Hand-held scrubber energy efficiency dynamic control method and system, hand-held scrubber and medium

Abstract

The invention relates to the technical field of cleaning equipment, and provides a handheld scrubber energy efficiency dynamic control method and system, a handheld scrubber and a medium, and the method comprises the steps: obtaining fan state data, battery operation state data and a current scrubber working mode; according to the fan preset power, the fan temperature, the battery cell temperature and the electric quantity state obtained based on the current scrubber working mode, control power calculation is carried out to obtain target fan control power; calculating the real power of the fan according to the battery voltage and the fan bus current; and executing fan power closed-loop control according to the target fan control power and the fan real power. According to the invention, energy efficiency dynamic optimization can be realized based on a cooperation mechanism between the battery management system and the fan control module, the cruising ability of the scrubber can be improved, overheating abnormity and battery damage can be avoided, and the optimal balance of power consumption performance is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a handheld scrubber energy efficiency dynamic control method and system, a handheld scrubber and a medium. BACKGROUND

[0002] The handheld scrubber integrates multiple functions such as dust collection, mopping, scrubbing and self-cleaning by adopting an architecture design including a fan control module (controlling the power of the dust collector fan), a battery management system (monitoring the state of the lithium battery, etc.) and a main control board (controlling the water pump, electrolytic water and roller brush function modules, sensor modules and human-computer interaction modules).

[0003] However, the main control board, fan control module and battery management system (BMS) in the design architecture of the existing handheld scrubber are modularly separated. Although the fan control module and the battery management system interact with the main control board, they are only used to realize the independent control of the running logic of the main control board over the fan control module and the battery management system, and do not realize the collaborative control of the two. At the same time, the fan power of the existing handheld scrubber only supports the user to control the gear by key control, and does not pay attention to the energy efficiency management optimization under different performance states, which not only leads to the fact that the endurance potential of the scrubber is not fully utilized, but also cannot avoid the risk of overheating and battery damage. SUMMARY

[0004] The purpose of the present application is to provide a handheld scrubber energy efficiency dynamic control method, which realizes the dynamic optimization of the energy efficiency of the scrubber by adaptively regulating the fan power based on the collaborative mechanism between the battery management system and the fan control module, which not only improves the endurance of the scrubber, but also avoids overheating and battery damage, and ensures the optimal balance of power consumption performance.

[0005] In order to achieve the above purpose, it is necessary to provide a handheld scrubber energy efficiency dynamic control method, system and handheld scrubber.

[0006] In a first aspect, the embodiments of the present application provide a handheld scrubber energy efficiency dynamic control method, which comprises: real-time acquisition of fan state data, battery running state data and current scrubber working mode; the fan state data includes fan temperature and fan bus current; the battery running state data includes battery voltage, battery temperature and state of charge; According to the current scrubber working mode, the corresponding fan preset power is obtained, and the target fan control power is obtained by performing control power calculation according to the fan preset power, the fan temperature, the battery temperature and the state of charge; According to the battery voltage and the fan bus current, a fan real power is calculated, and fan power closed-loop control is performed according to the target fan control power and the fan real power.

[0007] Further, the obtaining step of the current scrubber working mode comprises: Performing fault and anomaly detection according to the fan state data and the battery operation state data; When there is a fault, setting the current scrubber working mode as the shutdown output mode; When there is no fault but there is an anomaly alarm, setting the current scrubber working mode as the minimum power mode; When there is no fault and there is no anomaly alarm, setting the current scrubber working mode based on a user setting mode.

[0008] Further, the fan state data further comprises a fan phase current, and the battery operation state data further comprises a battery current. The step of performing fault and anomaly detection according to the fan state data and the battery operation state data comprises: Performing fault and anomaly detection on the battery pack according to the battery current and the cell temperature; Calculating a fan observation angle according to the fan phase current, and performing fault and anomaly detection on the fan according to the fan observation angle, the fan temperature and the fan bus current.

[0009] Further, the step of setting the current scrubber working mode based on a user setting mode when there is no fault and there is no anomaly alarm comprises: Obtaining a ground dirtiness degree, and obtaining a desired working mode according to the ground dirtiness degree; When the desired working mode is higher than the user setting mode, setting the current scrubber working mode as the desired working mode; When the desired working mode is not higher than the user setting mode, setting the current scrubber working mode as the user setting mode.

[0010] Further, the step of performing control power calculation according to the fan preset power, the fan temperature, the cell temperature and the state of charge to obtain a target fan control power comprises: According to the fan temperature, obtaining a fan temperature influence power adjustment coefficient based on a preset fan temperature gradient adjustment model; the preset fan temperature gradient adjustment model is obtained based on a fan temperature threshold range; According to the battery cell temperature, a battery cell temperature influence power adjustment coefficient is obtained based on a preset battery cell temperature gradient adjustment model; the preset battery cell temperature gradient adjustment model is obtained based on a battery cell temperature threshold range; According to the state of charge, a state of charge influence power adjustment coefficient is obtained based on a preset state of charge gradient adjustment model; the preset state of charge gradient adjustment model is obtained based on a state of charge threshold range; The minimum value of the fan temperature influence power adjustment coefficient, the battery cell temperature influence power adjustment coefficient, and the state of charge influence power adjustment coefficient is obtained as a target power adjustment coefficient; The target fan control power is obtained according to the product of the fan preset power and the target power adjustment coefficient.

[0011] Further, the fan state data further includes a fan rotating speed; the method further includes: When the fan rotating speed is greater than a reference rotating speed corresponding to a current target fan control power and the duration exceeds a first preset duration threshold, the current target fan control power is updated according to a preset power increase ratio; the upper limit value of the preset power increase ratio is determined based on a battery cell rated capacity, a battery maximum discharge rate, a battery pack number, a battery pack string number, and a preset battery platform voltage.

[0012] Further, the step of updating the current target fan control power according to the preset power increase ratio includes: The current target fan control power is updated according to the preset power increase ratio, and after a second preset duration threshold, it is detected whether the current fan rotating speed returns to normal; If the current fan rotating speed returns to normal, the current target fan control power is updated to a previous target fan control power; If the current fan rotating speed does not return to normal, the current scrubber working mode is set to an off output mode.

[0013] In a second aspect, an embodiment of the present application provides a hand-held scrubber energy efficiency dynamic control system, the system includes: A data acquisition module is configured to acquire fan state data, battery operating state data, and a current scrubber working mode in real time; the fan state data includes a fan temperature and a fan bus current; the battery operating state data includes a battery voltage, a battery cell temperature, and a state of charge; A control power calculation module is configured to acquire a corresponding fan preset power according to the current scrubber working mode, and to calculate a target fan control power according to the fan preset power, the fan temperature, the battery cell temperature, and the state of charge. a power closed-loop control module configured to calculate a real fan power according to the battery voltage and the fan bus current, and perform fan power closed-loop control according to the target fan control power and the real fan power.

[0014] In a third aspect, the embodiments of the present application further provide a handheld scrubber, which comprises a memory, a processor, and a handheld scrubber energy efficiency dynamic control program stored in the memory and executable on the processor, and the handheld scrubber energy efficiency dynamic control program is configured to implement the above-mentioned handheld scrubber energy efficiency dynamic control method.

[0015] In a fourth aspect, the embodiments of the present application further provide a storage medium, which stores a handheld scrubber energy efficiency dynamic control program, and the handheld scrubber energy efficiency dynamic control program is configured to implement the above-mentioned handheld scrubber energy efficiency dynamic control method when executed by a processor.

[0016] The present application provides a handheld scrubber energy efficiency dynamic control method, system, handheld scrubber and medium, the method acquires fan state data, battery operating state data and current scrubber working mode in real time; the fan state data includes fan temperature and fan bus current; the battery operating state data includes battery voltage, battery cell temperature and state of charge; according to the current scrubber working mode, the corresponding fan preset power is acquired, and the target fan control power is obtained by control power calculation according to the fan preset power, the fan temperature, the battery cell temperature and the state of charge; according to the battery voltage and the fan bus current, the real fan power is calculated; according to the target fan control power and the real fan power, the fan power closed-loop control is performed. Compared with the prior art, the handheld scrubber energy efficiency dynamic control method realizes the dynamic optimization of the energy efficiency of the scrubber based on the cooperative mechanism between the battery management system and the fan control module, which not only improves the endurance of the scrubber, but also avoids overheating and battery damage, and ensures the optimal balance of power consumption performance. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is an electrical architecture schematic diagram of the embodiment of the present application, which integrates the functions of the fan control module, the battery management system and the main control board into one control hardware; Figure 2 is a flowchart of the handheld scrubber energy efficiency dynamic control method in the embodiment of the present application; Figure 3 is another flowchart of the handheld scrubber energy efficiency dynamic control method in the embodiment of the present application; Figure 4 is a structural schematic diagram of the handheld scrubber energy efficiency dynamic control system in the embodiment of the present application; Figure 5 is another structural diagram of the handheld scrubber energy efficiency dynamic control system in the embodiments of the present application; In the figure, the reference signs are: 1, data acquisition module; 2, control power calculation module; 3, power closed-loop control module; 4, hole blocking abnormality processing module. DETAILED DESCRIPTION

[0018] In order to make the purposes, technical solutions and beneficial effects of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. Obviously, the following described embodiments are part of the embodiments of the present application, and are only used to illustrate the present application, but not to limit the scope of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] The handheld scrubber energy efficiency dynamic control method provided by the present application can be understood as the application status that the modularized separation architecture design based on the existing handheld scrubber cannot support the fan power adaptive regulation based on the performance state, resulting in that the cruising potential is not fully utilized and the overheat abnormal risk and the battery damage risk cannot be avoided, and a kind of energy efficiency dynamic optimization method based on the performance state is proposed. Figure 1 The electrical architecture design shown in the figure integrates the functions of the existing fan control module, the battery management system and the main control board into one control hardware, and the energy efficiency dynamic optimization method for adaptive regulation of fan power is realized through data sharing and cooperation among multiple modules.

[0020] In the Figure 1In the shown electrical architecture diagram, the left half part of the dotted box has 6 strings of battery cells, a battery cell temperature sampling NTC (Negative Temperature Coefficient), an AFE (Analog Front End) analog front-end IC (battery sampling chip), which communicates with a 32-bit main controller MCU (Microcontroller Unit) through I2C, realizes basic functions such as over-discharge protection, over-charge protection, over-current discharge protection, and short-circuit protection, and real-time feedback of battery total voltage, voltage of each battery cell, battery cell temperature, charging and discharging current, charging and discharging state, and fault information to the main controller MCU to form a standard battery management system (BMS); the part of the structure in the right half part of the dotted box is a brushless fan module, which is controlled through a three-phase half-bridge inverter, and simultaneously samples the UVW three-phase current and temperature of the fan to form a FOC (Field-Oriented Control) closed-loop control brushless motor control to form a standard fan control module; the part of the structure in the lower part of the dotted box is other parts of the scrubber, including other control modules of the roller brush motor control, water pump control, and electrolytic water control, sensor modules including water level detection, key detection, and dirt level detection, and human-computer interaction modules including sound and light control, screen display, keys, and a loudspeaker. The electrical architecture diagram integrates the BMS, the fan control module, and the main control board into one, builds an integrated hardware platform by sharing one main controller MCU to replace the design of PWM / FG signals and low-speed serial interfaces between modules in the existing scrubber architecture, which not only can remove the redundant wiring harness between the existing modules, simplify the production and cooperation process between manufacturers, shorten the development cycle of the scrubber product, but also can save the overall design cost of the scrubber, reduce the product failure rate, realize efficient sharing of module data without copying and transmitting through data memory sharing, completely eliminate the problem of insufficient comprehensive monitoring of running state information caused by BMS data reporting delay and limited fan data uploading, and provide reliable hardware support for collaborative control between modules.

[0021] The hand-held scrubber energy efficiency dynamic control logic provided by the application is integrated in the main controller MCU in Figure 1 The following embodiments will be described in detail based on the electrical architecture diagram.

[0022] In one embodiment, as shown in Figure 2 A hand-held scrubber energy efficiency dynamic control method is provided, comprising: S11, real-time acquisition of fan state data, battery running state data, and current scrubber working mode; the fan state data includes fan temperature and fan bus current, which is acquired through Figure 1The current and voltage sampling and temperature sampling of the fan control module are obtained; the battery operating state data includes battery voltage, cell temperature, and power state, which can be obtained through Figure 1 The AFE analog front-end IC of the middle BMS is sampled.

[0023] The current scrubber working mode in the embodiment can be understood as the best running mode of the scrubber based on the comprehensive analysis of the fault and abnormal detection of the scrubber and the user set gear; it should be noted that the naming of various running modes in the embodiment is only exemplary description, and as long as the functional effect corresponds in actual application. Specifically, the acquisition steps of the current scrubber working mode include: According to the fan state data and the battery operating state data, the fault and abnormal detection is performed; wherein, the fault and abnormal detection includes fan running performance abnormality and battery running performance abnormality detection, in actual application, according to the abnormal protection priority, the battery running performance abnormality detection is performed first, and then the fan running performance abnormality detection is performed; in order to ensure the comprehensiveness and reliability of the fault and abnormal detection, the battery is preferably detected for overcurrent and overheating, and the fan is detected for current abnormality, temperature abnormality, and observation angle abnormality, and the corresponding fan state data further includes fan phase current, and the battery operating state data further includes battery current; specifically, the steps of performing fault and abnormal detection according to the fan state data and the battery operating state data include: According to the battery current and the cell temperature, the battery pack is detected for fault and abnormality; in actual application, the battery current and the cell temperature are compared with the threshold range corresponding to different abnormality levels respectively, to obtain the fault and abnormality detection result of whether there is abnormality and the corresponding abnormality level (fault or abnormal alarm), which provides analysis basis for subsequent fan power regulation; it should be noted that the threshold range corresponding to the battery current and the cell temperature can be set according to the actual application scene, which is not limited specifically here; the specific battery pack fault and abnormality detection logic can adopt the existing battery operating state detection logic of BMS, which is not described in detail here.

[0024] The fan observation angle is calculated according to the fan phase current, and the fan is detected for fault and abnormality according to the fan observation angle, the fan temperature, and the fan bus current; wherein, the fan observation angle represents the real-time position of the rotor magnetic pole in the motor of the scrubber fan, which can be used to detect the mechanical motion state of the motor from the inside; in actual application, it can be calculated based on the fan phase current, combined with the motor parameters and the applied voltage, which is not described in detail here. Similarly, the process of detecting the fan for fault and abnormality according to the fan observation angle, the fan temperature, and the fan bus current can be realized by referring to the existing abnormal detection logic of the fan control module, which is not described in detail here.

[0025] In order to ensure the safe and efficient operation of the scrubber in different working conditions, after the fault and abnormality detection is realized through the above method steps, the best working mode is automatically matched according to different working conditions, so that the fan power is self-adaptively regulated and controlled on the basis of the working mode determined according to the working condition, in combination with the battery operation performance and the fan operation performance.

[0026] When there is a fault, the current scrubber working mode is set to the closed output mode; that is, when any one of the battery fault or the fan fault (such as overcurrent of the battery cell, overtemperature of the battery cell, overtemperature of the fan, etc.) is detected, the output of the whole machine is closed to ensure the safety of the equipment, and the current scrubber working mode is set to the closed output mode (representing that the scrubber is closed and stopped running).

[0027] When there is no fault but there is an abnormal alarm, the current scrubber working mode is set to the minimum power mode; that is, when the existing abnormality of the battery or the fan does not reach the fault level, it is considered that the scrubber is not suitable for high-power operation at present, and the minimum power operation supported is selected under the condition of ensuring the safety of the equipment; the minimum power mode here can correspond to the silent mode or other similar functional modes in the actual scrubber working mode.

[0028] When there is no fault and no abnormal alarm, the current scrubber working mode is set based on the user setting mode; that is, when there is no any abnormality in the battery and the fan, the scrubber can execute any normal working mode selected by the user through the gear switch by default, and the selection range of the user setting mode is different due to the working modes supported by the actual scrubber, such as the silent mode (minimum power operation), the normal mode (normal power operation), and the powerful mode (maximum power operation), which is not limited here.

[0029] Considering that the ground dirt degree is different in different positions in actual application, in order to reduce the human intervention in regulating and controlling the working mode and improve the user experience, the scrubber is preferably operated in any normal working mode, and the required working mode is self-adaptively regulated and controlled by actively detecting the ground dirt degree to improve the fan operation power; specifically, when there is no fault and no abnormal alarm, the step of setting the current scrubber working mode based on the user setting mode includes: The ground dirt degree is obtained, and a desired working mode is obtained according to the ground dirt degree; wherein the ground dirt degree is obtained by a dirt sensor (an infrared sensor, an ultrasonic sensor, an image sensor, etc.), and the ground dirt degree is identified by levels, such as clean, dirty, or super dirty; the corresponding desired working mode can be understood as a normal working mode of the scrubber corresponding to different dirt levels; if the normal working mode of the scrubber is as described above, including a silent mode, a normal mode, and a powerful mode, then the silent mode, the normal mode, and the powerful mode can be matched with the ground dirt degree in the order of severity: if the obtained ground dirt degree is clean, then the desired working mode is the silent mode; if the obtained ground dirt degree is dirty, then the desired working mode is the normal mode; and if the obtained ground dirt degree is super dirty, then the desired working mode is the powerful mode.

[0030] When the desired working mode is higher than the user setting mode, the current scrubber working mode is set as the desired working mode; that is, when the desired working mode matched according to the ground dirt degree is higher than the user setting mode set by the user through manual gear shifting, since the current scrubber is not in a fault abnormal condition, the current scrubber working mode can be directly determined according to the desired working mode, so as to ensure that the scrubber has a relatively optimal working efficiency in a safe state.

[0031] When the desired working mode is not higher than the user setting mode, the current scrubber working mode is set as the user setting mode; that is, when the desired working mode matched according to the ground dirt degree is equal to or lower than the user setting mode set by the user through manual gear shifting, the current scrubber working mode can be directly determined according to the user setting mode, so as to ensure that the scrubber has a relatively optimal working efficiency in a safe state.

[0032] The current scrubber working mode based on the combination of the fault abnormality, the user setting mode, and the dirt detection condition in the embodiment can effectively ensure the reliability and rationality of the scrubber working mode setting, and provide a reliable reference for subsequent control of the fan power while considering the current scrubber working mode and ensuring the safety of the scrubber operation.

[0033] S12, according to the current working mode of the scrubber, a corresponding fan preset power is obtained, and a control power is calculated according to the fan preset power, the fan temperature, the cell temperature and the state of charge to obtain a target fan control power; wherein the fan preset power can be understood as a reference working power pre-set for different working modes of the scrubber, and the fan preset power in the normal mode is set as the fan nominal rated power, the power obtained by the specific vacuum degree adjustment test is used in the powerful mode and the silent mode, and the maximum power corresponding to the powerful mode is superimposed on the whole machine power, which cannot exceed the maximum continuous output power of the battery pack, for example, the powerful mode can be set to 150W, the normal mode to 120W, and the silent mode to 90W, etc.; it should be noted that the fan preset power in the three working modes given here is only an exemplary description and is not limited.

[0034] In order to achieve the optimal balance between power consumption and performance by comprehensively considering the battery operating state and the fan operating state under the consideration of the current working mode of the scrubber, the embodiment preferably designs a target fan control power regulation mechanism based on the fan temperature threshold range, the cell temperature threshold range and the state of charge threshold range, in combination with the influence of the fan temperature, the cell temperature and the state of charge on the fan safety and the cell safety. Specifically, the step of calculating the target fan control power according to the fan preset power, the fan temperature, the cell temperature and the state of charge includes: According to the fan temperature, a fan temperature influence power adjustment coefficient is obtained based on a preset fan temperature gradient adjustment model; wherein the preset fan temperature gradient adjustment model is obtained based on the fan temperature threshold range, and can be expressed as: In the formula, is the fan temperature influence power adjustment coefficient; is the fan temperature; and are the lower limit value and the upper limit value of the fan temperature threshold range respectively, which can be determined based on the actual fan normal operating temperature range, and the fan temperature threshold range is preferably set to 75℃-100℃ in the embodiment; based on the motor thermal protection strategy, the fan preset power corresponding to the previous working mode of the scrubber is maintained when the fan temperature is below the lower limit value (75℃) of the fan temperature threshold range and is not affected by other factors, and when the fan temperature is greater than the lower limit value of the fan temperature threshold range, the preset fan temperature gradient adjustment model is constructed according to the principle of reducing the fan power (4% power reduction per 1℃ increase in fan temperature) according to the preset gradient; it should be noted that in actual application, the fan over-temperature protection item will take effect when the fan temperature exceeds 90 degrees for a certain period of time.

[0035] According to the battery cell temperature, a battery cell temperature influence power adjustment coefficient is obtained based on a preset battery cell temperature gradient adjustment model; wherein the preset battery cell temperature gradient adjustment model is constructed based on a battery cell temperature threshold range, and can be expressed as: In the formula, is the battery cell temperature influence power adjustment coefficient; is the battery cell temperature; and are respectively a lower limit value and an upper limit value of the battery cell temperature range, which can be determined based on an actual battery cell normal operation temperature range, and in the embodiment, the battery cell temperature threshold range is preferably set to 45℃-65℃, the fan preset power corresponding to the previous scrubber working mode is kept running when the battery cell temperature is below the lower limit value (45℃) of the battery cell temperature threshold range and is not affected by other factors, and when the battery cell temperature is greater than the lower limit value of the battery cell temperature threshold range, the preset battery cell temperature gradient adjustment model is constructed according to the principle of reducing the fan power (5% power reduction per 1℃ increase in battery cell temperature) in a preset gradient.

[0036] According to the state of charge, a state of charge influence power adjustment coefficient is obtained based on a preset state of charge gradient adjustment model; wherein the preset state of charge gradient adjustment model is constructed based on a state of charge threshold range, and can be expressed as: In the formula, is the state of charge influence power adjustment coefficient; is the state of charge; and are respectively a lower limit value and an upper limit value of the state of charge threshold range, which can be determined based on an actual battery health charging cycle (to avoid deep discharge), and in the embodiment, the state of charge threshold range is preferably set to 0%-70%; is a state of charge adjustment value for limiting the adjustment gradient, which can be set according to a battery discharge curve and experimental data, to ensure that the power is gradually reduced at low power and the running time is maintained, and in the embodiment, it is preferably set to 10%, and based on the characteristics of lithium batteries, the preset state of charge gradient adjustment model is constructed according to the principle of reducing the power at low power to prevent over-discharge and avoid battery voltage drop and capacity attenuation, the fan preset power corresponding to the current scrubber working mode is kept running when the state of charge is above 70% and is not affected by other factors, and the fan power is reduced in a gradient (1.25% power reduction per 1% decrease in state of charge) in the SOC interval of 0%-70%, to achieve the extension of the endurance, and also to avoid the risk of overcurrent and overvoltage caused by the high power running of the fan when the SOC is reduced.

[0037] The minimum value of the fan temperature influence power adjustment coefficient, the battery cell temperature influence power adjustment coefficient and the state of charge influence power adjustment coefficient is obtained as a target power adjustment coefficient; wherein, the minimum value of the fan temperature influence power adjustment coefficient, the battery cell temperature influence power adjustment coefficient and the state of charge influence power adjustment coefficient can ensure that the power is immediately limited when any single condition deteriorates, avoiding the occurrence of chain failure.

[0038] The target fan control power is obtained according to the product of the fan preset power and the target power adjustment coefficient; wherein, the target fan control power can be expressed as: In the formula, and are the fan preset power and the target fan control power respectively.

[0039] The adjustment coefficients of the fan temperature, the battery cell temperature and the state of charge on the fan power are set by linear gradient in the embodiment, which can make the power control smooth and avoid mutation, improve the user experience, and effectively protect the hardware safety. In addition, by monitoring the state of charge, the battery temperature and the fan temperature in real time, the energy efficiency control mechanism of the fan power is dynamically adjusted on the basis of the current working mode of the scrubber, which can effectively balance the performance and safety, which is not only helpful to prolong the battery life and prevent overheating damage, but also can ensure the stable operation of the equipment under various conditions.

[0040] S13, the fan real power is calculated according to the battery voltage and the fan bus current, and the fan power closed loop control is executed according to the target fan control power and the fan real power; wherein, the fan real power can be understood as the product of the battery voltage and the fan bus current, which will not be described here. The corresponding fan power closed loop control can be understood as outputting the control current value according to the target fan control power and the fan real power, and combining the fan observation angle to calculate the SVPWM signal and the fan speed for controlling the fan action. It should be noted that the fan power closed loop control in the embodiment is realized by using the existing FOC control mechanism, which will not be described here.

[0041] The handheld scrubber energy efficiency dynamic control method provided by the embodiment of the application can adaptively regulate and control the fan power based on the cooperative mechanism between the battery management system and the fan control module, realize dynamic optimization of the energy efficiency of the scrubber, improve the endurance of the scrubber, avoid overheating and battery damage, and ensure the optimal balance of power consumption performance.

[0042] In addition, considering that the fan hole is blocked during actual operation of the scrubber, if the fan is directly turned off when the hole blocking is detected, the user experience may be reduced due to overprotection. Therefore, the embodiment preferably sets that when the hole blocking is preliminarily detected, the fan power is appropriately increased to suck strongly, and then it is detected whether it is normal, so as to avoid the risk of overprotection.

[0043] In one embodiment, as shown in Figure 3 The fan state data further includes a fan rotating speed, which can be obtained by an inductorless observer of the fan control module; and the handheld scrubber energy efficiency dynamic control method further includes: S14, when the fan rotating speed is greater than a reference rotating speed corresponding to the current target fan control power and the duration exceeds a first preset duration threshold, the current target fan control power is updated according to a preset power increasing ratio; the reference rotating speed can be understood as a normal fan rotating speed when the hole blocking does not occur under the current target fan control power, and can be obtained by querying a fan rotating speed table, which is obtained by laboratory testing and includes rotating speed values corresponding to different powers when the fan is not blocked. Correspondingly, the first preset duration threshold can be understood as a monitoring time for judging whether the hole blocking is abnormal, which can be set based on actual application requirements and is not limited herein; that is, in actual application, when the hole blocking is detected, the fan power is first increased according to the preset power increasing ratio to enhance the suction to try to solve the current hole blocking problem, so as to avoid unnecessary shutdown protection.

[0044] In this embodiment, the preset power increase ratio can be understood as the percentage by which the power can be increased beyond the current output power while ensuring equipment safety (cell safety). The corresponding upper limit can be determined based on the rated capacity of the cell, the maximum discharge rate of the battery, the number of parallel battery packs, the number of series battery packs, and the preset battery platform voltage. In practical applications, the process of determining the preset power increase ratio is as follows: First, the upper limit of the power after the fan speed increase can be calculated based on the rated capacity of the cell, the maximum discharge rate of the battery, the number of parallel battery packs, the number of series battery packs, and the preset battery platform voltage. Then, based on the obtained maximum power after the fan speed increase, the current target fan control power is combined to calculate the maximum power. The formula for calculating the maximum power after the fan speed increase is expressed as: In the formula, This refers to the rated capacity of the battery cell, expressed in Ah. This is the maximum discharge rate; For the number of battery packs in parallel; This represents the number of battery pack strings. This is the platform voltage, which is 3.6V in this embodiment; This refers to the power consumption of all modules in the machine other than the fan, including the power consumption of the roller brush, water pump, etc. This represents the maximum power of the fan after speed increase, expressed in watts (W).

[0045] To ensure that while avoiding over-protection risks through the above-mentioned hole-blocking anomaly handling, power consumption and equipment safety are also saved, this embodiment preferably restores normal power promptly after the power blockage anomaly is resolved, and triggers the corresponding anomaly protection mechanism promptly if the anomaly has not been resolved. Specifically, the steps of updating the current target wind turbine control power according to the preset power increase ratio include: The control power of the current target fan is updated according to the preset power increase ratio, and after a second preset time threshold, it is checked whether the current fan speed has returned to normal. The second preset time threshold can be set based on actual application requirements and is not specifically limited here. That is, after running at the increased power at a constant speed for the second preset time, it is checked whether the current fan speed exceeds the reference power at the corresponding power. If it is lower than the corresponding reference power, it is considered to have returned to normal; otherwise, it is considered to be in a state of continuous abnormality.

[0046] If the current fan speed returns to normal, the current target fan control power will be updated to the previous target fan control power; that is, when the current fan speed returns to normal (the blockage disappears), the fan power will be reduced back to the power value before the increase, in order to save power consumption.

[0047] If the current fan speed does not return to normal, the current working mode of the floor scrubber will be set to the off output mode; that is, if the current fan speed does not return to normal (the blockage abnormality continues), the blockage abnormality will be directly triggered, and the entire machine output will be shut down to avoid equipment damage caused by abnormal fan heat dissipation.

[0048] This invention provides real-time acquisition of fan status data including fan temperature and fan bus current, battery operating status data including battery voltage, cell temperature, and charge status, and the current floor scrubber operating mode. Based on the preset fan power, fan temperature, cell temperature, and charge status obtained according to the current floor scrubber operating mode, a target fan control power is calculated. Simultaneously, after calculating the actual fan power based on the battery voltage and fan bus current, closed-loop fan power control is executed based on the target fan control power and the actual fan power. Furthermore, when the fan speed exceeds the current target... This handheld floor scrubber's dynamic energy efficiency control method updates the current target fan control power based on a preset power increase ratio when the reference speed corresponding to the fan control power exceeds a first preset duration threshold. This method not only adaptively adjusts the fan power based on the collaborative mechanism between the battery management system and the fan control module, achieving dynamic optimization of the floor scrubber's energy efficiency, but also improves the floor scrubber's battery life, avoids overheating and battery damage, and ensures the optimal balance of power consumption and performance. Furthermore, it avoids over-protection of clogging anomalies based on a hole blockage anomaly recovery mechanism, thereby effectively improving the user experience.

[0049] It should be noted that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated in this document, there is no strict order requirement for the execution of these steps, and they can be executed in other orders.

[0050] In one embodiment, such as Figure 4 As shown, a dynamic energy efficiency control system for a handheld floor scrubber is provided, the system comprising: Data acquisition module 1 is used to acquire real-time fan status data, battery operating status data, and the current working mode of the floor scrubber; the fan status data includes fan temperature and fan bus current; the battery operating status data includes battery voltage, cell temperature, and battery charge status; The control power calculation module 2 is used to obtain the corresponding preset power of the fan according to the current working mode of the floor scrubber, and to calculate the control power according to the preset power of the fan, the fan temperature, the battery cell temperature and the power status to obtain the target fan control power; a power closed-loop control module 3 configured to calculate a real fan power based on the battery voltage and the fan bus current, and perform fan power closed-loop control based on the target fan control power and the real fan power.

[0051] In one embodiment, as shown in FIG. 1, a hand-held scrubber energy efficiency dynamic control system is provided, the system further comprising: Figure 5 a hole blocking abnormality processing module 4 configured to update the current target fan control power according to a preset power increase ratio when the fan speed is greater than a reference speed corresponding to the current target fan control power and the duration exceeds a first preset duration threshold; and an upper limit of the preset power increase ratio is determined based on a battery cell rated capacity, a battery maximum discharge rate, a battery pack number, a battery pack string number, and a preset battery platform voltage.

[0052] For specific limitations of the hand-held scrubber energy efficiency dynamic control system, refer to the limitations of the hand-held scrubber energy efficiency dynamic control method described above, and the corresponding technical effects can also be obtained equally, which will not be described here. The various modules in the hand-held scrubber energy efficiency dynamic control system described above can be realized by software, hardware, and combinations thereof, in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above-mentioned modules.

[0053] In one embodiment, a hand-held scrubber is provided, which comprises a memory, a processor, and a hand-held scrubber energy efficiency dynamic control program stored in the memory and executable on the processor, the hand-held scrubber energy efficiency dynamic control program being configured to implement the hand-held scrubber energy efficiency dynamic control method described above.

[0054] In one embodiment, a storage medium is provided, the storage medium having a hand-held scrubber energy efficiency dynamic control program stored thereon, the hand-held scrubber energy efficiency dynamic control program being executed by a processor to implement the hand-held scrubber energy efficiency dynamic control method described above.

[0055] In summary, the hand-held scrubber energy efficiency dynamic control method, system, hand-held scrubber, and medium provided by the embodiments of the present application not only can adaptively regulate and control the fan power based on the coordination mechanism between the battery management system and the fan control module, realize dynamic optimization of the energy efficiency of the scrubber, improve the endurance of the scrubber, avoid overheating abnormality and battery damage, and ensure the optimal balance of power consumption performance, but also can avoid overprotection of the hole blocking abnormality protection based on the hole blocking abnormality recovery mechanism, thereby effectively improving the user experience.

[0056] ​Various embodiments are described herein with reference to the drawings, wherein each embodiment is described in a progressive manner, and each embodiment directly or indirectly refers to each other, and each embodiment focuses on the differences from other embodiments. In particular, the system embodiments are described more simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments. It should be noted that the technical features of the above embodiments can be combined in any manner, and in order to make the description simple, not all possible combinations of the technical features of the above embodiments are described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the description.

[0057] The above-described embodiments only express several preferred embodiments of the present application, which are described in a more specific and detailed manner, but should not be construed as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, several improvements and replacements can be made without departing from the technical principles of the present application, and these improvements and replacements should be considered as the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the protection scope of the claims.

Claims

1. A method for dynamic energy efficiency control of a handheld floor scrubber, characterized in that, The method includes: The system acquires real-time data on fan status, battery operating status, and the current operating mode of the floor scrubber. The fan status data includes fan temperature and fan bus current. The battery operating status data includes battery voltage, cell temperature, and battery charge status. Based on the current working mode of the floor scrubber, the corresponding preset power of the fan is obtained, and the control power is calculated based on the preset power of the fan, the fan temperature, the battery cell temperature and the battery status to obtain the target fan control power; The actual power of the wind turbine is calculated based on the battery voltage and the wind turbine bus current, and closed-loop control of the wind turbine power is executed based on the target wind turbine control power and the actual wind turbine power.

2. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 1, characterized in that, The steps for obtaining the current operating mode of the floor scrubber include: Fault and anomaly detection is performed based on the wind turbine status data and the battery operating status data; When a fault occurs, the current operating mode of the floor scrubber will be set to the off output mode. When there is no fault but there is an abnormal alarm, the current floor scrubber working mode is set to the minimum power mode; When there are no faults and no abnormal alarms, the current working mode of the floor scrubber is set based on the user-defined mode.

3. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 2, characterized in that, The wind turbine status data also includes the wind turbine phase current; the battery operating status data also includes the battery current. The step of detecting faults and anomalies based on the wind turbine status data and the battery operating status data includes: The battery pack is used to detect faults and anomalies based on the battery current and the cell temperature. The observation angle of the wind turbine is calculated based on the phase current of the wind turbine, and the wind turbine is used to detect faults and anomalies based on the observation angle, the temperature of the wind turbine, and the bus current of the wind turbine.

4. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 2, characterized in that, The step of setting the current floor scrubber operating mode based on the user-defined mode when there is no fault and no abnormal alarm includes: The degree of dirtiness on the ground is obtained, and the desired working mode is determined based on the degree of dirtiness. When the desired working mode is higher than the user-defined mode, the current floor scrubber working mode is set to the desired working mode. When the desired working mode is not higher than the user-defined mode, the current working mode of the floor scrubber is set to the user-defined mode.

5. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 1, characterized in that, The step of calculating the control power of the target wind turbine based on the preset power of the wind turbine, the wind turbine temperature, the battery cell temperature, and the battery status includes: Based on the fan temperature, a power adjustment coefficient for the influence of fan temperature is obtained using a preset fan temperature gradient adjustment model; the preset fan temperature gradient adjustment model is constructed based on the fan temperature threshold range. Based on the cell temperature, a cell temperature-affected power adjustment coefficient is obtained using a preset cell temperature gradient adjustment model; the preset cell temperature gradient adjustment model is constructed based on a cell temperature threshold range. Based on the battery status, a power adjustment coefficient affecting the battery status is obtained using a preset battery status gradient adjustment model; the preset battery status gradient adjustment model is constructed based on a battery status threshold range. The minimum value among the power adjustment coefficients affected by fan temperature, battery cell temperature, and battery status is obtained as the target power adjustment coefficient. The target wind turbine control power is obtained by multiplying the preset power of the wind turbine by the target power adjustment coefficient.

6. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 1, characterized in that, The fan status data also includes the fan speed; the method further includes: When the fan speed is greater than the reference speed corresponding to the current target fan control power and the duration exceeds the first preset duration threshold, the current target fan control power is updated according to the preset power increase ratio; the upper limit of the preset power increase ratio is determined based on the rated capacity of the battery cell, the maximum discharge rate of the battery, the number of parallel battery packs, the number of series battery packs, and the preset battery platform voltage.

7. The energy efficiency dynamic control method for a handheld floor scrubber as described in claim 6, characterized in that, The step of updating the current target wind turbine control power according to the preset power increase ratio includes: The control power of the current target wind turbine is updated according to the preset power increase ratio, and after a second preset time threshold, it is detected whether the current wind turbine speed has returned to normal. If the current fan speed returns to normal, the current target fan control power is updated to the previous target fan control power; If the current fan speed does not return to normal, the current floor scrubber operating mode will be set to the off output mode.

8. A dynamic energy efficiency control system for a handheld floor scrubber, characterized in that, The system includes: The data acquisition module is used to acquire real-time fan status data, battery operating status data, and the current working mode of the floor scrubber; the fan status data includes fan temperature and fan bus current; the battery operating status data includes battery voltage, cell temperature, and charge status; The control power calculation module is used to obtain the corresponding preset power of the fan according to the current working mode of the floor scrubber, and to calculate the control power according to the preset power of the fan, the fan temperature, the battery cell temperature and the battery status to obtain the target fan control power; The power closed-loop control module is used to calculate the actual power of the wind turbine based on the battery voltage and the wind turbine bus current, and to perform closed-loop control of the wind turbine power based on the target wind turbine control power and the actual wind turbine power.

9. A handheld floor scrubber, characterized in that, The floor scrubber includes a memory, a processor, and a handheld floor scrubber energy efficiency dynamic control program stored in the memory and executable on the processor. The handheld floor scrubber energy efficiency dynamic control program is configured to implement the handheld floor scrubber energy efficiency dynamic control method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium stores a dynamic energy efficiency control program for a handheld floor scrubber. When the processor executes the dynamic energy efficiency control program for the handheld floor scrubber, it implements the dynamic energy efficiency control method for the handheld floor scrubber as described in any one of claims 1 to 7.

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