured to cause the motor to switch from the second mode to the first mode based at least in part on a second engagement criterion. The first engagement criterion and the second engagement criterion include a change in electrical power used by the motor, wherein the change in electrical power is associated with the engagement of the suction port with the surface, whereby if the suction port is engaged with the surface, the controller causes the motor to switch from the first mode to the second mode, and if the suction port is disengaged from the surface, the controller causes the motor to switch from the second mode to the first mode.

[0150] According to yet another aspect, the controller may be configured to operate the motor at a first power level and a second power level in the first mode and the second mode, respectively. The second power level may be greater than the first power level.

[0151] According to another aspect, the first engagement criterion may include a rate of change of electrical power used by the motor that is greater than a predefined first threshold rate of change of electrical power of the motor. The controller may be configured to repeatedly determine the electrical power of the motor when in the first mode and / or the second mode based at least in part on the voltage and current supplied to the motor.

[0152] According to yet another aspect, when in the first mode, the controller may be configured to: 1) determine an average rate of change of the electric power used by the motor using multiple individual rates of change of the electric power used by the motor over a time period; and: 2) compare the average rate of change of the electric power used by the motor with the first threshold rate of change of the electric power used by the motor; and: 3) determine that the first engagement criterion is met if the average rate of change of the electric power used by the motor is greater than or equal to the predefined first threshold rate of change of the electric power used by the motor.

[0153] According to another aspect, when in the first mode, the controller may be configured to: 1) determine the individual rate of change of the electric power used by the motor using the difference in the electric power used by the motor over a time period; and: 2) store the individual rate of change of the electric power used by the motor in a circular buffer, thereby storing multiple individual rates of change of the electric power used by the motor in the circular buffer. The controller may also be configured to determine the average rate of change of the electric power used by the motor using the multiple individual rates of change of the electric power used by the motor stored in the buffer.

[0154] According to yet another aspect, the first mode may include a low power mode and the second mode may include a high power mode in which motor power is increased relative to the low power mode. The controller may be configured to implement a first debounce after initially determining that the first engagement criterion is met, so as to: 1) delay a first debounce time to switch the motor from the low power mode to the high power mode, and: 2) if the first engagement criterion is met within the first debounce time, switch from the low power mode to the high power mode after the first debounce time.

[0155] According to yet another aspect, the second engagement criterion may include a rate of change of electrical power used by the motor that is greater than a predefined second threshold rate of change of electrical power used by the motor. The predefined second threshold rate of change of electrical power used by the motor is greater than the predefined first threshold rate of change of electrical power used by the motor.

[0156] According to another aspect, when in the second mode, the controller may be configured to: 1) determine an average rate of change of the electric power used by the motor using multiple individual rates of change of the electric power used by the motor over a time period; 2) compare the average rate of change of the electric power used by the motor with the second threshold rate of change of the electric power used by the motor; and: 3) determine that the second engagement criterion is met if the average rate of change of the electric power used by the motor is greater than or equal to the predefined second rate of change of the electric power used by the motor.

[0157] According to yet another aspect, when in the second mode, the controller may be configured to: 1) determine the individual rate of change of the electric power used by the motor using a difference in the electric power used by the motor within a time increment; and: 2) store the individual rate of change of the electric power used by the motor in a circular buffer, thereby storing a plurality of individual rates of change of the electric power used by the motor in the circular buffer. The controller may be configured to determine the average rate of change of the electric power used by the motor using the plurality of individual rates of change of the electric power used by the motor stored in the buffer.

[0158] According to yet another aspect, the first mode may include a low power mode. The second mode may include a high power mode in which motor power is increased relative to the low power mode. The controller may be configured to implement a first debounce after initially determining that the second engagement criterion is met, so as to: 1) delay a second debounce time to switch the motor from the high power mode to the low power mode; and: 2) if the second engagement criterion is met within the second debounce time, switch from the high power mode to the low power mode after the second debounce time.

[0159] According to another aspect, the second de-bounce time may be greater than the first de-bounce time.

[0160] According to yet another aspect, the controller may be configured to determine the current used by the motor and / or the power used by the motor when the motor is in the low power mode and the suction port is disengaged from the surface to determine a baseline low disengagement power standard including current and / or power. The controller may be configured to determine the current used by the motor and / or the electric power used by the motor when the motor is in the high power mode and the suction port is disengaged from the surface to determine a baseline high disengagement power standard including current and / or power. The controller may be configured to switch from the low power mode to the high power mode under the following circumstances: 1) the first engagement criterion is met, and: 2) the baseline low disengagement power criterion is met. The controller may be configured to switch from the high power mode to the low power mode under the following circumstances: 1) the second engagement criterion is met, and: 2) the baseline high disengagement power criterion is met.

[0161] According to yet another aspect, the controller may be configured to determine the baseline low breakaway power standard and / or the baseline high breakaway power standard during an initial calibration process, whereby the controller is configured to: 1) initially operate the motor in a high power mode after the motor is turned on, and: 2) determine the baseline high breakaway power standard while the motor is operating in the high power mode. The controller may be configured to: 1) initially operate the motor in a low power mode after the motor is turned on, and: 2) determine the baseline low breakaway power standard while the motor is operating in the low power mode.

[0162] According to another aspect, the controller may be configured to update the baseline low disengagement power standard during use to determine an updated baseline low disengagement power standard by measuring the current used by the motor and / or the electrical power used by the motor when the motor is in the low power mode after the suction port is disengaged from the surface and after changing from the high power mode to the low power mode.

[0163] According to yet another aspect, the baseline low disengagement power standard can include a current range for the current measured when the motor is in low power mode and the suction port is disengaged from the surface. The baseline high disengagement power standard can include a current range for the current measured when the motor is in high power mode and the suction port is disengaged from the surface. The controller can be configured to continue to operate in the high power mode even if the second engagement standard is met, unless the measured current is within the high disengagement current range. The controller can be configured to continue to operate in the low power mode even if the first engagement standard is met, unless the measured current is outside the low disengagement current range.

[0164] According to yet another aspect, the user input feature may allow a user to input an override.The controller may be configured to continue operating the motor in the high power mode when the suction port is disengaged from the surface if an override has been input.

[0165] According to another aspect of the present disclosure, the air channel has a suction port configured to engage with a surface to clean the surface. An impeller may be in fluid communication with the air channel. A motor may be operably connected to the impeller. The motor may cause air to flow in the air channel to generate suction at the suction port. A controller may be configured to cause the device to selectively operate in a first mode or a second mode. In the second mode, the suction at the suction port may be increased relative to the suction at the suction port in the first mode. The controller may be configured to change from the first mode to the second mode and / or from the second mode to the first mode based at least in part on a power change criterion. The power change criterion may include a rate of change of the electrical power of the motor.

[0166] According to yet another aspect, the controller may be configured to switch from the second mode to the first mode if a rate of change of electrical power used by the motor is below a predefined threshold.

[0167] According to yet another aspect, the controller may be configured to, when the suction port is engaging a surface in the second mode, continue operating in the second mode even if the power change criteria are met if the current and / or power used by the motor is consistent with the current and / or power expected according to predefined criteria.

[0168] According to yet another aspect, the power change criterion may include a first power change criterion and a second power change criterion. The first power change criterion may include a first threshold rate of change of the electric power used by the motor, and the second power change criterion may include a second threshold rate of change of the electric power used by the motor. The first threshold rate of change of the electric power used by the motor may be less than the second threshold rate of change of the electric power used by the motor. The controller may be configured to switch from the first mode to the second mode based at least in part on a comparison of a measured rate of change of the electric power used by the motor with the first threshold rate of change of the electric power used by the motor.

[0169] It will be understood by those of ordinary skill in the art that the described disclosure and other components of construction are not limited to any specific materials. Unless otherwise described herein, other exemplary embodiments of the disclosure disclosed herein may be formed from a wide variety of materials.

[0170] For purposes of this disclosure, the term "coupled" (in all its forms, coupling, coupled, coupled, etc.) generally means the direct or indirect connection of two components (electrical or mechanical) to one another. Such connection may be fixed in nature or removable in nature. Such joining may be achieved with two components (electrical or mechanical) and any additional intermediate members may be integrally formed as a single entity with each other or with the two components. Unless otherwise stated, such joining may be permanent in nature or may be removable or releasable in nature.

[0171] It is also important to note that the construction and arrangement of the elements of the present disclosure as shown in the exemplary embodiments are only illustrative. Although only several embodiments of this innovation have been described in detail in the present disclosure, it will be easy for those skilled in the art to understand that many modifications are possible (e.g., changes in the size, size, structure, shape and proportion of various elements, the value of parameters, the installation arrangement, the use of materials, colors, orientations, etc.) without substantially departing from the novel teachings and advantages of the narrated subject matter. For example, an element shown as being integrally formed may be composed of multiple parts, or an element shown as being integrally formed, the operation of the interface may be reversed or otherwise changed, the length or width of the structure and / or member or connector or other element of the system may vary, and the nature or number of the adjustment positions provided between the elements may vary. It should be noted that the elements and / or assemblies of the system may be composed of any of a wide variety of materials providing sufficient strength or durability in a wide variety of colors, textures, and combinations. Therefore, all such modifications are intended to be included within the scope of this innovation. Other replacements, modifications, changes, and omissions may be made in the design, operating conditions, and arrangements of the desired and other exemplary embodiments without departing from the spirit of this innovation.

[0172] It should be understood that any described process or steps within a described process can be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed herein are for illustrative purposes and should not be construed as limiting.

Claims

1. A surface cleaning device, comprising: debris holding container; suction port; an air passageway defined at least in part by the debris containment receptacle and the suction port; a motor configured to drive a fan to generate airflow through the air passage, the motor defining a first power usage curve corresponding to a cleaning engaged state and a second power usage curve corresponding to a cleaning disengaged state, wherein the second power usage curve is different from the first power usage curve; an electrical power source configured to provide electrical power to the motor; and a controller in operable communication with the motor, wherein the controller is configured to: detecting a transition from the first power usage profile to the second power usage profile based at least in part on a change in at least one power indicator; and The power level provided to the motor is reduced when a transition from the first power usage profile to the second power usage profile is detected.

2. The surface cleaning device of claim 1, wherein: The controller is configured to: detecting a transition from the second power usage profile to the first power usage profile based at least in part on a change in at least one power indicator; and The power provided to the motor is increased when a transition from the second power usage profile to the first power usage profile is detected.

3. A surface cleaning apparatus according to claim 1 or claim 2, wherein: The control system is configured to increase power to the motor after a delay period if the controller determines that a predefined debounce criterion is met.

4. The surface cleaning apparatus of claim 3, wherein: The delay period includes a first delay period; and The controller is configured to shut off power to the motor after a second delay period that is greater than the first delay period.

5. The surface cleaning apparatus of claim 1, wherein: The power index includes at least one operating parameter selected from the group consisting of a current of the motor, an electrical power of the motor, a rate of change of the current of the motor, and a rate of change of the electrical power of the motor.

6. The surface cleaning apparatus of claim 1, wherein: The power indicator includes at least one selected from an RPM of the motor and a current of the motor.

7. The surface cleaning apparatus of claim 1, wherein: The controller is configured to: Changes in the power indicator over a predefined time interval are used to determine whether the suction port has moved into engagement with a surface and / or moved out of engagement with a surface.

8. A cleaning device, comprising: Battery; a motor operatively connected to the battery; an air duct having a suction port; an impeller in fluid communication with the air duct and operably connected to the motor, whereby the motor can be actuated to cause the impeller to generate suction at the suction inlet; A controller, the controller being configured to: causing the motor to operate in a first mode and a second mode, wherein the second mode provides increased suction at the suction port relative to the first mode when the suction port is engaging a surface; causing the motor to switch from the first mode to the second mode based at least in part on a first engagement criterion; causing the motor to switch from the second mode to the first mode based at least in part on a second engagement criterion; and: wherein the first engagement criterion and the second engagement criterion include a change in electrical power used by the motor, the change in electrical power being associated with the engagement of the suction port with a surface, whereby if the suction port engages with a surface, the controller causes the motor to switch from the first mode to the second mode, and if the suction port disengages from the surface, the controller causes the motor to switch from the second mode to the first mode.

9. The cleaning device according to claim 8, wherein: The controller is configured to operate the motor at a first power level and a second power level in the first mode and the second mode, respectively; and The second power level is greater than the first power level.

10. The cleaning device according to claim 8, wherein: The first engagement criterion includes a rate of change of electrical power used by the motor that is greater than a predefined first threshold rate of change of electrical power of the motor.

11. The cleaning device according to claim 8, wherein: The controller is configured to repeatedly determine electrical power used by the motor when in the first mode and / or the second mode based at least in part on a voltage and a current of the motor.

12. The cleaning device according to claim 8, wherein: When in the first mode, the controller is configured to: 1) determine an average rate of change of electrical power used by the motor using a plurality of individual rates of change of electrical power used by the motor over a period of time; and: 2) comparing the average rate of change of electrical power used by the motor to a first threshold rate of change of electrical power used by the motor; And: 3) if the average rate of change of electrical power used by the motor is greater than or equal to a predefined first threshold rate of change of electrical power used by the motor, determining that the first engagement criterion is met.

13. The cleaning device according to claim 8, wherein: When in the first mode, the controller is configured to: 1) determine a separate rate of change of electrical power used by the motor using a difference in electrical power used by the motor over a time increment; and: 2) storing the individual rates of change of electrical power used by the motor in a circular buffer, thereby storing a plurality of individual rates of change of electrical power used by the motor in the circular buffer; and The controller is configured to determine an average rate of change of electric power used by the motor using the plurality of individual rates of change of electric power used by the motor stored in the buffer.

14. The cleaning device according to claim 8, wherein: The first mode comprises a low power mode; The second mode includes a high power mode in which motor power is increased relative to the low power mode; The controller is configured to implement a first de-bounce after initially determining that the first engagement criterion is met so as to: 1) delay a first de-bounce time to switch the motor from the low power mode to the high power mode, and: 2) switch from the low power mode to the high power mode after the first de-bounce time if the first engagement criterion is met within the first de-bounce time.

15. A cleaning device according to any one of claims 8 to 14, wherein: the second engagement criterion comprising a rate of change of electrical power used by the motor, the rate of change being greater than a predefined second threshold rate of change of electrical power used by the motor; The predefined second threshold rate of change of electrical power used by the motor is greater than the predefined first threshold rate of change of electrical power used by the motor.

16. A cleaning device according to any one of claims 8 to 14, wherein: When in the second mode, the controller is configured to: 1) determine an average rate of change of electric power used by the motor using a plurality of individual rates of change of electric power used by the motor over a period of time; 2) compare the average rate of change of electric power used by the motor to a second threshold rate of change of electric power used by the motor; And: 3) if the average rate of change of electrical power used by the motor is greater than or equal to a predefined second rate of change of electrical power used by the motor, determining that the second engagement criterion is met.

17. The cleaning device according to claim 16, wherein: When in the second mode, the controller is configured to: 1) determine the individual rates of change of electrical power used by the motor using differences in electrical power used by the motor over a time increment; and: 2) storing the individual rates of change of electrical power used by the motor in a circular buffer, thereby storing a plurality of individual rates of change of electrical power used by the motor in the circular buffer; and The controller is configured to determine the average rate of change of electric power used by the motor using the plurality of individual rates of change of electric power used by the motor stored in the buffer.

18. The cleaning device according to claim 14, wherein: The first mode comprises a low power mode; The second mode includes a high power mode in which motor power is increased relative to the low power mode; The controller is configured to implement a second debounce after initially determining that the second engagement criterion is met in order to: 1) delay a second debounce time to switch the motor from the high power mode to the low power mode; and: 2) if the second engagement criterion is met within the second debounce time, switching from the high power mode to the low power mode after the second debounce time.

19. The cleaning device according to claim 18, wherein: The second de-jitter time is greater than the first de-jitter time.

20. The cleaning device according to claim 18, wherein: the controller being configured to determine a current used by the motor and / or a power used by the motor when the motor is in the low power mode and the suction port is disengaged from a surface to determine a baseline low disengagement power standard comprising current and / or power; the controller being configured to determine the current used by the motor and / or the electrical power used by the motor when the motor is in the high power mode and the suction port is disengaged from a surface to determine a baseline high disengagement power standard comprising current and / or power; The controller is configured to switch from the low power mode to the high power mode if: 1) the first engagement criterion is met, and: 2) the baseline low disengagement power criterion is met; and The controller is configured to switch from the high power mode to the low power mode if: 1) the second engagement criterion is met, and: 2) the baseline high disengagement power criterion is met.

21. The cleaning device according to claim 20, wherein: The controller is configured to determine the baseline low disengagement power standard and / or the baseline high disengagement power standard during an initial calibration process, whereby the controller is configured to: 1) initially operate the motor in a high power mode after the motor is turned on, and: 2) determine the baseline high disengagement power standard while the motor is operating in the high power mode; and The controller is configured to: 1) initially operate the motor in a low power mode after the motor is turned on, and: 2) determine the baseline low disengagement power criterion while the motor is operating in the low power mode.

22. The cleaning device according to claim 21, wherein: The controller is configured to update the baseline low disengagement power criterion during use to determine an updated baseline low disengagement power criterion by measuring the current used by the motor and / or the electrical power used by the motor when the motor is in the low power mode after the suction port is disengaged from the surface and after changing from the high power mode to the low power mode.

23. The cleaning device of claim 22, wherein: the baseline low disengagement power standard comprising a current range for current measured when the motor is in a low power mode and the suction port is disengaged from a surface; the baseline high disengagement power standard comprising a current range for current measured when the motor is in a high power mode and the suction port is disengaged from a surface; The controller is configured to continue operating in the high power mode even if the second engagement criterion is met unless the measured current is within the high disengagement current range; and The controller is configured to continue operating in the low power mode even if the first engagement criterion is met unless the measured current is outside the low disengagement current range.

24. A cleaning device according to any one of claims 8 to 23, comprising: A user input feature that allows a user to input an override; and wherein: The controller is configured to continue operating the motor in a high power mode when the suction port is disengaged from a surface if an override has been entered.

25. An apparatus for cleaning a surface, the apparatus comprising: an air passage having a suction opening configured to engage a surface to clean the surface; an impeller in fluid communication with the air passage; a motor operatively connected to the impeller, whereby the motor causes air to flow in the air passage to generate suction at the suction inlet; a controller configured to cause the device to selectively operate in a first mode or a second mode, wherein the suction force at the suction inlet is increased in the second mode relative to the suction force at the suction inlet in the first mode; And wherein the controller is configured to change from the first mode to the second mode and / or from the second mode to the first mode based at least in part on a power change criterion, wherein the power change criterion includes a rate of change of electrical power to the motor.

26. The apparatus of claim 25, wherein: The controller is configured to switch from the second mode to the first mode if the rate of change of electrical power used by the motor is below a predefined threshold.

27. The apparatus of claim 26, wherein: The controller is configured to, when the suction port is engaging a surface in the second mode, continue operating in the second mode even if the power change criteria are met if the current and / or power used by the motor is consistent with the current and / or power expected according to the predefined criteria.

28. The device according to any one of claims 25 to 27, wherein: the power change criterion comprising a first power change criterion and a second power change criterion, wherein the first power change criterion comprises a first threshold rate of change of electric power used by the motor and the second power change criterion comprises a second threshold rate of change of electric power used by the motor, wherein the first threshold rate of change of electric power used by the motor is less than the second threshold rate of change of electric power used by the motor; And wherein the controller is configured to switch from the first mode to the second mode based at least in part on a comparison of a measured rate of change of electrical power used by the motor and the first threshold rate of change of electrical power used by the motor.

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