Cleaning equipment, sewage box blockage detection method and device thereof and storage medium

Abstract

The invention discloses cleaning equipment, a sewage box blockage detection method and device thereof and a storage medium, and relates to the technical field of cleaning. The method comprises the steps that in the working process of the cleaning equipment, the accumulated starting time length and the current starting time length of an air pump are obtained, and determining target working current data of the air pump based on the accumulated opening duration and the current opening duration, and determining that the sewage box is blocked under the condition that the target working current data meets a preset blocking condition. According to the method, the blockage condition of the sewage box can be detected based on the working current data of the air pump, and the detection efficiency and precision are improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a method for detecting clogging of the wastewater box in a cleaning device, a computer-readable storage medium, a cleaning device, and a device for detecting clogging of the wastewater box in a cleaning device. Background Technology

[0002] During operation, the cleaning equipment sucks in wastewater and dirt from the ground and temporarily stores it in the wastewater box to prevent it from directly entering the equipment and causing internal damage. During cleaning, solid impurities such as sand, dust, hair, and food scraps are sucked in and accumulate in the wastewater box. Long, thin materials such as carpet fibers, lint, and paper scraps can easily become tangled in the filter or suction port of the wastewater box, causing blockages.

[0003] Currently, the most common way to determine if a wastewater box is clogged is through manual inspection by the user, or by using a clog indicator light to alert the user. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in related technologies. Therefore, the first objective of this application is to propose a method for detecting blockage in the wastewater box of a cleaning device. During the operation of the cleaning device, the target operating current data of the air pump is determined based on the cumulative operating time and the current operating time. If the target operating current data meets preset blockage conditions, the wastewater box is determined to be blocked. This method enables the detection of blockage in the wastewater box based on the operating current data of the air pump, improving detection efficiency and accuracy.

[0005] The second objective of this application is to provide a computer-readable storage medium.

[0006] The third objective of this application is to propose a cleaning device.

[0007] The fourth objective of this application is to provide a device for detecting blockage in the wastewater box of a cleaning equipment.

[0008] To achieve the above objectives, a first aspect of this application proposes a method for detecting blockage in the wastewater box of a cleaning device. The cleaning device includes an air pump used to remove air from the wastewater box to bring it into a negative pressure state. The method includes: acquiring the cumulative operating time and current operating time of the air pump during the operation of the cleaning device; determining the target operating current data of the air pump based on the cumulative operating time and current operating time; and determining that the wastewater box is blocked if the target operating current data meets a preset blockage condition.

[0009] According to the wastewater box blockage detection method for cleaning equipment according to embodiments of this application, during the operation of the cleaning equipment, the cumulative operating time and current operating time of the air pump are acquired; the target operating current data of the air pump is determined based on the cumulative operating time and current operating time; and if the target operating current data meets preset blockage conditions, the wastewater box is determined to be blocked. Therefore, this method can detect the blockage of the wastewater box based on the operating current data of the air pump, improving detection efficiency and accuracy.

[0010] In some embodiments of this application, the above-described method for detecting blockage in the wastewater box of the cleaning equipment further includes: acquiring current operating current data when the air pump is in the on state and historical operating current data when the air pump was last in the on state; filtering the current operating current data to obtain filtered operating current data, wherein the historical operating current data is the data after filtering.

[0011] In some embodiments of this application, determining the target operating current data of the air pump based on the cumulative operating time and the current operating time includes: using filtered operating current data as target current data when the cumulative operating time is less than or equal to a first preset operating time threshold; using historical operating current data as target current value when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is less than or equal to a second preset operating time threshold; and using filtered operating current data as target current data when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is greater than the second preset operating time threshold.

[0012] In some embodiments of this application, the target operating current data satisfies a preset blocking condition, including: obtaining the target current average value based on the target operating current data; and determining that the preset blocking condition is met when the target current average value is greater than a preset current threshold for a number of consecutive times.

[0013] In some embodiments of this application, the preset current threshold is the sum of the preset minimum current limit value and the redundancy value. The above-mentioned method for detecting blockage in the sewage box of the cleaning equipment further includes: updating the preset minimum current limit value when the average target current is greater than the preset minimum current limit value; and keeping the preset minimum current limit value unchanged when the average target current is less than or equal to the preset minimum current limit value.

[0014] In some embodiments of this application, updating the preset minimum current limit value includes updating the preset minimum current limit value to the target current average value.

[0015] In some embodiments of this application, the above-mentioned method for detecting blockage in the wastewater box of the cleaning equipment further includes: keeping the historical operating current data unchanged when the air pump is not turned on, or the cumulative operating time of the air pump is less than or equal to a first preset time threshold, or the operating time of the air pump when the wastewater box is blocked is less than or equal to the first preset time threshold.

[0016] To achieve the above objectives, a second aspect of this application provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the above-described method for detecting blockage in the wastewater box of a cleaning device.

[0017] The computer-readable storage medium of this application embodiment, by executing the above-described method for detecting blockage in the wastewater box of a cleaning device, can detect the blockage of the wastewater box based on the operating current data of the air pump, thereby improving detection efficiency and accuracy.

[0018] To achieve the above objectives, a third aspect of this application provides a cleaning device, including: a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the above-described method for detecting blockage in the wastewater box of the cleaning device.

[0019] The cleaning equipment of this application embodiment, by executing the above-described method for detecting blockage in the wastewater box of the cleaning equipment, can detect the blockage of the wastewater box based on the working current data of the air pump, thereby improving detection efficiency and accuracy.

[0020] To achieve the above objectives, a fourth aspect of this application provides a wastewater box blockage detection device for a cleaning equipment. The cleaning equipment includes an air pump used to remove air from the wastewater box to create a negative pressure environment. The device includes: an acquisition module for acquiring the cumulative operating time and current operating time of the air pump during the operation of the cleaning equipment; a first determination module for determining target operating current data of the air pump based on the cumulative operating time and current operating time; and a second determination module for determining that the wastewater box is blocked if the target operating current data meets preset blockage conditions.

[0021] According to the wastewater box blockage detection device for cleaning equipment according to an embodiment of this application, during the operation of the cleaning equipment, the device acquires the cumulative operating time and current operating time of the air pump through an acquisition module, and determines the target operating current data of the air pump based on the cumulative operating time and current operating time through a first determination module. If the target operating current data meets preset blockage conditions, the second determination module determines that the wastewater box is blocked. Therefore, this device can detect the blockage of the wastewater box based on the operating current data of the air pump, improving detection efficiency and accuracy.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating a method for detecting clogging in the wastewater box of a cleaning device according to some embodiments of this application.

[0024] Figure 2 The flowchart illustrates a method for detecting clogging in the wastewater box of a cleaning device, which is one of the specific examples of this application.

[0025] Figure 3 This is a block diagram of a cleaning device according to some embodiments of this application.

[0026] Figure 4 This is a block diagram of a wastewater box blockage detection device for a cleaning equipment according to some embodiments of this application. Detailed Implementation

[0027] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0028] The following description, with reference to the accompanying drawings, outlines a method for detecting clogging in the wastewater box of a cleaning device, a computer-readable storage medium, a cleaning device, and a device for detecting clogging in the wastewater box of a cleaning device.

[0029] Figure 1 This is a flowchart illustrating a method for detecting clogging in the wastewater box of a cleaning device according to some embodiments of this application.

[0030] In some embodiments of this application, the cleaning equipment includes an air pump used to remove air from the wastewater box, thereby creating a negative pressure environment in the wastewater box. The cleaning equipment can be a robotic vacuum cleaner, a floor scrubber, a floor mop, etc.

[0031] Specifically, during operation, the air pump of the cleaning equipment operates intermittently according to the cleaning task requirements. When a heavily soiled area is detected, the air pump increases its power or extends its operating time; in relatively clean areas, it reduces its power or stops briefly to save energy. For example, pulse width modulation (PWM) technology can be used to control the air pump, achieving precise power control by adjusting the duty cycle. During operation, the air pump removes air from the wastewater tank, creating a negative pressure environment. Wastewater generated by the cleaning equipment is then drawn into the wastewater tank through pipes under this negative pressure. As the water level rises in the wastewater tank, the float inside rises. When a set height threshold is reached, the air pump stops operating. After the cleaning equipment returns to the base station, the wastewater in the wastewater tank is discharged to the base station's wastewater tank via a drainage component.

[0032] For example, the wastewater box is equipped with an exhaust vent, and an air pump is connected to the exhaust vent via an exhaust pipe. When the air pump is working, it draws air out of the wastewater box through the exhaust pipe, creating a negative pressure inside the wastewater box. This negative pressure difference allows wastewater generated during the cleaning process to be drawn into the wastewater box through the inlet.

[0033] like Figure 1 As shown, the wastewater box clogging detection method of the cleaning equipment in this application embodiment may include the following steps: S101: During the operation of the cleaning equipment, the cumulative operating time and current operating time of the air pump are obtained.

[0034] During the operation of the cleaning equipment, the air pump works intermittently. The cumulative operating time of the air pump refers to the total operating time of the air pump since the cleaning equipment is powered on, while the current operating time refers to the current working time.

[0035] S102, determine the target operating current data of the air pump based on the cumulative operating time and the current operating time.

[0036] Specifically, the stability of the cleaning equipment is determined based on the cumulative operating time. For example, if the cumulative operating time is short, the equipment is considered not yet stable, and effective current data cannot be obtained. In this case, the target operating current data is determined based on the real-time collected air pump operating current value. Conversely, if the cumulative operating time is long but the current start time is short, and the sewage pump is clogged and cannot be cleared quickly, the current data from the previous air pump operation is more reliable than the current current data. Therefore, the previous current data can be used as the target operating current data. This provides more accurate current data, allowing for subsequent assessment of whether the sewage box is clogged, thus improving the accuracy of the assessment.

[0037] S103, if the target operating current data meets the preset blockage conditions, determine that the sewage box is blocked.

[0038] Specifically, after determining the target operating current data of the air pump based on the cumulative operating time and the current operating time, the system further determines whether the conditions for sewage box blockage are met based on the target current data. For example, when the sewage box is blocked, the air pump load increases, and the target current data of the air pump will rise significantly. If the target current data exceeds the threshold set for sewage box blockage, the sewage box is considered to be blocked; if the target current data does not exceed the threshold set for sewage box blockage, the sewage box is considered not blocked. Since the more severe the sewage box blockage, the greater the air pump load, the corresponding target current data of the air pump will also be large. At this time, the degree of blockage of the sewage box can also be judged based on the magnitude of the target current data of the air pump. That is to say, the larger the target current data of the air pump, the more severe the blockage of the sewage box. Therefore, based on the magnitude of the air pump current data, it is possible to determine whether the sewage box is blocked and the degree of blockage.

[0039] In some embodiments of this application, the above-described method for detecting blockage in the wastewater box of the cleaning equipment further includes: acquiring current operating current data when the air pump is in the on state and historical operating current data when the air pump was last in the on state; filtering the current operating current data to obtain filtered operating current data, wherein the historical operating current data is the data after filtering.

[0040] Specifically, when the air pump is on, the system acquires its on-time and operating current data. Since the air pump draws a large current during startup, and the current data collected during startup may contain ambiguous and invalid values, the operating current data needs to be filtered to remove maximum, minimum, and ambiguous values. The filtered current data is then saved. At the current moment, when the air pump is on, the system acquires the current on-time duration, the current operating current data, and the operating current data from the previous startup (historical operating current data). The current operating current data is then filtered to obtain filtered operating current data. This allows for the determination of the target operating current data based on the cumulative operating time, the current operating time, the filtered operating current data, and the historical operating current data, thereby improving the reliability of subsequent assessments of whether the wastewater box is clogged.

[0041] In some embodiments, a low-pass filter is used to filter the working current data of the air pump. This method can meet the filtering requirements while also ensuring low computing power, simple filtering method, and low memory usage.

[0042] It should be noted that the use of a low-pass filter is only an example of this application. Other filters can also be used to filter the operating current data of the air pump, and there are no restrictions here.

[0043] In some embodiments of this application, determining the target operating current data of the air pump based on the cumulative operating time and the current operating time includes: using filtered operating current data as target current data when the cumulative operating time is less than or equal to a first preset operating time threshold; using historical operating current data as target current value when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is less than or equal to a second preset operating time threshold; and using filtered operating current data as target current data when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is greater than the second preset operating time threshold.

[0044] The first preset duration threshold is greater than the second preset duration threshold. The first and second preset duration thresholds can be calibrated according to the actual situation. For example, the first preset duration can be a time threshold when the air pump is in a stable operating state, and the second preset duration threshold can be determined according to the proportion of the current air pump operating time. For example, the first preset duration threshold can be 6s, and the second preset duration threshold can be 120ms.

[0045] Specifically, after the cleaning equipment is powered on, the system continuously monitors whether the air pump is on. Timing begins when the air pump first starts and stops when it stops. If the cumulative on-time of the air pump is less than or equal to a first preset threshold (e.g., 6 seconds), the cumulative on-time is short, and the cleaning equipment is not yet in a stable operating state. The target current data is determined based on the real-time collected operating current data. For example, the operating current data within the current start-up time of the air pump is filtered, and the filtered operating current data is used as the target operating current data. When the cumulative on-time of the air pump exceeds the first preset threshold, the cleaning equipment is considered to be in a stable operating state. In this case, the target operating current data is also determined based on the current on-time of the air pump. For example, if the current on-time is less than or equal to a second preset threshold (e.g., 120 ms), and the sewage pump becomes clogged and cannot be cleared quickly, the previous air pump operating current data (historical operating current data) is more reliable than the current air pump operating current data, so the historical operating current data is used as the target operating current data. When the current operating duration exceeds a second preset duration threshold, the target current data is determined based on the real-time collected operating current data. For example, the operating current data within the current pump startup duration is filtered, and the filtered operating current data is used as the target operating current data. This improves the accuracy and reliability of the acquired target current data.

[0046] In some embodiments of this application, the target operating current data satisfies a preset blockage condition, including: obtaining the target current average value based on the target operating current data; and determining that the preset blockage condition is met when the target current average value is greater than a preset current threshold for a number of consecutive times exceeding a preset number. The preset current threshold and the preset number of times can be calibrated according to actual conditions. For example, they can be determined based on the minimum limiting current value when the wastewater box becomes blocked, or the sum of the minimum limiting current value and a redundancy value. The preset number of times can be 3.

[0047] Specifically, after obtaining the target current data through the above embodiments, the target current data can be multiple current values ​​within the current operating time of the air pump, or multiple current values ​​within a time period during the air pump's operating time, such as determining the time period based on the sliding window size of a low-pass filter. The average current value is obtained from multiple current values ​​as the target current average value. Then, the target current average value is compared with a preset current threshold. When the target current average value is greater than the preset current threshold, it is initially considered that the wastewater box is blocked, and the counter is incremented by 1. If the target current average value is greater than the preset current threshold three times consecutively, the wastewater box is considered blocked. Using the method of repeatedly encountering the same situation to determine whether the wastewater box is blocked can prevent false positives.

[0048] For example, the counter is set to 1 when the average target current is determined to be greater than the preset current threshold for the first time. When the average target current is determined to be less than or equal to the preset current threshold for the second time, the counter is reset to zero and the counting starts again. In other words, the sewage box is considered blocked only when the average target current is determined to be greater than the preset current threshold for three consecutive times and the counter reaches 3.

[0049] It should be noted that the blockage of the wastewater box can also be determined based on the rate of change of multiple current values. For example, if the rate of change of current exceeds a preset threshold, the wastewater box is considered to be blocked.

[0050] In some embodiments of this application, the preset current threshold is the sum of the preset minimum current limit value and the redundancy value. The above-mentioned method for detecting blockage in the wastewater box of the cleaning equipment further includes: updating the preset minimum current limit value when the average target current is greater than the preset minimum current limit value; and keeping the preset minimum current limit value unchanged when the average target current is less than or equal to the preset minimum current limit value.

[0051] In some embodiments of this application, updating the preset minimum current limit value includes updating the preset minimum current limit value to the target current average value.

[0052] Specifically, the preset minimum current limit value is the current value at which the wastewater box becomes clogged. During normal operation, the air pump's current will fluctuate within a certain range. If the preset minimum current limit value is used directly as the judgment standard, frequent clog alarms may be triggered when the current fluctuates near the critical value, leading to false alarms. Therefore, setting a redundant value not only avoids current fluctuations during startup being mistaken for clogs, but also ensures that the system will not trigger false alarms within the normal load fluctuation range, improving anti-interference capabilities, enhancing the reliability and stability of detection, and avoiding false alarms and frequent alarm reminders.

[0053] To improve detection accuracy and avoid frequent alarms, the preset minimum current limit value can be updated based on the average target current value. For example, if the average target current value is greater than the preset minimum current limit value, then the average target current value is used as the preset minimum current limit value; if the average target current value is less than or equal to the preset minimum current limit value, then the preset minimum current limit value remains unchanged. By dynamically adjusting the preset minimum current limit value, detection accuracy can be improved and false alarms can be avoided.

[0054] It should be noted that the preset minimum current limit value is updated after the cleaning equipment leaves the base.

[0055] In some embodiments of this application, the above-mentioned method for detecting blockage in the wastewater box of the cleaning equipment further includes: keeping the historical operating current data unchanged when the air pump is not turned on, or the cumulative operating time of the air pump is less than or equal to a first preset time threshold, or the operating time of the air pump when the wastewater box is blocked is less than or equal to the first preset time threshold.

[0056] Specifically, during the operation of the cleaning equipment, the air pump operates intermittently. The system saves the operating current data (after filtering) each time the air pump starts, and uses the latest operating current data as historical operating current data. For example, the air pump operates for periods t1, t2, t3, and t4. After the air pump finishes operating during time period t2, it pauses. The operating current data for time period t2 is then used as historical operating current data and is not updated. If the air pump is currently operating during time period t1, and the cumulative operating time is less than or equal to a first preset time threshold, the target current data is determined based on the real-time operating current data acquired during time period t1, and the historical operating current data is not updated. If the air pump is currently operating during time period t2, and the operating current data for time period t2 indicates a blockage in the wastewater box, and the air pump resumes operation for a duration less than or equal to the first preset time threshold, the operating current data for time period t2 is used as historical operating current data.

[0057] As a concrete example, such as Figure 2 As shown, the method for detecting clogging in the wastewater box of this cleaning equipment may include the following steps: S201, the cleaning equipment is powered on and operating.

[0058] S202, obtain the cumulative operating time and current operating time of the air pump.

[0059] S203, determine whether the cumulative operating time of the air pump is less than or equal to the first preset time threshold. If yes, proceed to step S206; if no, proceed to step S204.

[0060] S204, determine whether the current on-time is less than or equal to the second preset time threshold. If yes, proceed to step S205; otherwise, proceed to step S206.

[0061] S205, use the historical operating current data as the target operating current data, and execute step S207.

[0062] S206, Filter the current operating current data to obtain filtered operating current data, use the filtered operating current data as the target operating current data, and execute step S207.

[0063] S207, determine the average value of the target current based on the target operating current data.

[0064] S208: Determine if the number of times the average target current exceeds the preset current threshold exceeds a preset number. If yes, proceed to step S209; otherwise, return to step S202.

[0065] S209, Determine if the wastewater box is clogged.

[0066] In summary, the wastewater box clogging detection method for cleaning equipment according to the embodiments of this application acquires the cumulative operating time and current operating time of the air pump during the operation of the cleaning equipment; determines the target operating current data of the air pump based on the cumulative operating time and current operating time; and determines that the wastewater box is clogged if the target operating current data meets the preset clogging conditions. Therefore, this method can detect the clogging status of the wastewater box based on the operating current data of the air pump, improving detection efficiency and accuracy.

[0067] Corresponding to the above embodiments, this application also proposes a computer-readable storage medium.

[0068] The computer-readable storage medium of this application embodiment stores a program that, when executed by a processor, implements the above-described method for detecting blockage in the wastewater box of a cleaning device.

[0069] The computer-readable storage medium of this application embodiment, by executing the above-described method for detecting blockage in the wastewater box of a cleaning device, can detect the blockage of the wastewater box based on the operating current data of the air pump, thereby improving detection efficiency and accuracy.

[0070] Corresponding to the above embodiments, this application also proposes a cleaning device.

[0071] like Figure 3 As shown, the cleaning device 300 of this application embodiment may include: a memory 310, a processor 320, and a program stored in the memory 310 and executable on the processor 320. When the processor executes the program, it implements the above-mentioned method for detecting blockage in the wastewater box of the cleaning device.

[0072] The cleaning equipment of this application embodiment, by executing the above-described method for detecting blockage in the wastewater box of the cleaning equipment, can detect the blockage of the wastewater box based on the working current data of the air pump, thereby improving detection efficiency and accuracy.

[0073] Corresponding to the above embodiments, this application also proposes a sewage box blockage detection device for cleaning equipment.

[0074] In some embodiments of this application, the cleaning device includes an air pump for removing air from the wastewater box to create a negative pressure environment in the wastewater box.

[0075] like Figure 4 As shown, the wastewater box blockage detection device 400 of the cleaning equipment in this application embodiment may include: an acquisition module 410, a first determination module 420, and a second determination module 430.

[0076] The acquisition module 410 is used to acquire the cumulative operating time and current operating time of the air pump during the operation of the cleaning equipment. The first determination module 420 is used to determine the target operating current data of the air pump based on the cumulative operating time and current operating time. The second determination module 430 is used to determine that the wastewater box is blocked if the target operating current data meets the preset blockage conditions.

[0077] In some embodiments of this application, the wastewater box blockage detection device 400 of the cleaning equipment further includes a filtering module, wherein the acquisition module 410 is further configured to: acquire the current operating current data when the air pump is in the on state and the historical operating current data when the air pump was last in the on state; the filtering module is further configured to filter the current operating current data to obtain filtered operating current data, wherein the historical operating current data is the data after filtering.

[0078] In some embodiments of this application, the first determining module 420 determines the target operating current data of the air pump based on the cumulative operating time and the current operating time. Specifically, it is used to: use the filtered operating current data as the target current data when the cumulative operating time is less than or equal to a first preset operating time threshold; use the historical operating current data as the target current value when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is less than or equal to a second preset operating time threshold; and use the filtered operating current data as the target current data when the cumulative operating time is greater than the first preset operating time threshold and the current operating time is greater than the second preset operating time threshold.

[0079] In some embodiments of this application, the second determining module 430 is further configured to: obtain the average value of the target current based on the target operating current data; and determine that the preset blocking condition is met when the average value of the target current is greater than the preset current threshold for a number of consecutive times.

[0080] In some embodiments of this application, the wastewater box blockage detection device of the above-mentioned cleaning equipment further includes an update module. The preset current threshold is the sum of the preset minimum limit current value and the redundancy value. The update module is used to update the preset minimum limit current value when the target current average value is greater than the preset minimum limit current value; and to keep the preset minimum limit current value unchanged when the target current average value is less than or equal to the preset minimum limit current value.

[0081] In some embodiments of this application, the updating module updates the preset minimum current limit value, specifically by updating the preset minimum current limit value to the target current average value.

[0082] In some embodiments of this application, the first determining module is further configured to: keep the historical operating current data unchanged when the air pump is not turned on, or the cumulative operating time of the air pump is less than or equal to the first preset time threshold, or the operating time of the air pump is less than or equal to the first preset time threshold when the sewage box is blocked.

[0083] It should be noted that for details not disclosed in the wastewater box blockage detection device of the cleaning equipment in the embodiments of this application, please refer to the details disclosed in the wastewater box blockage detection method of the cleaning equipment in the embodiments of this application, which will not be repeated here.

[0084] According to the wastewater box blockage detection device for cleaning equipment according to an embodiment of this application, during the operation of the cleaning equipment, the device acquires the cumulative operating time and current operating time of the air pump through an acquisition module, and determines the target operating current data of the air pump based on the cumulative operating time and current operating time through a first determination module. If the target operating current data meets preset blockage conditions, the second determination module determines that the wastewater box is blocked. Therefore, this device can detect the blockage of the wastewater box based on the operating current data of the air pump, improving detection efficiency and accuracy.

[0085] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0086] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0087] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0089] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0090] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for detecting blockage in the wastewater box of a cleaning device, characterized in that, The cleaning equipment includes an air pump, which is used to remove air from the wastewater box to create a negative pressure state in the wastewater box. The method includes: During the operation of the cleaning equipment, the cumulative operating time and current operating time of the air pump are obtained; The target operating current data of the air pump is determined based on the cumulative operating time and the current operating time. If the target operating current data meets the preset blockage conditions, the sewage box is determined to be blocked.

2. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 1, characterized in that, The method further includes: Acquire the current operating current data when the air pump is in the on state and the historical operating current data when the air pump was last in the on state; The current operating current data is filtered to obtain filtered operating current data, wherein the historical operating current data is the filtered data.

3. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 2, characterized in that, The target operating current data of the air pump is determined based on the cumulative operating time and the current operating time, including: If the cumulative on-time is less than or equal to the first preset time threshold, the filtered operating current data will be used as the target current data. If the cumulative on-time exceeds the first preset time threshold and the current on-time is less than or equal to the second preset time threshold, the historical operating current data will be used as the target current value. If the cumulative on-time exceeds the first preset time threshold and the current on-time exceeds the second preset time threshold, the filtered operating current data will be used as the target current data.

4. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 1, characterized in that, The target operating current data meets preset blocking conditions, including: The average value of the target current is obtained based on the target operating current data; If the average value of the target current exceeds a preset current threshold for more than a preset number of consecutive times, the preset blocking condition is determined to be met.

5. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 4, characterized in that, The preset current threshold is the sum of a preset minimum current limit value and a redundancy value. The method further includes: If the average target current is greater than the preset minimum current limit value, the preset minimum current limit value is updated. If the average target current is less than or equal to the preset minimum current limit value, the preset minimum current limit value shall remain unchanged.

6. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 5, characterized in that, Updating the preset minimum current limit value includes: Update the preset minimum current limit value to the target current average value.

7. The method for detecting clogging in the wastewater box of a cleaning equipment according to claim 2, characterized in that, The method further includes: If the air pump is not turned on, or the cumulative working time of the air pump is less than or equal to the first preset time threshold, or the working time of the air pump is less than or equal to the first preset time threshold when the sewage box is blocked, the historical working current data shall remain unchanged.

8. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the method for detecting blockage in the wastewater box of a cleaning device according to any one of claims 1-7.

9. A cleaning device, characterized in that, include: The device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the wastewater box blockage detection method for a cleaning device according to any one of claims 1-7.

10. A device for detecting blockage in the wastewater box of a cleaning equipment, characterized in that, The cleaning equipment includes an air pump for removing air from the wastewater box to create a negative pressure state in the wastewater box. The device includes: The acquisition module is used to acquire the cumulative operating time and current operating time of the air pump during the operation of the cleaning equipment; The first determining module is used to determine the target operating current data of the air pump based on the cumulative operating time and the current operating time. The second determining module is used to determine that the sewage box is blocked if the target operating current data meets the preset blockage conditions.

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