Sub-machine control method and cleaning equipment

Abstract

The invention discloses a sub-machine control method and cleaning equipment. The sub-machine control method comprises the steps that the current signal state of a target sub-interface in output interfaces is obtained; comparing the current signal state with a plurality of preset signal states; under the condition that the current signal state is matched with any preset signal state corresponding to the access state, determining that a target sub-machine corresponding to the matched preset signal state is in the access state; and in response to a received control instruction, controlling at least one of a host output power supply of the host, a host load in the host and a sub-machine load in the target sub-machine. Therefore, on the basis that an in-place detection sensor does not need to be arranged, accurate identification of the in-place state of the sub-machine is achieved, then on-off of an output power source of the main machine can be controlled more reasonably, the design cost of products corresponding to the main machine and the sub-machine is reduced, and meanwhile the reliability of the products is improved.

Description

Technical Field

[0001] The present application relates to the technical field of household appliances, and particularly relates to a control method for a slave machine and a cleaning device. Background Art

[0002] Some products (such as multifunctional vacuum cleaners, etc.) include a main machine and multiple detachable slave machines. By connecting different slave machines to the main machine, different functions of the product can be realized. Currently, the common methods for detecting the in-place access state of the slave machine are mechanical switches, photoelectric sensors, ultrasonic sensors, and visual image detection methods. This results in the need to use multiple in-place detection sensors for in-place access recognition when detecting the in-place access states of multiple slave machines, which not only increases the design cost of the product but also increases the complexity of the product structure design space.

[0003] The patent with the publication number CN119423639A discloses a cleaning component replacement method. When the cleaning device is located on the cleaning base station, the first type of the current cleaning component is determined based on the target color data recognized by the visual sensor; different types of cleaning components correspond to different numerical ranges of color data; the second type of the surface to be cleaned is determined, and the target cleaning component of the third type that matches the second type is selected; the current cleaning component is replaced with the target cleaning component. It can be seen that it identifies the in-place access state of different slave machines (i.e., cleaning components) through the visual sensor. Since a visual sensor needs to be installed, the product cost is high. Summary of the Invention

[0004] The embodiments of the present application provide a control method for a slave machine and a cleaning device. By comparing the current signal state in the target sub-interface of the main machine with multiple preset signal states, the slave machine connected to the main machine is determined, so as to accurately identify the in-place state of the slave machine without the need to set in-place detection sensors.

[0005] In a first aspect, a control method for a slave device is provided, which is applied to a host including an output interface. The host can connect to the input interface of any one of multiple slave devices through the output interface, and the method includes: obtaining the current signal state of a target sub-interface in the output interface, where the target sub-interface includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port; comparing the current signal state with multiple preset signal states, each of the preset signal states corresponding to one of multiple access states and non-access states, and each access state indicating that a slave device is connected to the output interface through its own input interface, and the non-access state indicating that there is no slave device connected to the output interface; determining that the target slave device corresponding to the matching preset signal state is in an access state when the current signal state matches any one of the preset signal states corresponding to the access state; in response to receiving a control instruction, controlling at least one of the host output power supply of the host, the host load in the host, and the slave load in the target slave device; where, the output interface includes a power output sub-interface different from the target sub-interface, and the power output sub-interface is connected to the power input sub-interface in the input interface of the target slave device, and after the host output power supply is turned on, it can supply power to the target slave device through the power output sub-interface and the power input sub-interface.

[0006] In some embodiments, the current signal state is determined by at least one of the following: the voltage value in the first voltage detection port; the current value in the first current detection port; the communication identification signal in the first communication signal detection port, and for a slave device that can be connected to the first communication signal detection port, the communication identification signals corresponding to different slave devices are different.

[0007] Determining the current signal state by at least one of the voltage value, the current value, and the communication identification signal improves the flexibility of determining the current signal state.

[0008] In some embodiments, the comparing the current signal state with multiple preset signal states includes: when the target sub-interface includes the first voltage detection port, comparing the voltage value with the voltage range corresponding to the preset signal state; when the target sub-interface includes the first current detection port, comparing the current value with the current range corresponding to the preset signal state; when the target sub-interface includes the first communication signal detection port, comparing the communication identification signal with the preset communication identification signal corresponding to the preset signal state; where, when the target condition is met, it is determined that the current signal state matches the corresponding preset signal state, and the target condition includes at least one of the following: the voltage value is within the voltage range; the current value is within the current range; the communication identification signal is the same as the preset communication identification signal.

[0009] By comparing the parameters corresponding to the target sub-interface with the parameters in the corresponding preset signal state for different target sub-interfaces, it is realized that the comparison result matches the actual target sub-interface, improving the accuracy of the in-position state recognition of the slave machine.

[0010] In some embodiments, it further includes at least one of the following: when the target sub-interface includes the first voltage detection port, a pull-up resistor is provided on the host, a voltage-dividing element is provided in the slave machine, and the slave machine can connect the first voltage detection port through the second voltage detection port in its own input interface, so that the voltage-dividing element is connected to the pull-up resistor through the second voltage detection port and the first voltage detection port, and the voltage value is determined by the voltage on the voltage-dividing element, and different voltage-dividing elements of different slave machines can form different voltages; when the target sub-interface includes the first current detection port, a current sampling element is provided in the host, and the slave machine can connect the first current detection port through the second current detection port in its own input interface, so that the second current detection port is connected through the first current detection port and the current sampling element, and the current value is determined by the current on the current sampling element.

[0011] By setting the pull-up resistor and the voltage-dividing element, it is ensured that different slave machines form different voltage values when connected to the host. By setting the current sampling element, it is ensured that different slave machines form different current values when connected to the host, thereby ensuring the accuracy of the in-position recognition of the slave machine.

[0012] In some embodiments, the host includes a host control panel. When the slave machine includes a slave machine control panel, the control instruction is received through at least one of the slave machine control panel and the host control panel; when the slave machine does not include the slave machine control panel, the control instruction is received through the host control panel on the host.

[0013] According to whether the slave machine has a slave machine control panel, the control instruction is received in a corresponding manner, realizing a more flexible reception of the control instruction.

[0014] In some embodiments, after comparing the current signal state with multiple preset signal states, it further includes: when the current signal state matches the preset signal state corresponding to the unconnected state, disconnect the host output power supply. Thereby improving safety, achieving energy conservation, and extending the standby time.

[0015] Second aspect, a cleaning device is provided, including: a main machine, including a power module, a main machine control module, a main machine load, and an output interface, wherein the power module, the main machine load, and the output interface are respectively connected to the main machine control module, and the main machine can be connected to the input interface of any one of a plurality of sub-machines through the output interface; a plurality of sub-machines, including a sub-machine control module, an input interface, and a sub-machine load, wherein the input interface and the sub-machine load are respectively connected to the sub-machine control module; wherein, the main machine control module is configured to control the sub-machine by using the control method of the sub-machine described in the first aspect.

[0016] In some embodiments, the main machine includes a main machine control panel connected to the main machine control module, and at least an instruction input button for controlling the main machine load is included on the main machine control panel.

[0017] By setting the main machine control panel, the user can control at least the main machine load through the instruction input button on the main machine control panel, thereby improving the user experience.

[0018] In some embodiments, the output interface includes a power output sub-interface, the input interface includes a power input sub-interface corresponding to the power output sub-interface, the output interface further includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port, and the sub-machine can be connected to at least one of the first voltage detection port, the first current detection port, and the first communication signal detection port through its own input interface, and the first current detection port is simultaneously the grounding interface of the main machine or a dedicated current detection port.

[0019] The main machine can ensure reliable power supply to the sub-machine through the power output sub-interface, and can reliably detect the current signal state through the first voltage detection port, the first current detection port, and the first communication signal detection port, so as to ensure reliable identification of the on-site access state of the slave machine.

[0020] In some embodiments, the main machine load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp, and the sub-machine load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp. Thus, after the slave machine is connected, the main machine and the slave machine can cooperate reliably to achieve corresponding cleaning functions.

[0021] By applying the above technical solution, the current signal state of the target sub-interface in the output interface is obtained. The target sub-interface includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port; the current signal state is compared with multiple preset signal states, and each preset signal state corresponds to one of multiple access states and non-access states. Each access state indicates that a slave machine is connected to the output interface through its own input interface, and the non-access state indicates that there is no slave machine connected to the output interface; when the current signal state matches a preset signal state corresponding to any access state, it is determined that the target slave machine corresponding to the matched preset signal state is in the access state; in response to receiving a control instruction, at least one of the host output power supply of the host, the host load in the host, and the slave load in the target slave machine is controlled. In this way, by comparing the current signal state in the target sub-interface of the host with multiple preset signal states, the slave machine connected to the host is determined, so as to accurately identify the in-position state of the slave machine without setting an in-position detection sensor, and further more reasonably control the on / off of the host output power supply, while reducing the design cost of the products corresponding to the host and the slave machine, and improving the reliability of the products. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is the flow chart of the control method for the slave machine in the embodiment of the present application Figure 1 ;

[0024] Figure 2 is the flow chart of the control method for the slave machine in the embodiment of the present application Figure 2 ;

[0025] Figure 3 is the structural schematic diagram of the cleaning device in the embodiment of the present application;

[0026] Figure 4 is the circuit in the case of determining the current signal state by using the voltage value in the embodiment of the present application Figure 1 ;

[0027] Figure 5 is the circuit in the case of determining the current signal state by using the voltage value in the embodiment of the present application Figure 2 ;

[0028] Figure 6 is the circuit in the case of determining the current signal state by using the current value and the communication identification signal in the embodiment of the present applicationFigure 1 ;

[0029] Figure 7 The circuit for determining the current signal state by using the current value and the communication identification signal according to the embodiment of the present application Figure 2 . Detailed implementation manners

[0030] Reference is made herein to the various solutions and features of the present application with reference to the accompanying drawings.

[0031] It should be understood that various modifications can be made to the embodiments applied herein. Therefore, the above description should not be regarded as a limitation, but only as an example of the embodiments. Those skilled in the art will think of other modifications within the scope and spirit of the present application.

[0032] The accompanying drawings included in and constituting a part of this specification illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, are used to explain the principles of the present application.

[0033] These and other features of the present application will become apparent from the following description of the preferred forms of the embodiments given by way of non-limiting examples with reference to the accompanying drawings.

[0034] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art can surely implement many other equivalent forms of the present application.

[0035] When combined with the accompanying drawings, the above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description.

[0036] The specific embodiments of the present application are hereinafter described with reference to the accompanying drawings; however, it should be understood that the embodiments applied are only examples of the present application and can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present application with unnecessary or redundant details. Therefore, the specific structural and functional details applied herein are not intended to be limiting, but are only used as a basis for the claims and a representative basis for teaching those skilled in the art to use the present application in substantially any suitable detailed structure in a variety of ways.

[0037] This specification may use the phrase "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments", which may all refer to one or more of the same or different embodiments according to the present application.

[0038] A control method for a slave device according to an embodiment of the present application first obtains the current signal state of a target slave interface in an output interface of a master device, then compares the current signal state with multiple preset signal states, and when the current signal state matches any of the preset signal states corresponding to the access states, determines that the target slave device corresponding to the matching preset signal state is in an access state. After that, in response to receiving a control instruction, at least one of the master output power supply of the master device, the master load in the master device, and the slave load in the target slave device is controlled. By comparing the current signal state in the target slave interface of the master device with multiple preset signal states in this way, the slave device connected to the master device is determined, so as to accurately identify the on-site state of the slave device without the need to set an on-site detection sensor, and then the on-off of the master output power supply can be controlled more reasonably, reducing the design cost of the products corresponding to the master device and the slave device while improving the reliability of the products.

[0039] This control method is applied to a master device including an output interface, and the master device can connect to the input interface of any one of multiple slave devices through the output interface, as Figure 1 shown, and includes the following steps:

[0040] Step S101, obtain the current signal state of a target slave interface in the output interface, where the target slave interface includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port.

[0041] In this embodiment, the master device includes an output interface, the slave device includes an input interface, and the master device can connect to the input interface of any one of multiple slave devices through the output interface. The master device is only connected to one slave device at a time, and different slave devices can cooperate with the master device to achieve different functions after being connected to the master device. For example, if the slave devices are slave device 1, slave device 2, and slave device 3 respectively, after slave device 1 is connected to the master device through its own input interface, function 1 can be achieved; after slave device 2 is connected to the master device through its own input interface, function 2 can be achieved; after slave device 3 is connected to the master device through its own input interface, function 3 can be achieved. In addition, in the case of not connecting a slave device, the master device can independently achieve the master function.

[0042] The output interface includes a target sub-interface, and the target sub-interface includes at least one of a first voltage detection port for detecting a voltage signal, a first current detection port for detecting a current signal, and a first communication signal detection port for detecting a communication signal. Obtain the current signal state of the target sub-interface in the output interface, for example, determine whether there is a voltage signal in the first voltage detection port or determine the value of the voltage signal, and / or determine whether there is a current signal in the first current detection port or determine the value of the current signal, and / or determine whether there is a communication identification signal in the first communication signal detection port or determine the value of the communication identification signal. The communication signal of the first communication signal detection port can include, for example, common communication signals of chips such as serial communication signals, parallel communication signals, and single-wire communication signals.

[0043] Step S102, compare the current signal state with multiple preset signal states, each of the preset signal states corresponding to one of multiple access states and non-access states, and each access state indicating that a slave machine is connected to the output interface through its own input interface, and the non-access state indicating that there is no slave machine connected to the output interface.

[0044] In this embodiment, multiple preset signal states of the target sub-interface are determined and saved in advance according to multiple access states and non-access states, where each access state indicates that a slave machine is connected to the output interface through its own input interface, and the non-access state indicates that there is no slave machine connected to the output interface. For example, if the slave machines are slave machine 1, slave machine 2, and slave machine 3 respectively, the access state corresponding to slave machine 1 indicates that slave machine 1 is connected to the output interface through its own input interface, the access state corresponding to slave machine 2 indicates that slave machine 2 is connected to the output interface through its own input interface, the access state corresponding to slave machine 3 indicates that slave machine 3 is connected to the output interface through its own input interface, and the non-access state indicates that slave machine 1, slave machine 2, and slave machine 3 are not connected to the host machine.

[0045] After determining the current signal state, compare the current signal state with multiple preset signal states to determine whether the current signal state matches one of the preset signal states.

[0046] Step S103, when the current signal state matches the preset signal state corresponding to any access state, determine that the target slave machine corresponding to the matched preset signal state is in the access state;

[0047] In this embodiment, if the current signal state matches the preset signal state corresponding to any one of the corresponding access states, it indicates that the current signal state conforms to an access state, and it is determined that the target slave device corresponding to the matched preset signal state is in the access state. For example, if the slave devices are slave device 1, slave device 2, and slave device 3 respectively, if the current signal state matches the preset signal state when the master device 1 is in the access state, then the master device 1 is the target master device, and it is determined that the master device 1 is in the access state; if the current signal state matches the preset signal state when the master device 2 is in the access state, then the master device 2 is the target master device, and it is determined that the master device 2 is in the access state; if the current signal state matches the preset signal state when the master device 3 is in the access state, then the master device 3 is the target master device, and it is determined that the master device 3 is in the access state.

[0048] Step S104, in response to receiving a control instruction, control at least one of the host output power supply of the host, the host load in the host, and the slave load in the target slave device.

[0049] In this embodiment, the control instruction can be manually input by the user or automatically triggered when a target trigger condition (such as a timing start condition, etc.) is met. The host includes a host load and a host output power supply. The output interface includes a power output sub-interface different from the target sub-interface. The input interface of the target slave device includes a power input sub-interface. The power output sub-interface is connected to the power input sub-interface in the input interface of the target slave device. After the host output power supply is turned on, it can supply power to the target slave device through the power output sub-interface and the power input sub-interface. After receiving the control instruction, control at least one of the host output power supply of the host, the host load in the host, and the slave load in the target slave device. For example, turn on / off the host output power supply, start / stop the host load, start / stop the slave load, etc., so that the target slave device cooperates with the host to achieve corresponding functions.

[0050] The control method for the slave device in the embodiments of the present application is applied to a host including an output interface. The host can connect to the input interface of any one of multiple slave devices through the output interface, and includes: obtaining the current signal state of a target sub-interface in the output interface, where the target sub-interface includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port; comparing the current signal state with multiple preset signal states, each preset signal state corresponding to one of multiple access states and non-access states, each access state indicating that a slave device is connected to the output interface through its own input interface, and the non-access state indicating that there is no slave device connected to the output interface; determining that the target slave device corresponding to the matched preset signal state is in an access state when the current signal state matches any preset signal state corresponding to an access state; and in response to receiving a control instruction, controlling at least one of the host output power supply of the host, the host load in the host, and the slave load in the target slave device. In this way, by comparing the current signal state in the target sub-interface of the host with multiple preset signal states, the slave device connected to the host is determined, so that the accurate identification of the in-position state of the slave device is realized without setting an in-position detection sensor, and further, the on-off of the host output power supply can be controlled more reasonably, while reducing the design cost of the products corresponding to the host and the slave device, and improving the reliability of the products.

[0051] In some embodiments of the present application, the current signal state is determined by at least one of the following:

[0052] The voltage value in the first voltage detection port;

[0053] The current value in the first current detection port;

[0054] The communication identification signal in the first communication signal detection port. For the slave devices that can be connected to the first communication signal detection port, the communication identification signals corresponding to different slave devices are different.

[0055] In this embodiment, the voltage value can be checked through the first voltage detection port, the current value can be detected through the first current detection port, and the communication identification signal can be detected through the first communication signal detection port. Among them, the communication identification signal is determined by the corresponding communication module in the slave unit. For the slave units that can be connected to the first communication signal detection port, the communication identification signals corresponding to different slave units are different. For example, if the slave units are slave unit 1, slave unit 2, and slave unit 3 respectively, slave unit 1 and slave unit 2 can be connected to the first communication signal detection port, and slave unit 3 does not have the corresponding interface and cannot be connected to the first communication signal detection port, then the communication identification signals corresponding to slave unit 1 and slave unit 2 are different. The target sub-interface includes at least one of the first voltage detection port, the first current detection port, and the first communication signal detection port. For example, the target sub-interface is one or two of the first voltage detection port, the first current detection port, and the first communication signal detection port, or the first voltage detection port, the first current detection port, and the first communication signal detection port are all target sub-interfaces. Correspondingly, the current signal state can be determined according to one or two of the voltage value in the first voltage detection port, the current value in the first current detection port, and the communication identification signal in the first communication signal detection port, or the current signal state can be determined according to the voltage value in the first voltage detection port, the current value in the first current detection port, and the communication identification signal in the first communication signal detection port.

[0056] Determining the current signal state through at least one of the voltage value, the current value, and the communication identification signal improves the flexibility of determining the current signal state.

[0057] In some embodiments of the present application, the comparing the current signal state with multiple preset signal states includes:

[0058] When the target sub-interface includes the first voltage detection port, comparing the voltage value with the voltage range corresponding to the preset signal state;

[0059] When the target sub-interface includes the first current detection port, comparing the current value with the current range corresponding to the preset signal state;

[0060] When the target sub-interface includes the first communication signal detection port, comparing the communication identification signal with the preset communication identification signal corresponding to the preset signal state;

[0061] Among them, when the target condition is met, it is determined that the current signal state matches the corresponding preset signal state. The target condition includes at least one of the following: the voltage value is within the voltage range; the current value is within the current range; the communication identification signal is the same as the preset communication identification signal.

[0062] In this embodiment, when the target sub-interface includes a first voltage detection port, each preset signal state corresponds to a voltage range, and the voltage value is compared with this voltage range. When the target sub-interface includes a first current detection port, each preset signal state corresponds to a current range, and the current value is compared with this current range. When the target sub-interface includes a first communication signal detection port, each preset signal state corresponds to a preset communication identification signal, and the communication identification signal is compared with the preset communication identification signal.

[0063] Specifically, according to the different target sub-interfaces, the following situations may exist:

[0064] Situation 1: The target sub-interface is the first voltage detection port. If the voltage value is within the above voltage range, it is determined that the current signal state matches the corresponding preset signal state;

[0065] Situation 2: The target sub-interface is the first current detection port. If the current value is within the above current range, it is determined that the current signal state matches the corresponding preset signal state;

[0066] Situation 3: The target sub-interface is the first communication signal detection port. If the communication identification signal is the same as the above preset communication identification signal, it is determined that the current signal state matches the corresponding preset signal state;

[0067] Situation 4: The target sub-interface is the first voltage detection port and the first current detection port. If the voltage value is within the above voltage range and the current value is within the above current range, it is determined that the current signal state matches the corresponding preset signal state;

[0068] Situation 5: The target sub-interface is the first voltage detection port and the first communication signal detection port. If the voltage value is within the above voltage range and the communication identification signal is the same as the above preset communication identification signal, it is determined that the current signal state matches the corresponding preset signal state;

[0069] Situation 6: The target sub-interface is the first current detection port and the first communication signal detection port. If the current value is within the above current range and the communication identification signal is the same as the above preset communication identification signal, it is determined that the current signal state matches the corresponding preset signal state;

[0070] Situation 7: The target sub-interface is the first voltage detection port, the first current detection port, and the first communication signal detection port. If the voltage value is within the above voltage range, and the current value is within the above current range, and the communication identification signal is the same as the above preset communication identification signal, it is determined that the current signal state matches the corresponding preset signal state.

[0071] It can be understood that the corresponding preset signal state includes any one of the preset signal state corresponding to the access state and the preset signal state corresponding to the non-access state.

[0072] For example, as Figure 3 shown, the slave machines are slave machine 1, slave machine 2, and slave machine 3 respectively. Slave machine 1 can be connected to the output interface of the host through input interface 1, slave machine 2 can be connected to the output interface of the host through input interface 2, and slave machine 3 can be connected to the output interface of the host through input interface 3. Slave machine 1 and slave machine 2 can be connected to the first communication signal detection port, while slave machine 3 has no corresponding interface and cannot be connected to the first communication signal detection port. The following takes Solution 1 and Solution 2 as examples for illustration.

[0073] Solution 1: The target sub-interface is the first voltage detection port. If the voltage value is within the voltage range corresponding to the preset signal state, it is determined that the current signal state matches the corresponding preset signal state. Specifically:

[0074] When the voltage value of the first voltage detection port is within the first voltage range, it is determined that slave machine 1 is in the connected state;

[0075] When the voltage value of the first voltage detection port is within the second voltage range, it is determined that slave machine 2 is in the connected state;

[0076] When the voltage value of the first voltage detection port is within the third voltage range, it is determined that slave machine 3 is in the connected state;

[0077] When the voltage value of the first voltage detection port is within the fourth voltage range, it is determined that no slave machine is in the connected state.

[0078] Solution 2: The target sub-interfaces are the first current detection port and the first communication signal detection port. If the current value is within the current range corresponding to the preset signal state and the communication identification signal is the same as the preset communication identification signal corresponding to the preset signal state, it is determined that the current signal state matches the corresponding preset signal state. Specifically:

[0079] When the current value of the first current detection port is within the first current range and the communication identification signal of the first communication signal detection port is the first communication identification signal, it is determined that slave machine 1 is in the connected state;

[0080] When the current value of the first current detection port is within the second current range and the communication identification signal of the first communication signal detection port is the second communication identification signal, it is determined that slave machine 2 is in the connected state;

[0081] When the current value of the first current detection port is within the third current range and there is no communication identification signal, it is determined that slave machine 3 is in the connected state;

[0082] When the current value of the first current detection port is within the fourth current range, it is determined that no slave machine is in the connected state.

[0083] By comparing the parameters corresponding to the target sub-interface with the parameters under the corresponding preset signal states for different target sub-interfaces, the comparison result is made to match the actual target sub-interface, improving the accuracy of the in-place state recognition of the slave machine.

[0084] In some embodiments of the present application, it further includes at least one of the following:

[0085] When the target sub-interface includes the first voltage detection port, a pull-up resistor is provided on the host, and a voltage-dividing element is provided in the slave machine. The slave machine can connect the first voltage detection port through the second voltage detection port in its own input interface, so that the voltage-dividing element is connected to the pull-up resistor through the second voltage detection port and the first voltage detection port. The voltage value is determined by the voltage on the voltage-dividing element, and different voltage-dividing elements of different slave machines can form different voltages;

[0086] When the target sub-interface includes the first current detection port, a current sampling element is provided in the host, and the slave machine can connect the first current detection port through the second current detection port in its own input interface, so that the second current detection port is connected through the first current detection port and the current sampling element, and the current value is determined by the current on the current sampling element.

[0087] In this embodiment, the following two situations are included.

[0088] Situation 1: The target sub-interface is the first voltage detection port.

[0089] A pull-up resistor is provided on the host, and a voltage-dividing element is provided in the slave machine. After the slave machine is connected to the host, the pull-up resistor is connected to the voltage-dividing element, and the voltage on the voltage-dividing element is determined as the voltage value of the first voltage detection port. Different voltage-dividing elements of different slave machines can form different voltages. In some embodiments, the voltage-dividing element can be at least one voltage-dividing resistor, and those skilled in the art can also use other elements with voltage-dividing functions as the voltage-dividing element. The embodiments of the present application do not make limitations in this regard.

[0090] For example, as Figure 4 shows the circuit in the case of determining the current signal state by the voltage value in the embodiment of the present application Figure 1 , Figure 4Among them, the pull-up resistor is R1, the voltage-dividing resistor corresponding to slave unit 1 is R2, the voltage-dividing resistor corresponding to slave unit 2 is R3, the voltage-dividing resistor corresponding to slave unit 3 is R4. One end of the pull-up resistor R1 is connected to the reference voltage, and the other end of the pull-up resistor R1 is connected to the voltage detection IO port of the host MCU and is connected to the first voltage detection port through the diode D1. Among them, the voltage detection IO port of the host MCU is the IO port on the host control module used to detect the voltage value of the first voltage detection port, and the diode D1 can play a role in limiting the amplitude and stabilizing the voltage. The process of determining the voltage value includes: first obtaining the voltage AD (Analog-to-Digital) signal of the first voltage detection port, and then converting the voltage AD signal into a voltage value.

[0091] According to the voltage division principle, after slave unit 1 is connected to the host, the voltage value U1 = U0 * R2 / (R1 + R2); after slave unit 2 is connected to the host, the voltage value U2 = U0 * R3 / (R1 + R3); after slave unit 3 is connected to the host, the voltage value U3 = U0 * R4 / (R1 + R4); when no slave unit is connected to the host, the voltage value U4 = U0, where U0 is the reference voltage connected by the pull-up resistor R1.

[0092] As Figure 5 shown is the circuit in the embodiment of the present application for determining the current signal state using the voltage value Figure 2 The output interface includes a power output sub-interface, a first voltage detection port (i.e., the target sub-interface) and a GND (grounding) interface. The input interfaces of slave unit 1, slave unit 2 and slave unit 3 include a power input sub-interface, a second voltage detection port and a GND interface. After the slave unit is connected to the host, the power output sub-interface is connected to the power input sub-interface, the first voltage detection port and the second voltage detection port are connected, and the GND interfaces of the host and the slave unit are connected.

[0093] For the above solution one, if U0 = 5V, R1 = 10KΩ, R2 = 1KΩ, R3 = 10KΩ, R4 = 20KΩ, according to the above formula, it can be obtained that: U1 = 0.45V, U2 = 2.5V, U3 = 3.33V, U4 = 5V. Then the following judgment conditions and conclusions are obtained:

[0094] When the voltage value of the first voltage detection port is in the range of 0 - 1V (i.e., the first voltage range), it is determined that slave unit 1 is in the connected state;

[0095] When the voltage value of the first voltage detection port is in the range of 2 - 3V (i.e., the second voltage range), it is determined that slave unit 2 is in the connected state;

[0096] When the voltage value of the first voltage detection port is in the range of 3 - 4V (i.e., the third voltage range), it is determined that slave unit 3 is in the connected state;

[0097] When the voltage value at the first voltage detection port is in the range of 4.5 - 5V (i.e., the fourth voltage range), it is determined that no slave unit is in an access state.

[0098] Case 2: The target sub - interface includes a first current detection port and a first communication signal detection port.

[0099] A current sampling element is provided in the host. After the slave unit is connected to the host, the current sampling element of the slave unit is connected, and the current value at the first current detection port is determined by the current on the current sampling element. In some embodiments, the current sampling element is a sampling resistor. Those skilled in the art can also use other elements with current sampling functions (such as magnetoresistors, Hall elements, etc.) as the current sampling element. The embodiments of the present application do not make limitations in this regard.

[0100] For example, as Figure 6 is the circuit in the case of determining the current signal state by using the current value and the communication identification signal in the embodiments of the present application Figure 1 , Figure 6 in which the current sampling element is R12. After the slave unit is connected to the host, the current value at the first current detection port is determined by the current on R12. One end of the current sampling element R12 is connected to the first current detection port and one end of the first resistor R11. The other end of the current sampling element R12 is grounded. The other end of the first resistor R11 and one end of the first capacitor C2 are connected to the current detection IO port of the host MCU. The other end of the first capacitor C2 is grounded. Among them, the current detection IO port of the host MCU is the IO port on the host control module for detecting current. The first capacitor C2 and the first resistor R11 form a filtering component, which further improves the reliability of the circuit. The process of determining the current value includes: first determining the current AD signal at the first current detection port, converting the current AD signal into a voltage value, and then determining the current value through the converted voltage value and the resistance value of the current sampling element R12.

[0101] Figure 7 is the circuit in the case of determining the current signal state by using the current value and the communication identification signal in the embodiments of the present application Figure 2 , Figure 7Among them, the first current detection port is set at the GND port of the output interface. The output interface includes a power output sub-interface, a first current detection port / GND port, a TXD port, and an RXD port. The first current detection port, the TXD port, and the RXD port are target sub-interfaces. The TXD port and the RXD port are the first communication signal detection ports. The input interfaces of Sub-machine 1 and Sub-machine 2 include a power input sub-interface, a TXD port, an RXD port, and a GND port. After Sub-machine 1 or Sub-machine 2 is connected to the host, the power output sub-interface is connected to the power input sub-interface, the first current detection port is connected to the GND port of the sub-machine, and the TXD port and the RXD port are respectively connected. Sub-machine 3 does not have a communication function. After Sub-machine 3 is connected to the host, the power output sub-interface is connected to the power input sub-interface, and the first current detection port is connected to the GND port of Sub-machine 3.

[0102] For the above-mentioned second solution, there are the following situations:

[0103] When the current value at the first current detection port is not less than 0.1 A and the communication identification signal at the first communication signal detection port is 1, it is determined that Sub-machine 1 is in the access state;

[0104] When the current value at the first current detection port is not less than 0.1 A and the communication identification signal at the first communication signal detection port is 2, it is determined that Sub-machine 2 is in the access state;

[0105] When the current value at the first current detection port is not less than 0.1 A and there is no communication identification signal, it is determined that Sub-machine 3 is in the access state;

[0106] When the current value at the first current detection port is less than 0.1 A, it is determined that no sub-machine is in the access state.

[0107] By setting a pull-up resistor and a voltage-dividing component, different voltage values are ensured when different sub-machines are connected to the host. By setting a current sampling component, different current values are ensured when different sub-machines are connected to the host, thus ensuring the accuracy of sub-machine in-place identification.

[0108] In some embodiments of the present application, the host includes a host control panel,

[0109] In the case where the sub-machine includes a sub-machine control panel, the control instruction is received through at least one of the sub-machine control panel and the host control panel;

[0110] In the case where the sub-machine does not include the sub-machine control panel, the control instruction is received through the host control panel on the host.

[0111] In this embodiment, the host includes a host control panel. Some sub-machines have a sub-machine control panel, and some sub-machines do not have a sub-machine control panel.

[0112] When the slave machine includes a slave machine control panel, the user can input control instructions through the slave machine control panel to turn on and off the host output power, start and stop the host load, start and stop the slave machine load, etc. The user can also input control instructions through the host control panel to turn on and off the host output power, start and stop the host load, start and stop the slave machine load, etc. The user can also operate on the host control panel first and then on the slave machine control panel to form control instructions to turn on and off the host output power, start and stop the host load, start and stop the slave machine load, etc.

[0113] When the slave machine does not include a slave machine control panel, control instructions can be input through the host control panel to turn on and off the host output power, start and stop the host load, start and stop the slave machine load, etc.

[0114] According to whether the slave machine has a slave machine control panel, corresponding methods are adopted to receive control instructions, so as to realize more flexible reception of control instructions.

[0115] In some embodiments of the present application, after comparing the current signal state with multiple preset signal states, as Figure 2 shown, the following steps are further included:

[0116] Step S105, when the current signal state matches the preset signal state corresponding to the unconnected state, disconnect the host output power.

[0117] In this embodiment, if the current signal state matches the preset signal state corresponding to the unconnected state, it means that no slave machine is in the connected state. Disconnecting the host output power improves safety, realizes energy saving, and extends the standby time.

[0118] In some embodiments of the present application, after disconnecting the host output power, it further includes controlling the host load in the host in response to a control instruction for the host, so as to realize controlling only the load of the host when no slave machine is connected, ensuring reliability.

[0119] Some embodiments of the present application also propose a cleaning device, as Figure 3 shown, including:

[0120] A host, including a power module, a host control module, a host load, and an output interface. The power module, the host load, and the output interface are respectively connected to the host control module. The host can be connected to the input interface of any one of multiple slave machines through the output interface;

[0121] Multiple slave machines, including a slave machine control module, an input interface, and a slave machine load. The input interface and the slave machine load are respectively connected to the slave machine control module;

[0122] Among them, the host control module is configured to control the slave machine by adopting the control method of the slave machine described in any embodiment of the present application.

[0123] In an embodiment of the present application, the cleaning device may be any one of a fabric cleaning machine, a vacuum cleaner, a kitchen counter cleaning machine, a floor washer, a sweeping and mopping integrated machine, etc. The cleaning device includes a host and a plurality of slave machines. The host includes an output interface, and the slave machine includes an input interface. The host can connect to the input interface of any one of the plurality of slave machines through the output interface. The host only connects to one slave machine each time. After different slave machines are connected to the host, they can cooperate with the host to achieve different functions. By comparing the current signal state in the target sub-interface of the host with a variety of preset signal states, the slave machine connected to the host is determined, so as to accurately identify the on-site state of the slave machine without setting an on-site detection sensor, and then more reasonably control the on-off of the power output by the host, while reducing the design cost of the products corresponding to the host and the slave machine, and improving the reliability of the products.

[0124] In some embodiments of the present application, as Figure 3 shown, the host includes a host control panel connected to the host control module, and the host control panel at least includes an instruction input button for controlling the host load.

[0125] In this embodiment, the host includes a host control panel, and the host control panel may be a non-touch panel or a touch panel. By setting the host control panel, the user can control at least the host load through the instruction input button on the host control panel, thereby improving the user experience.

[0126] In some embodiments of the present application, the output interface includes a power output sub-interface, the input interface includes a power input sub-interface corresponding to the power output sub-interface, the output interface further includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port, and the slave machine can connect to at least one of the first voltage detection port, the first current detection port, and the first communication signal detection port through its own input interface. The first current detection port is simultaneously the grounding interface of the host or a dedicated current detection port.

[0127] In this embodiment, the output interface includes a power output sub-interface, and further includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port as the target sub-interface. The input interface includes a power input sub-interface corresponding to the power output sub-interface. Among them, the first current detection port is simultaneously the grounding interface of the host or a dedicated current detection port, so that the host can ensure reliable power supply to the slave machine through the power output sub-interface, and can reliably detect the current signal state through the first voltage detection port, the first current detection port, and the first communication signal detection port, and further ensure reliable identification of the on-site access state of the slave machine.

[0128] For example, as Figure 5 shown, the output interface includes a power output sub-interface, a first voltage detection port, and a GND interface. The input interfaces of slave machine 1, slave machine 2, and slave machine 3 include a power input sub-interface, a second voltage detection port, and a GND interface. After the slave machine is connected to the host, the power output sub-interface is connected to the power input sub-interface, the first voltage detection port is connected to the second voltage detection port, and the GND interfaces of the host and the slave machine are connected.

[0129] For another example, as Figure 7 shown, the first current detection port is set at the GND interface of the output interface. The output interface includes a power output sub-interface, a first current detection port / GND interface, a TXD interface, and an RXD interface. The first current detection port, the TXD interface, and the RXD interface are target sub-interfaces. The TXD interface and the RXD interface are the first communication signal detection ports. The input interfaces of slave machine 1 and slave machine 2 include a power input sub-interface, a TXD interface, an RXD interface, and a GND interface. After slave machine 1 or slave machine 2 is connected to the host, the power output sub-interface is connected to the power input sub-interface, the first current detection port is connected to the GND interface of the slave machine, and the TXD interface and the RXD interface are respectively connected. Slave machine 3 does not have a communication function. After slave machine 3 is connected to the host, the power output sub-interface is connected to the power input sub-interface, and the first current detection port is connected to the GND interface of slave machine 3.

[0130] In some embodiments of the present application, the host load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp, and the slave machine load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp.

[0131] In this embodiment, the host load includes at least one of the following: cleaning loads for cleaning purposes such as a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp, etc. The slave load includes at least one of the following: cleaning loads for cleaning purposes such as a suction motor, a roller brush motor, a solenoid valve, a water pump, a sterilization lamp, etc. Among them, suction can be generated through the suction motor, the roller brush can be driven to rotate through the roller brush motor, water supply can be realized during the cleaning process through the water pump, cleaning operations can be performed according to the target water volume during the cleaning process through the solenoid valve and the water pump, and the sterilization function can be realized during the cleaning process through the sterilization lamp. Thus, after the slave machine is connected, the host and the slave can cooperate reliably to achieve the corresponding cleaning function.

[0132] For example, as Figure 3 shown, the host load includes a suction motor, the slave load of slave machine 1 includes water pump 1 and a solenoid valve, the slave load of slave machine 2 includes water pump 2 and roller brush motor 1, and the slave load of slave machine 3 includes roller brush motor 2 and a sterilization lamp. Based on the above configuration, after slave machine 1 is connected to the host, the host output power can be switched on and off, the suction motor in the host can be started and stopped, the water pump 1 in slave machine 1 can be started and stopped, and the solenoid valve can be adjusted according to the control instructions received by the control panel of slave machine 1. After slave machine 2 is connected to the host, the host output power can be switched on and off, the suction motor in the host can be started and stopped, the water pump 2 and roller brush motor 1 in slave machine 2 can be started and stopped according to the control instructions received by the control panel of slave machine 2. After slave machine 3 is connected to the host, the host output power can be switched on and off, the suction motor in the host can be started and stopped, and the roller brush motor 2 and the sterilization lamp in slave machine 3 can be started and stopped according to the control instructions received by the control panel of the host. When no slave machine is connected to the host, the host output power can be switched on and off, and the suction motor in the host can be started and stopped according to the control instructions received by the control panel of the host.

[0133] For other embodiments of a cleaning device in this application, reference can be made to the relevant embodiments of a control method for a slave machine in this application.

[0134] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state drive), etc.

[0135] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. A control method for a slave, characterized in that: Applied to a host including an output interface, the host can be connected to an input interface of any of a plurality of sub-machines through the output interface, including: Obtaining a current signal state of a target sub-interface in the output interface, wherein the target sub-interface includes at least one of a first voltage detection port, a first current detection port, and a first communication signal detection port; Compare the current signal state with multiple preset signal states, each of the preset signal states corresponds to one of multiple connected states and unconnected states, each connected state represents that a slave is connected to the output interface through its own input interface, and the unconnected state represents that there is no slave connected to the output interface; In the case where the current signal state matches a preset signal state corresponding to any access state, determining that the target sub-machine corresponding to the matched preset signal state is in the access state; In response to receiving the control instruction, controlling at least one of a host output power of the host, a host load in the host, and a slave load in the target slave; Among them, the output interface includes a power output sub-interface different from the target sub-interface, and the power output sub-interface is connected to the power input sub-interface in the input interface of the target sub-machine. After the host output power is turned on, the target sub-machine can be powered via the power output sub-interface and the power input sub-interface.

2. The control method of the slave unit according to claim 1, characterized in that: The current signal state is determined by at least one of the following: The voltage value in the first voltage detection port; The current value in the first current detection port; The communication identification signal in the first communication signal detection port is different for different slaves that can be connected to the first communication signal detection port.

3. The control method of the slave unit according to claim 2, characterized in that: The comparing the current signal state with a plurality of preset signal states includes: In a case where the target sub-interface includes the first voltage detection port, comparing the voltage value with a voltage range corresponding to the preset signal state; In a case where the target sub-interface includes the first current detection port, comparing the current value with a current range corresponding to the preset signal state; In the case where the target sub-interface includes the first communication signal detection port, comparing the communication identification signal with a preset communication identification signal corresponding to the preset signal state; Among them, when the target condition is met, it is determined that the current signal state matches the corresponding preset signal state, and the target condition includes at least one of the following: the voltage value is within the voltage range; the current value is within the current range; the communication identification signal is the same as the preset communication identification signal.

4. The control method of the slave unit according to claim 2, characterized in that: Also includes at least one of the following: In the case where the target sub-interface includes the first voltage detection port, a pull-up resistor is provided on the host, and a voltage divider element is provided in the slave, and the slave can be connected to the first voltage detection port through the second voltage detection port in its own input interface, so that the voltage divider element is connected to the pull-up resistor via the second voltage detection port and the first voltage detection port, and the voltage value is determined by the voltage on the voltage divider element, and the voltages that can be formed by the voltage divider elements of different slaves are different; In the case where the target sub-interface includes the first current detection port, a current sampling element is provided in the host, and the sub-machine can be connected to the first current detection port through the second current detection port in its own input interface, so that the second current detection port is connected to the current sampling element via the first current detection port, and the current value is determined by the current on the current sampling element.

5. The control method of the slave unit according to claim 1, characterized in that: The host includes a host control panel, In the case where the slave includes a slave control panel, the control instruction is received via at least one of the slave control panel and the host control panel; In the case that the slave does not include the slave control panel, the control instruction is received through the host control panel on the host.

6. The control method of the slave unit according to claim 1, characterized in that: After comparing the current signal state with a plurality of preset signal states, the method further includes: When the current signal state matches a preset signal state corresponding to the disconnected state, the host output power is disconnected.

7. A cleaning device, characterized in that: include: A host, comprising a power module, a host control module, a host load and an output interface, wherein the power module, the host load and the output interface are respectively connected to the host control module, and the host can be connected to an input interface of any of a plurality of sub-machines through the output interface; A plurality of slaves, including a slave control module, an input interface and a slave load, wherein the input interface and the slave load are respectively connected to the slave control module; Wherein, the host control module is configured to control the slave machine by adopting the slave machine control method according to any one of claims 1 to 6.

8. The cleaning device according to claim 7, characterized in that The host includes a host control panel connected to the host control module, and the host control panel includes at least a command input button for controlling the host load.

9. The cleaning device according to claim 7, characterized in that The output interface includes a power output sub-interface, the input interface includes a power input sub-interface corresponding to the power output sub-interface, the output interface also includes at least one of a first voltage detection port, a first current detection port and a first communication signal detection port, the sub-machine can be connected to at least one of the first voltage detection port, the first current detection port and the first communication signal detection port through its own input interface, and the first current detection port is also the grounding interface of the host or a dedicated current detection port.

10. The cleaning device according to claim 7, characterized in that The host load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, and a germicidal lamp; the slave load includes at least one of the following: a suction motor, a roller brush motor, a solenoid valve, a water pump, and a germicidal lamp.

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