Working method of cleaning machine, cleaning machine and storage medium

Abstract

The working method of the cleaning machine comprises the steps that when the cleaning machine conducts cleaning work, water level data in a separation bin in the cleaning machine are obtained in real time; according to the change condition of the water level data in the separation bin, it is pre-judged that viscous dirt is sucked or dirt causing viscous sewage is sucked, and sewage recovery can be affected, and then the cleaning machine is controlled to stop cleaning work. According to the working method of the cleaning machine, the situation that the recycled sewage is sticky can be accurately and effectively pre-judged, and sewage recycling failure is avoided. The invention further relates to a cleaning machine which comprises a separation bin used for containing sewage, and a water level detector used for detecting the water level in the separation bin is arranged on the side wall of the separation bin. The cleaning machine further comprises a controller and a storage, the controller is in electric signal connection with the water level detector and the storage, a control instruction is stored in the storage, and the controller can read and execute the control instruction to achieve the working method of the cleaning machine. The invention further relates to a storage medium.

Description

Technical Field

[0001] The present invention relates to the technical field of floor cleaning devices, and in particular to a working method of a cleaning machine, a cleaning machine, and a storage medium. Background Art

[0002] With the improvement of people's living standards and the development of technology, cleaning robots are widely used for floor cleaning. During the design phase of cleaning robots, it is necessary to consider all possible scenarios that may occur during the cleaning process. However, current research on cleaning robots rarely involves the treatment of sticky waste or situations that may cause sewage to become sticky waste.

[0003] The Chinese invention application "Control method for cleaning equipment, cleaning equipment and storage medium" with publication number CN116269073A (application number 202211443181.6) discloses a cleaning equipment that, when performing self-cleaning, uses the difference between the instantaneous dirt value and the initial dirt value as a standard for judging viscous dirt, thereby achieving self-cleaning. On the one hand, when the control method of the cleaning equipment judges viscous dirt, the data collected is instantaneous data, that is, relatively static data, which cannot feedback the dynamic impact of viscous dirt on sewage, and cannot predict the impact of viscous dirt on sewage. In the process of floor cleaning, if too much viscous dirt is inhaled, or dirt such as rice flour, flour, cat litter, etc. that will turn sewage into a sticky mass, is inhaled, the entire garbage will adhere to each other and stick to the cavity and the pipe wall, which will increase the resistance to garbage recovery, and even lead to a situation where recycling cannot be achieved due to excessive resistance. On the other hand, judging the sticky matter only by the difference in dirt values ​​is prone to errors. When relying solely on the dirt value, there are cases where the dirt data of other types of dirt are close to the dirt data of the sticky dirt. Summary of the Invention

[0004] The first technical problem to be solved by the present invention is to provide a working method of a cleaning machine that can accurately and effectively predict the conditions that will cause the recovered sewage to become viscous, thereby avoiding failure of sewage recovery, in view of the above-mentioned prior art.

[0005] The second technical problem to be solved by the present invention is to provide a cleaning machine that applies the working method of the above-mentioned cleaning machine in response to the above-mentioned prior art.

[0006] The third technical problem to be solved by the present invention is to provide a computer-readable storage medium for the above-mentioned prior art, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the above-mentioned working method of the cleaning machine.

[0007] The technical solution adopted by the present invention to solve the first technical problem is: a working method of a cleaning machine, characterized in that: when the cleaning machine is performing cleaning work, water level data in the separation chamber of the cleaning machine is obtained in real time;

[0008] According to the changes in the water level data in the separation chamber, it is predicted that sticky dirt or dirt that makes the sewage sticky will be sucked in and will affect sewage recovery, and the cleaning machine is controlled to stop cleaning.

[0009] As an improvement, the water level fluctuation ΔH per unit time is calculated based on the acquired water level data; ΔH = Hg - Hd, where Hg is the highest water level value per unit time, and Hd is the lowest water level value per unit time;

[0010] When the water level fluctuation amount ΔH meets the preset water level fluctuation judgment condition, it is predicted that sticky dirt or dirt that makes the sewage sticky is sucked in and will affect sewage recovery.

[0011] As an improvement, the water level fluctuation judgment condition includes a preset water level difference value ΔH0;

[0012] If the water level fluctuation ΔH calculated within the current unit time is less than or equal to the preset water level difference ΔH0, it is predicted that viscous dirt or dirt that makes the sewage viscous is sucked in and will affect sewage recovery.

[0013] As an improvement, the water level fluctuation judgment condition includes a water level fluctuation change trend, and the water level fluctuation change trend is a change in the water level fluctuation amount in the current unit time relative to the water level fluctuation amount in the previous unit time;

[0014] If the water level fluctuation in the current unit time is less than the water level fluctuation in the previous unit time, the water level fluctuation trend is judged to be a decreasing trend;

[0015] If the water level fluctuation trend becomes smaller for N consecutive times, N is a natural number greater than or equal to 2, and the water level fluctuation amount ΔH calculated in the current unit time is less than or equal to the preset water level difference ΔH0, it is predicted that sticky dirt is sucked in or dirt that causes the sewage to become sticky is sucked in and will affect sewage recovery.

[0016] As an improvement, the water level fluctuation judgment condition includes a water level fluctuation change trend, and the water level fluctuation change trend is a change in the water level fluctuation amount in the current unit time relative to the water level fluctuation amount in the previous unit time;

[0017] If the water level fluctuation in the current unit time is less than the water level fluctuation in the previous unit time, the water level fluctuation trend is judged to be a decreasing trend;

[0018] If the water level fluctuation trend becomes smaller for N consecutive times, where N is a natural number greater than or equal to 2, it is predicted that sticky dirt or dirt that makes the sewage sticky is sucked in and will affect sewage recovery.

[0019] In order to make the test results more accurate, the cleaning machine obtains the sewage concentration data C in the separation chamber of the cleaning machine in real time while performing cleaning work;

[0020] When the water level fluctuation ΔH meets the preset water level fluctuation judgment condition and the sewage concentration data also meets the preset sewage concentration change judgment condition, it is predicted that viscous sewage or sewage that makes the sewage viscous is sucked in and will affect sewage recovery.

[0021] As an improvement, the sewage concentration change judgment condition is: all concentration data detected and obtained within the set time period are greater than the set concentration threshold C0; or the average of the concentration data detected and obtained within the set time period is greater than the set concentration threshold C0.

[0022] As an improvement, the sewage concentration change judgment condition is: the sewage concentration data continues to increase within M consecutive unit times, where M is a positive integer greater than or equal to 2.

[0023] The technical solution adopted by the present invention to solve the second technical problem is: a cleaning machine, comprising a separation chamber for accommodating sewage, characterized in that: a water level detector for detecting the water level in the separation chamber is provided on the side wall of the separation chamber;

[0024] It also includes a controller and a memory. The controller is connected to the water level detector and the memory by electrical signals. The memory stores control instructions. The controller can read and execute the control instructions to implement the working method of the cleaning machine as described above.

[0025] Preferably, a concentration detector for detecting the concentration of liquid dirt in the separation chamber is provided on the side wall of the separation chamber, and the concentration detector is electrically connected to the controller;

[0026] The controller can read and execute the control instructions to implement the aforementioned working method of the cleaning machine.

[0027] Preferably, the water level sensor and concentration detector are integrated photoelectric water level sensors, the photoelectric water level sensor comprises an optical signal transmitter, an optical signal receiver and a signal processor, and the signal processor is electrically connected to the controller.

[0028] The technical solution adopted by the present invention to solve the third technical problem mentioned above is: a computer-readable storage medium, characterized in that: the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the working method of the cleaning machine as described above.

[0029] Compared with the prior art, the advantages of the present invention are: the working method of the cleaning machine in the present invention can accurately and effectively predict the viscosity of sewage by detecting the fluctuation of the water level in the separation chamber, combining the influence of viscous substances and substances that cause water to become viscous on water level fluctuations, and then stop the cleaning work in time before the sewage becomes unable to be sucked out, avoiding the problem of water recovery failure caused by encountering dirt such as cat litter that causes sewage to become viscous, thereby ensuring long-term and reliable operation of the cleaning machine.

[0030] A cleaning machine that applies the working method of the cleaning machine can avoid the problem of sewage recovery failure during use, has high working reliability, low failure rate in use, and better user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of the working method of the cleaning machine in Example 1 of the present invention. DETAILED DESCRIPTION

[0032] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0033] The working method of the cleaning machine in this embodiment is mainly used to predict the suction of viscous dirt or dirt that causes sewage to be viscous and will affect the sewage recovery situation, so as to avoid the problem that the wet garbage in the separation bin is too viscous and cannot be effectively recovered by the base station, thereby causing malfunctions.

[0034] During the cleaning process, a fixed volume of water is pre-filled in the separation chamber. As the machine moves across the ground, the water in the separation chamber will constantly rotate and shake, causing the water level measured by the water level detector to fluctuate within a relatively fixed range. However, if the cleaning process inhales viscous substances that make the water in the separation chamber more viscous, or substances that easily dissolve in water and cause it to become viscous, such as cat litter, rice flour, flour, and biscuits, the water level fluctuation will decrease as the amount of water inhaled increases, and the concentration of the wastewater will also increase.

[0035] Example 1

[0036] Based on the characteristics of viscous substances entering the separation chamber, such as Figure 1 As shown, the working method of the cleaning machine in this embodiment is as follows: the cleaning machine obtains real-time water level data in the separation chamber of the cleaning machine during cleaning. Based on the changes in the water level data in the separation chamber, it is predicted that sticky dirt or dirt that makes the wastewater sticky and affects wastewater recovery is sucked in, and the cleaning machine is controlled to stop cleaning.

[0037] Although the water level in the separation chamber will directly increase with the entry of dirt, the water level fluctuation does not change much due to the characteristics of the water in the separation chamber. For example, when the separation chamber contains non-viscous substances such as water, the water level fluctuation is usually within a larger range, while when the separation chamber contains viscous substances, the water level fluctuation will be within a smaller range.

[0038] Based on this, the water level fluctuation per unit time, ΔH, is calculated from the acquired water level data: ΔH = Hg - Hd, where Hg is the highest water level per unit time and Hd is the lowest water level per unit time. When the water level fluctuation ΔH meets the preset water level fluctuation judgment criteria, it is predicted that viscous waste has been sucked in, or that waste that has thickened the wastewater has been sucked in, affecting wastewater recovery.

[0039] The water level fluctuation judgment condition is determined according to specific circumstances. In this embodiment, three water level fluctuation judgment conditions are listed as examples, but the present invention is not limited to these three water level fluctuation judgment conditions.

[0040] Type 1: The water level fluctuation determination condition includes a preset water level difference ΔH0. If the water level fluctuation ΔH calculated within the current unit time is less than or equal to the preset water level difference ΔH0, it indicates that the water in the separation chamber has entered due to viscous substances or substances that cause the water to become sticky, causing the wet waste in the separation chamber to fluctuate less as the cleaning machine moves. This, in turn, reduces the water level fluctuation. This indicates that the inhalation of viscous waste or waste that causes the wastewater to become sticky is affecting wastewater recovery, thus providing an early warning and stopping the cleaning machine to avoid subsequent waste recovery failures.

[0041] The second water level fluctuation determination condition includes the water level fluctuation trend. The water level fluctuation trend is the change in the water level fluctuation within the current unit time relative to the water level fluctuation within the previous unit time. If the water level fluctuation within the current unit time is less than the water level fluctuation within the previous unit time, the water level fluctuation trend is determined to be decreasing.

[0042] When the cleaning machine is performing cleaning work, if the water level fluctuation trend becomes smaller N times in a row, where N is a natural number greater than or equal to 2, it is predicted that sticky dirt or dirt that makes the sewage sticky is sucked in and will affect sewage recovery, and an early warning is issued to stop the cleaning machine's cleaning work to avoid the subsequent problem of garbage recovery failure.

[0043] N is determined based on the previous test data.

[0044] The third type: This judgment condition is a comprehensive judgment condition formed by combining the first and second judgment conditions in order to improve the accuracy of detection.

[0045] Because if sticky substances or substances that make water sticky enter the separation chamber, the water level fluctuation will inevitably decrease. At the same time, the trend of water level fluctuation is getting smaller. In order to avoid misjudgment, when the cleaning machine is performing cleaning work, if the water level fluctuation trend becomes smaller N times in a row, N is a natural number greater than or equal to 2, and the water level fluctuation amount ΔH calculated in the current unit time is less than or equal to the preset water level difference ΔH0, it is predicted that sticky dirt is sucked in or dirt that makes the sewage sticky is sucked in and it will affect sewage recovery, and then an early warning is issued to stop the cleaning work of the cleaning machine to avoid the subsequent problem of garbage recovery failure.

[0046] The present invention also relates to a cleaning machine that applies the working method of the cleaning machine. Specifically, the cleaning machine includes a separation chamber for accommodating sewage, and a water level detector for detecting the water level in the separation chamber is provided on the side wall of the separation chamber. The water level detector can adopt various detection devices in the existing technology that can realize water level detection.

[0047] The cleaning machine also includes a controller and a memory. The controller is electrically connected to the water level detector and the memory. The memory stores control instructions, and the controller can read and execute the control instructions to implement the working method of the cleaning machine in this embodiment.

[0048] The present invention further relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the working method of the cleaning machine as described above.

[0049] The working method of the cleaning machine in the present invention can accurately and effectively predict the viscosity of sewage by detecting the fluctuation of the water level in the separation chamber, combining the influence of viscous substances and substances that cause water to become viscous on water level fluctuations, and then stop the cleaning work in time before the sewage becomes unable to be sucked out, avoiding the problem of water recovery failure caused by encountering dirt such as cat litter that causes sewage to become viscous, thereby ensuring the long-term and reliable operation of the cleaning machine.

[0050] A cleaning machine that applies the working method of the cleaning machine can avoid the problem of sewage recovery failure during use, has high working reliability, low failure rate in use, and better user experience.

[0051] Example 2

[0052] During cleaning, to avoid the possibility of plastic sheets, paper scraps, etc. entering the separation chamber and suppressing the water surface, causing a drop in water level fluctuations and thus misjudging the entry of viscous material, this embodiment differs from the first embodiment in that, to ensure more accurate detection results, the cleaning machine acquires real-time sewage concentration data C within the separation chamber within the cleaning machine during cleaning. When the water level fluctuation ΔH meets the preset water level fluctuation judgment criteria and the sewage concentration data also meets the preset sewage concentration change judgment criteria, it is pre-determined that viscous material has been sucked in, or that material that thickens the sewage has been sucked in and will affect sewage recovery, and the cleaning machine is then controlled to stop cleaning.

[0053] Because if viscous substances or substances that make water viscous enter the separation chamber, it will inevitably cause changes in the sewage concentration in the separation chamber. Therefore, combined with the sewage concentration conditions and the judgment of water level fluctuations in Example 1, it is possible to more accurately predict the situation of sucking in viscous sewage or sucking in sewage that makes it viscous and will affect sewage recovery.

[0054] The water and sewage concentration change judgment condition is determined according to specific circumstances. In this embodiment, three water level fluctuation judgment conditions are listed as examples, but the present invention is not limited to these three water level fluctuation judgment conditions.

[0055] 1. The condition for judging the change of sewage concentration is: all concentration data obtained during the set time period are greater than the set concentration threshold C0.

[0056] That is, when the water level fluctuation ΔH meets the water level fluctuation judgment condition preset in Example 1, and at the same time, the concentration data obtained by detection within the set time period are all greater than the set concentration threshold C0, it is predicted that viscous dirt or dirt that causes the sewage to be viscous is sucked in and will affect sewage recovery, and the cleaning machine is controlled to stop cleaning.

[0057] 2. The condition for judging the change of sewage concentration is: the average value of the concentration data obtained during the set time period is greater than the set concentration threshold C0.

[0058] That is, when the water level fluctuation ΔH meets the water level fluctuation judgment condition preset in Example 1, and the average value of the concentration data detected within the set time period is greater than the set concentration threshold C0, it is predicted that sticky dirt or dirt that causes the sewage to be sticky is sucked in and will affect sewage recovery, and the cleaning machine is controlled to stop cleaning.

[0059] 3. The condition for judging the change of sewage concentration is: the sewage concentration data continues to increase within M consecutive unit times, where M is a positive integer greater than or equal to 2.

[0060] That is, when the water level fluctuation ΔH meets the preset water level fluctuation judgment condition in Example 1, and the sewage concentration data continues to increase for M consecutive unit times, it is predicted that viscous dirt or dirt that causes the sewage to be viscous is sucked in and will affect sewage recovery, and the cleaning machine is controlled to stop cleaning.

[0061] Based on the operating method of the cleaning machine, a cleaning machine employing the operating method has a concentration detector provided on the side wall of the separation chamber for detecting the concentration of liquid dirt within the separation chamber. The concentration detector is electrically connected to a controller. The controller can read and execute control instructions stored in a storage medium to implement the operating method of the cleaning machine of this embodiment.

[0062] To simplify the structure and reduce costs, the water level sensor and concentration detector in this embodiment are integrated into a photoelectric water level sensor. The photoelectric water level sensor includes an optical signal transmitter, an optical signal receiver, and a signal processor, which is electrically connected to a controller. During operation, the optical signal transmitter emits a light signal. As the concentration of sewage in the separation chamber increases, the light signal received by the optical signal receiver weakens, and the corresponding current signal detected by the signal processor decreases. This current signal detected by the signal processor can simultaneously obtain information about the sewage concentration in the separation chamber.

Claims

1. A working method of a cleaning machine, characterized in that: When the cleaning machine is performing cleaning work, the water level data in the separation chamber of the cleaning machine is obtained in real time; According to the changes in the water level data in the separation chamber, it is predicted that sticky dirt or dirt that makes the sewage sticky will be sucked in and will affect sewage recovery, and the cleaning machine is controlled to stop cleaning.

2. The operating method of the cleaning machine according to claim 1, characterized in that: Calculate the water level fluctuation ΔH per unit time based on the acquired water level data; ΔH = Hg - Hd, where Hg is the highest water level value per unit time, and Hd is the lowest water level value per unit time; When the water level fluctuation amount ΔH meets the preset water level fluctuation judgment condition, it is predicted that sticky dirt or dirt that makes the sewage sticky is sucked in and will affect sewage recovery.

3. The operating method of the cleaning machine according to claim 2, characterized in that: The water level fluctuation judgment condition includes a preset water level difference value ΔH0; If the water level fluctuation ΔH calculated within the current unit time is less than or equal to the preset water level difference ΔH0, it is predicted that viscous dirt or dirt that makes the sewage viscous is sucked in and will affect sewage recovery.

4. The operating method of the cleaning machine according to claim 3, characterized in that: The water level fluctuation judgment condition includes the water level fluctuation change trend, which is the change of the water level fluctuation amount in the current unit time relative to the water level fluctuation amount in the previous unit time; If the water level fluctuation in the current unit time is less than the water level fluctuation in the previous unit time, the water level fluctuation trend is judged to be a decreasing trend; If the water level fluctuation trend becomes smaller for N consecutive times, N is a natural number greater than or equal to 2, and the water level fluctuation amount ΔH calculated in the current unit time is less than or equal to the preset water level difference ΔH0, it is predicted that sticky dirt is sucked in or dirt that causes the sewage to become sticky is sucked in and will affect sewage recovery.

5. The operating method of the cleaning machine according to claim 2, characterized in that: The water level fluctuation judgment condition includes the water level fluctuation change trend, which is the change of the water level fluctuation amount in the current unit time relative to the water level fluctuation amount in the previous unit time; If the water level fluctuation in the current unit time is less than the water level fluctuation in the previous unit time, the water level fluctuation trend is judged to be a decreasing trend; If the water level fluctuation trend becomes smaller for N consecutive times, where N is a natural number greater than or equal to 2, it is predicted that sticky dirt or dirt that makes the sewage sticky is sucked in and will affect sewage recovery.

6. The operating method of the cleaning machine according to any one of claims 2 to 5, characterized in that: When the cleaning machine is performing cleaning work, the sewage concentration data C in the separation chamber of the cleaning machine is obtained in real time; When the water level fluctuation ΔH meets the preset water level fluctuation judgment condition and the sewage concentration data also meets the preset sewage concentration change judgment condition, it is predicted that viscous sewage or sewage that makes the sewage viscous is sucked in and will affect sewage recovery.

7. The operating method of the cleaning machine according to claim 6, characterized in that: The sewage concentration change judgment condition is: all concentration data detected and obtained within the set time period are greater than the set concentration threshold C0; or the average of the concentration data detected and obtained within the set time period is greater than the set concentration threshold C0.

8. The operating method of the cleaning machine according to claim 6, characterized in that: The sewage concentration change judgment condition is: the sewage concentration data continues to increase within M consecutive unit times, where M is a positive integer greater than or equal to 2.

9. A cleaning machine comprising a separation chamber for accommodating sewage, characterized in that: A water level detector for detecting the water level in the separation bin is provided on the side wall of the separation bin; It also includes a controller and a memory. The controller is electrically connected to the water level detector and the memory. The memory stores control instructions. The controller can read and execute the control instructions to implement the working method of the cleaning machine as described in any one of claims 1 to 5.

10. The cleaning machine according to claim 9, characterized in that: A concentration detector for detecting the concentration of liquid dirt in the separation chamber is provided on the side wall of the separation chamber, and the concentration detector is electrically connected to the controller; The controller can read and execute the control instructions to implement the working method of the cleaning machine according to any one of claims 6 to 8.

11. The cleaning machine according to claim 10, characterized in that: The water level sensor and concentration detector are an integrated photoelectric water level sensor, which includes an optical signal transmitter, an optical signal receiver, and a signal processor. The signal processor is electrically connected to a controller.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the working method of the cleaning machine according to any one of claims 1 to 8.

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