WO2021042861A1 - 清洗机、清洁设备及其控制、信息显示方法及存储介质 - Google Patents

清洗机、清洁设备及其控制、信息显示方法及存储介质 Download PDF

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Publication number
WO2021042861A1
WO2021042861A1 PCT/CN2020/100471 CN2020100471W WO2021042861A1 WO 2021042861 A1 WO2021042861 A1 WO 2021042861A1 CN 2020100471 W CN2020100471 W CN 2020100471W WO 2021042861 A1 WO2021042861 A1 WO 2021042861A1
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WIPO (PCT)
Prior art keywords
cleaning
liquid
liquid level
processing system
storage device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/100471
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English (en)
French (fr)
Inventor
周德化
李安波
陈振
周春锋
孙建
蒋洪彬
张红
黄健
李晨丞
刘咏海
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tineco Intelligent Technology Co Ltd
Original Assignee
Tineco Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910831810.4A external-priority patent/CN111360014A/zh
Priority claimed from CN201910859927.3A external-priority patent/CN111366546B/zh
Priority claimed from CN201910955698.5A external-priority patent/CN111359921B/zh
Priority claimed from CN201911205337.5A external-priority patent/CN111369989B/zh
Priority claimed from CN201911310419.6A external-priority patent/CN111358380A/zh
Priority claimed from CN201911348104.0A external-priority patent/CN111358392A/zh
Priority to AU2020343339A priority Critical patent/AU2020343339B2/en
Priority to EP20860446.2A priority patent/EP4026472A4/en
Priority to US17/640,306 priority patent/US20220338695A1/en
Application filed by Tineco Intelligent Technology Co Ltd filed Critical Tineco Intelligent Technology Co Ltd
Publication of WO2021042861A1 publication Critical patent/WO2021042861A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback

Definitions

  • This application relates to the technical field of washing machines, in particular to a washing machine, a cleaning device and its control, an information display method and a storage medium
  • cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete the corresponding cleaning operations, such as cleaning the floor with a sweeping robot, cleaning the wall with a window cleaning robot, and cleaning the floor with a floor cleaning machine.
  • Various aspects of the present application provide a cleaning machine, a cleaning device, and an information display method and storage medium thereof, so as to realize intuitive display of the working status of the cleaning device, thereby helping to improve user experience.
  • the embodiment of the application provides a washing machine, including: a handle assembly, a body, a cleaning assembly, a processing system, and a display arranged on the body; the display is electrically connected to the processing system for displaying the The working status information of at least one component on the washing machine.
  • An embodiment of the present application also provides a cleaning device, including: a body and a display provided on the body; the display is electrically connected to a processing system, and is used to display relevant status information of the cleaning device during use;
  • the related state information of the cleaning equipment during use includes at least one of the following:
  • the embodiment of the present application also provides an information display method, including:
  • the working status information of the at least one component includes at least one of the following:
  • the embodiments of the present application also provide a computer-readable storage medium storing computer instructions, which when executed by one or more processors, cause the one or more processors to execute the steps in the foregoing method.
  • a display is added to the body of the washing machine to display the working state information of at least one component on the washing machine, so that the working state of the washing machine can be displayed intuitively.
  • the user can intuitively understand the working status of the components on the washing machine, which helps to improve the user experience.
  • cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete different cleaning operations, such as using a floor cleaning machine to clean the ground, and using a glass cleaning equipment to clean glass.
  • a water storage bucket such as a solution bucket or a recycling bucket, is provided on the cleaning equipment.
  • the use status of the cleaning equipment can be detected by monitoring the liquid level of the water storage bucket.
  • the liquid level in the water storage bucket is usually monitored based on the buoyancy of the liquid on the mechanical float.
  • this scheme using mechanical floats is extremely susceptible to the influence of the stability of the liquid level, resulting in poor reliability of the liquid level detection results.
  • the present application provides a cleaning device, a control method thereof, and a storage medium from multiple aspects, so as to improve the reliability of liquid level detection.
  • the embodiment of the present application provides a cleaning equipment, including: a liquid storage device, a non-contact liquid detection device to control the device; wherein the non-contact liquid detection device is arranged outside the liquid storage device for detecting The liquid level information of the liquid in the liquid storage device; the control device is electrically connected to the non-contact liquid detection device, and is used to calculate the liquid storage state of the liquid storage device according to the liquid level information, and output and The control command corresponding to the liquid storage state.
  • An embodiment of the present application also provides a cleaning equipment control method, including: detecting the liquid level information of the liquid in the liquid storage device through a non-contact liquid detection device arranged outside the liquid storage device; and according to the liquid level information Calculate the liquid storage state of the liquid storage device; output a control command corresponding to the liquid storage state.
  • the embodiment of the present application also provides a computer-readable storage medium storing a computer program, which can implement the steps in the cleaning device control method provided in the embodiment of the present application when the computer program is executed.
  • a non-contact liquid detection device is provided outside the liquid storage device of the cleaning equipment, and the non-contact liquid detection device is used to detect the liquid level information in the liquid storage device.
  • the non-contact liquid detection device does not need to interact with the liquid.
  • the liquid level detection can be realized by contact, which effectively reduces the influence of the instability of the liquid level on the liquid level detection result, and is beneficial to improve the reliability of the liquid level detection result.
  • cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete different cleaning operations, such as using a floor cleaning machine to clean the ground, and using a glass cleaning equipment to clean glass.
  • the cleaning equipment is provided with a water storage bucket, such as a clean water bucket, a detergent bucket, or a mixing bucket of both.
  • a water storage bucket such as a clean water bucket, a detergent bucket, or a mixing bucket of both.
  • the use status of the cleaning equipment can be monitored by monitoring the liquid level of the water storage bucket, for example, whether the water storage bucket has water or no water.
  • the detection module is placed on the bottom or wall of the water storage bucket, and the purpose of waterless detection is achieved by directly monitoring and measuring the amount of water in the water storage bucket.
  • the detection module The size and setting location are limited, and the water storage bucket is large, and only one detection module may mistransmit information. For example, when the machine is working, the machine is not in an upright state, the liquid level fluctuates greatly, and the liquid level is not stable, which may cause no water in the detection range of the detection module, but there is water in the actual storage bucket, resulting in no water detection device Misidentification.
  • the present invention is proposed to solve the above-mentioned problems or at least partially solve the above-mentioned problems, a cleaning device, a cleaning device control method, and a storage medium.
  • the first aspect of the embodiments of the present invention provides a cleaning device, including:
  • a liquid flow channel connected between the liquid storage device and the liquid spray device
  • the detection module is arranged in the liquid flow channel and is used to detect the liquid in the liquid flow channel to determine whether the liquid flow channel is in a water state or an anhydrous state.
  • the liquid flow channel has a detection cavity, and the detection module is provided in the detection cavity.
  • the cross-sectional area of the detection cavity is smaller than the cross-sectional area of other positions on the liquid flow channel.
  • the detection module is arranged on the side wall or the bottom wall of the detection cavity.
  • the detection cavity includes a straight cavity; and/or, the detection cavity includes a curved cavity curved along the direction of the liquid flow.
  • the thickness of the detection cavity is 1 mm to 1.5 mm
  • the length of the detection cavity is 15 mm to 25 mm
  • the width of the detection cavity is 5 mm to 15 mm.
  • a water pipe is arranged between the liquid storage device and the liquid spray device, and the inner cavity of the water pipe and the inner cavity of the detection cavity are connected to form the liquid flow channel.
  • the detection cavity includes a water inlet, a main part and a water outlet;
  • the cross-sectional area of the water inlet gradually decreases from a direction away from the main part to a direction closer to the main part, and the cross-sectional area of the water outlet ends from a direction closer to the main part to a direction away from the main part.
  • the direction gradually increases.
  • the bottom of the liquid storage device has a first water outlet, a second water outlet, and a third water outlet
  • the second water outlet is located in the middle of the bottom of the liquid storage device
  • the first water outlet and the third water outlet are located in the middle of the bottom of the liquid storage device.
  • the third water outlets are respectively located on the front and back sides of the second water outlet.
  • the cleaning equipment further includes a control element, and the detection module is electrically connected to the control element;
  • control element is used for correspondingly controlling the cleaning equipment according to the state information detected by the detection module; wherein the state information includes a water state and an anhydrous state.
  • control element includes a circuit board
  • the side of the detection cavity has an opening
  • the opening is provided with a side cover
  • one side of the side cover is sealed with the opening end of the detection cavity and is detachable.
  • Ground connection, and the other side of the side cover forms an accommodating space for accommodating the circuit board.
  • the cleaning equipment further includes: an alarm device; the alarm device is electrically connected to the control element;
  • the control element controls the alarm device to issue an alarm signal.
  • the detection module includes: a liquid level detection sensor.
  • the detection module is a contact type liquid level detection sensor
  • the contact type liquid level detection sensor includes a sensing electrode
  • the sensing electrode extends into the liquid flow channel, and is used to communicate with the liquid flow channel Liquid contact.
  • the detection module is a non-contact liquid level sensor, and the non-contact liquid level sensor is provided on the outer wall of the liquid flow channel.
  • a second aspect of the embodiments of the present invention provides a cleaning equipment control method.
  • the cleaning equipment includes a liquid storage device, a liquid spray device, a liquid flow channel connected between the liquid storage device and the liquid spray device, and a detection module , And a control element, the method includes:
  • the control element acquires the state information of the liquid flow channel detected by the anhydrous detection module provided in the liquid flow channel, wherein the state information includes a water state and an anhydrous state;
  • the control element correspondingly controls the cleaning device according to the status information.
  • control element correspondingly controls the cleaning equipment according to the status information, including:
  • the control element controls the alarm device to give an alarm
  • the cleaning device is controlled to shut down.
  • a third aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, which can implement the steps in the above-mentioned method when the computer program is executed.
  • a detection module is provided in the liquid flow channel between the liquid storage device and the liquid spray device, and the detection module detects whether there is water in the liquid flow channel, and then judges whether the amount of water in the liquid storage device is still It can meet the spraying requirements.
  • the liquid flow channel has a smaller cross-sectional area. The liquid in the liquid flow channel will not cover the detection range of the detection module due to the tilt or dump of the machine, which can reliably reflect the liquid storage device Whether the inner liquid can still be sprayed by the liquid spray device, so that the user can reliably determine whether the liquid storage device of the cleaning equipment needs to add liquid.
  • the user needs to visually check the cleanliness of the cleaning tool to determine whether the cleaned object is clean; or the user can visually check the cleanliness of the cleaned object. Either way to observe is more time-consuming and labor-intensive.
  • Various aspects of the present application provide a cleanliness detection method, a cleaning device, and a storage medium, which are used to automatically detect the cleanliness of a cleaning object, which helps to improve user experience.
  • the embodiment of the present application provides a cleaning device, including: a floor brush, a suction channel, and a recovery bucket connected in sequence; the dirty liquid on the cleaning object is sucked by the suction nozzle on the floor brush and sent through the suction channel Into the recycling bin;
  • the cleaning equipment further includes: a processing system and a first detection device; the first detection device is partially or fully arranged on the circulation path of the dirty liquid, and is used to detect the physical property value of the dirty liquid and provide it to the The processing system; the processing system is used to determine the degree of cleanliness of the cleaning object according to the physical property value.
  • the embodiment of the present application also provides a cleanliness detection method, which is suitable for cleaning equipment, and includes:
  • the dirty liquid is sucked by the suction nozzle on the floor brush of the cleaning equipment and sent into the recovery bucket of the cleaning equipment through the suction channel on the cleaning equipment, and the first detection device is partially or All are arranged on the circulation path of the dirty liquid.
  • the embodiment of the present application also provides a computer-readable storage medium storing computer instructions.
  • the computer instructions are executed by one or more processors, the one or more processors are caused to execute the cleanliness detection method described above. A step of.
  • a detection device that can detect the physical property value of the dirty liquid on the cleaning object is added to the cleaning equipment, that is, part or all of the detection device is set on the circulation path of the dirty liquid.
  • the processing system can determine the degree of cleanliness of the cleaning object based on the physical attribute value of the dirty liquid detected by the detection device, and realizes the autonomous detection of the degree of cleanliness of the cleaning object. There is no need to manually determine whether the cleaning object is clean, which is beneficial to improve user experience.
  • Various aspects of the present application provide a working method and a movable device to reduce liquid residue on a target object, thereby helping to improve user experience.
  • the embodiment of the present application provides an operation method, which is suitable for movable equipment, and the movable equipment includes a fluid supply device that sprays a first liquid to the outside and a recovery device that is responsible for recovering a second liquid produced by the first liquid; the method include:
  • control the fluid supply device to stop spraying the first liquid to the target object, and control the recovery device to continue to recover the second liquid on the target object, and when satisfied When the conditions are set, the recovery device is controlled to stop recovering the second liquid on the target object.
  • the embodiment of the present application also provides an operation method, which is suitable for movable equipment, and the movable equipment includes a fluid supply device that sprays a first liquid to the outside and a recovery device that is responsible for recovering a second liquid generated from the first liquid.
  • Methods include:
  • control the fluid supply device In response to an instruction instructing the movable equipment to stop operation, control the fluid supply device to continue to spray the first liquid on the target object with a reduced spray amount, and control the recovery device to continue to recover the second liquid on the target object , And when the set conditions are met, the fluid supply device and the recovery device are controlled to stop operations at the same time.
  • An embodiment of the present application also provides a movable device, including: a fluid supply device for spraying a first liquid to the outside, a recovery device responsible for recovering a second liquid produced by the first liquid, and a control system; the control system and the fluid supply device Electrically connected to the recovery device;
  • the control system is configured to respond to an instruction instructing the movable equipment to stop operation, control the fluid supply device to stop spraying the first liquid to the target object, and control the recovery device to continue to recover the target object. And controlling the recovery device to stop recovering the second liquid on the target object when a set condition is met.
  • An embodiment of the present application also provides a movable device, including: a fluid supply device for spraying a first liquid to the outside, a recovery device responsible for recovering a second liquid produced by the first liquid, and a control system; the control system and the fluid supply device Electrically connected to the recovery device;
  • the control system is configured to respond to an instruction instructing the movable equipment to stop operation, control the fluid supply device to continue to spray the first liquid to the target object with a reduced spray volume, and control the recovery device to continue to recover the The second liquid on the target object, and when the set conditions are met, the fluid supply device and the recovery device are controlled to stop operations at the same time.
  • the movable device can respond to an instruction instructing it to stop operation, control the fluid supply device to stop spraying liquid to the target object or control the fluid supply device to reduce the spray volume, and control the recovery device to continue to recover the liquid on the target object, This helps to reduce liquid residue on the target object, which in turn helps to improve the user experience.
  • the cleaning device can output a voice message to interact with the user.
  • the present application provides a voice interaction method of a cleaning device and a cleaning device from multiple aspects, so as to reduce the interference of the working noise of the cleaning device on the voice interaction process of the cleaning device and improve the voice interaction performance of the cleaning device.
  • An embodiment of the present application provides a voice interaction method for cleaning equipment, including: acquiring a voice interaction trigger event for the cleaning equipment; controlling the working noise of the load on the cleaning equipment within a set range; and controlling the cleaning
  • the audio component on the device performs a voice interaction operation corresponding to the voice interaction trigger event.
  • An embodiment of the present application also provides a cleaning device, including: a body on which a load, a controller, and an audio component are installed; the controller is configured to respond to a voice interaction trigger event for the cleaning device, and The operating noise of the load on the cleaning device is controlled within a set range, and a voice interaction instruction is sent to the audio component; the audio component is configured to: execute the voice interaction trigger according to the voice interaction instruction The voice interaction operation corresponding to the event.
  • the working noise of the load on the cleaning device is controlled within the set range, and then the audio component on the cleaning device is controlled to execute the voice interaction trigger event
  • the corresponding voice interaction operation can further reduce the interference of the working noise of the load on the voice interaction operation of the audio component, which is beneficial to improve the voice interaction performance of the cleaning device.
  • Figure 1a is a schematic structural diagram of a washing machine provided by an embodiment of the application.
  • FIG. 1b and FIG. 1c are respectively structural schematic diagrams of a display provided by an embodiment of the application.
  • Figure 2a is a schematic structural diagram of another cleaning machine provided by an embodiment of the application.
  • 2b is a schematic structural diagram of a cleanliness detection device provided by an embodiment of the application.
  • 2c-2f are schematic diagrams of the arrangement of the cleanliness detection device provided by the embodiment of the application.
  • 2g is a schematic structural diagram of another cleanliness detection device provided by an embodiment of the application.
  • 2h-2k are schematic diagrams of the arrangement of the first conductive body group provided by the embodiments of the application.
  • FIG. 21 is a schematic structural diagram of a first detection circuit provided by an embodiment of the application.
  • 2m is a schematic diagram of the working principle of the first detection circuit provided by an embodiment of the application.
  • 2n is a schematic structural diagram of another cleaning machine provided by an embodiment of the application.
  • FIG. 2o is a schematic diagram of the working principle of another detection circuit provided by an embodiment of the application.
  • FIG. 2p is a schematic diagram of the working principle of the processing system provided by an embodiment of the application.
  • 2q is a working principle diagram of a pressure detection circuit provided by an embodiment of the application.
  • Figure 2r is a size diagram of a pressure sensor provided by an embodiment of the application.
  • 2s is a schematic diagram of the corresponding relationship between resistance and pressure of a pressure sensor according to an embodiment of the application;
  • 3a and 3b are schematic diagrams of the working principle of the water pump provided by the embodiment of the application.
  • FIG. 3c is a working principle diagram of a water pump driving circuit provided by an embodiment of the application.
  • FIG. 4a is a schematic structural diagram of still another cleaning machine provided by an embodiment of this application.
  • 4b is a schematic structural diagram of a liquid level detection circuit provided by an embodiment of the application.
  • 4c-4g are schematic diagrams of the arrangement of the conductors provided by the embodiments of the application.
  • Fig. 5a is a schematic structural diagram of another cleaning machine provided by an embodiment of the application.
  • 5b and 5c are schematic diagrams of the arrangement of the non-contact liquid level detection device provided by the embodiment of the application.
  • Fig. 6a is a schematic diagram of the operation of a main motor provided by an embodiment of the application.
  • 6b is a schematic structural diagram of a main motor current detection circuit provided by an embodiment of the application.
  • FIG. 6c is a schematic diagram of voltage detection of a power supply unit according to an embodiment of the application.
  • FIG. 6d is a schematic flowchart of a method for detecting a liquid level state according to an embodiment of the application.
  • FIG. 7 is a schematic diagram of power display of a power supply unit provided by an embodiment of the application.
  • FIG. 8 is a schematic flowchart of an information display method provided by an embodiment of this application.
  • Figures 9a-9c are schematic structural diagrams of a cleaning device provided by an embodiment of the application.
  • 9d-9f are schematic diagrams of the directions of the cleaning equipment provided by the embodiments of the application.
  • 10a-10f are schematic diagrams of the positions of the liquid level detection sensor set on the liquid storage device provided by the embodiments of the application;
  • Figures 11a-11b are schematic diagrams of capacitive sensors arranged along the height direction of the liquid storage device according to an embodiment of the application;
  • Figures 12a-12e are schematic diagrams of liquid level detection results provided by embodiments of the application.
  • FIG. 12f is a schematic structural diagram of another cleaning device provided by another embodiment of this application.
  • FIG. 13 is a schematic flowchart of a cleaning equipment control method provided by an embodiment of the application.
  • Figure 14 is a schematic diagram of a cleaning device provided by an embodiment of the present invention.
  • Fig. 15a is a schematic diagram of a state of the cleaning device in an upright state according to an embodiment of the present invention.
  • 15b is a schematic diagram of a state where the body of the cleaning device according to an embodiment of the present invention is tilted backward;
  • 15c is a schematic diagram of a state where the body of the cleaning device according to an embodiment of the present invention is tilted forward;
  • Figure 15d is a schematic structural diagram of a cleaning device according to an embodiment of the present invention.
  • 16 is a schematic structural diagram of a detection cavity provided by an embodiment of the present invention.
  • FIG. 17 is a side view of the detection cavity of FIG. 16;
  • Fig. 18 is a longitudinal sectional view of the detection cavity of Fig. 16;
  • 19 is a schematic diagram of another structure of a detection cavity provided by an embodiment of the present invention.
  • FIG. 20 is a longitudinal sectional view of the detection cavity of FIG. 19;
  • 21 is a schematic diagram of another structure of a detection cavity provided by an embodiment of the present invention.
  • 22 is a schematic diagram of the installation of a contact detection module provided by an embodiment of the present invention.
  • FIG. 23 is a schematic diagram of installation of a non-contact detection module according to an embodiment of the present invention.
  • FIG. 24 is a schematic flowchart of a method for controlling a cleaning device according to an exemplary embodiment of the present invention.
  • Figure 25a is a schematic structural diagram of a cleaning device provided by an embodiment of the application.
  • FIG. 25b is a schematic structural diagram of a first detection device provided by an embodiment of the application.
  • 25c-25f are schematic diagrams of the arrangement of the first detection device according to the embodiment of the application.
  • FIG. 25g is a schematic structural diagram of another first detection device provided by an embodiment of the application.
  • 25h-FIG. 25k are schematic diagrams of the arrangement of the first conductive body group provided by the embodiments of the application.
  • FIG. 251 is a schematic structural diagram of a first detection circuit provided by an embodiment of the application.
  • FIG. 25m is a schematic diagram of the working principle of the first detection circuit provided by an embodiment of the application.
  • FIG. 25n is a schematic structural diagram of another cleaning device provided by an embodiment of the application.
  • FIG. 25o is a schematic diagram of the working principle of another detection circuit provided by an embodiment of the application.
  • FIG. 25p is a schematic diagram of the working principle of the processing system provided by an embodiment of the application.
  • FIG. 25q is a schematic diagram of the working principle of the power management circuit provided by an embodiment of the application.
  • FIG. 26 is a schematic flowchart of a method for detecting cleanliness according to an embodiment of the application.
  • FIG. 27a is a schematic structural diagram of a movable device provided by an embodiment of this application.
  • FIG. 27b is a schematic diagram of the internal circuit structure of a portable device provided by an embodiment of the application.
  • FIG. 27c is a timing diagram of driving signals of the AC water pump provided by an embodiment of the application.
  • FIG. 28 is a schematic flowchart of an operation method provided by an embodiment of this application.
  • FIG. 29 is a schematic structural diagram of another movable device provided by an embodiment of this application.
  • FIG. 30 is a schematic flowchart of another operation method provided by an embodiment of the application.
  • FIG. 31 is a schematic structural diagram of a cleaning device provided by an exemplary embodiment of this application.
  • Fig. 32 is a schematic structural diagram of a control circuit of a cleaning device provided by an exemplary embodiment of the application.
  • FIG. 33 is a schematic flowchart of a voice interaction method for cleaning equipment according to an exemplary embodiment of the application.
  • the embodiment of the present application provides a solution.
  • the basic idea is to add a display to the body of the cleaning machine to display the working status information of at least one component on the cleaning machine. Thereby, the working status of the washing machine can be displayed intuitively. The user can intuitively understand the working status of the components on the washing machine, which helps to improve the user experience.
  • FIG. 1a is a schematic structural diagram of a washing machine provided by an embodiment of the application.
  • the washing machine includes a handle assembly 11, a body 11, a cleaning assembly 13, a processing system 14, and a display 15 arranged on the body.
  • the implementation form and structure of the washing machine shown in FIG. 1a are both exemplary descriptions and are not limited thereto.
  • the handle assembly 11 can be arranged on the upper end of the body 11, or on the side of the body 11 (back, left, or right).
  • the handle assembly 11 is arranged at the upper end of the fuselage 11, its axis direction (direction of the center of gravity) is parallel to the axis direction of the fuselage 11.
  • the handle assembly 11 may include: a handle 11a and an extension rod 11b.
  • the length of the extension rod 11b may be fixed or adjustable.
  • the length of the extension rod 11b is adjustable, its structure is a telescopic structure.
  • users can flexibly adjust the length of the extension rod 11b according to their own needs.
  • the processing system 14 can be installed in the fuselage or on the surface of the fuselage.
  • the implementation form and installation position of the processing system 14 shown in FIG. 1a are both exemplary descriptions and not limited thereto.
  • the processing system 14 is a control system of the washing machine, which can control the use state and working state of other components connected to it.
  • the display 15 is electrically connected to the processing system 14 for displaying the working status information of at least one component on the washing machine.
  • the specific shape of the display 15 is not limited.
  • the display 15 may have a regular shape such as a circle, a square, an ellipse, a trapezoid, or a polygon, or any irregular shape, which will not be listed here.
  • the display 15 can be arranged on the top of the fuselage, or on the front, left or right of the fuselage.
  • the plane where the display 15 is located may be perpendicular to the axis of the body 11 or at a certain angle.
  • the body includes a main motor and a liquid storage device.
  • the display 15 is arranged above the liquid storage device, that is, the display 15 is arranged above the solution tank or the recovery tank, preferably, it is arranged above the solution tank. Further, in order to satisfy the viewing angle of the user, the display 15 may be arranged in front of the handle assembly 11.
  • the display 15 can be fixedly arranged on the surface of the main body 11 or can be arranged on the main body 11 in a telescopic manner.
  • the display 15 may be flexibly arranged on the top, front, left or right of the body 11.
  • the body 11 includes a cavity (not shown in FIG. 1 a) for accommodating the display 15. Further, a connecting rod is provided between the back of the display 15 and the bottom of the cavity, and the connecting rod is a retractable structure.
  • the connecting rod is electrically connected to the processing system 14.
  • the processing system 14 can control the extension of the connecting rod to drive the display 15 to extend to the surface of the body 11 when the washing machine is turned on.
  • the processing system 14 may control the connecting rod to be shortened during the cleaning and shutdown process, so as to drive the display 15 to be recovered into the cavity.
  • a protective cover can be provided on the top of the cavity. Wherein, when the display 15 extends to the surface of the main body 11, the protective cover is in an open state; when the display 15 is recycled into the main body 11, the protective cover is in a closed state.
  • the protective cover may be a mechanical opening and closing structure, that is, the user can manually open the protective cover so that the display 15 can extend to the surface of the body 11. Correspondingly, when the display 15 is recovered into the cavity, the user can also manually close the protective cover.
  • the protective cover can also be electrically opened and closed.
  • the cleaning machine may further include a transmission structure, which is electrically connected to the processing system 14 for driving the opening and closing of the protective cover.
  • the protective cover may include: N foldable partitions; wherein, N ⁇ 2, and is an integer.
  • the N foldable partitions are hingedly connected with the inner wall or the outer wall of the cavity through a rotating shaft.
  • the transmission mechanism can be connected with N foldable partitions. The transmission mechanism is used to drive the N foldable partitions to unfold or fold.
  • a display is added to the body of the washing machine to display the working state information of at least one component on the washing machine, so that the working state of the washing machine can be displayed intuitively.
  • the user can intuitively understand the working status of the components on the washing machine, which helps to improve the user experience.
  • the display 15 may include at least one display area for displaying the working status information of different components.
  • the working status information of the at least one component includes at least one of the following: (1) liquid level information of the liquid storage device; (2) information about the cleanliness of the cleaning object by the cleaning component; (3) power information of the power supply unit (4) Self-cleaning information of the washing machine; (5) Main motor power information; (6) Stall information of the cleaning component; (7) Working status information of the communication component.
  • the liquid storage device may be the solution tank of the washing machine or the recovery tank of the washing machine. The implementation form and structure of the display will be exemplified below.
  • FIG. 1b and FIG. 1c are schematic structural diagrams of a display provided by an embodiment of the application.
  • the display 15 includes at least one display area for displaying the working status information of different components.
  • the at least one display area includes: a first display area 15a formed by a plurality of first display tubes.
  • the first display tube can be an LED, an OLED, or a thin-film LED, etc., but is not limited thereto.
  • a plurality of first display tubes may be distributed in the display 15 in any form, thereby forming the first display area 15a.
  • the shape of the first display area 15a is related to the distribution of the plurality of first display tubes.
  • the plurality of first display tubes may be distributed in an array.
  • the plurality of first display tubes may be distributed in the display 15 in a rectangular, circular, trapezoidal, or heart-shaped manner. Accordingly, the shape of the first display area 15a may be rectangular, circular, trapezoidal, or heart-shaped, etc., but is not limited to this.
  • a plurality of first display tubes may be distributed along the edge of the display 15 to form a circular or arc-shaped first display area 15a.
  • the shape of the first display area 15a formed by the plurality of first display tubes has a certain relationship with the shape of the display 15.
  • Figures 1b and 1c only take the display 15 as a circle as an example, and do not limit its shape.
  • the first display area 15a can display information about the degree of cleanliness of the cleaning object by the cleaning component 13 under the control of the processing system 14.
  • the plurality of first display tubes may display a combination of different colors, brightness, and shapes (or patterns).
  • the shapes displayed by the plurality of first display tubes can also be understood as patterns.
  • the combination of different colors, brightness, and shapes represents the different cleaning degrees of the cleaning components 13 to the cleaning objects.
  • the combination of different colors, brightness, and shapes includes: different colors, but the same shape; the same colors, but different shapes; the same colors, but different brightness; the same shapes, but different brightness; or colors, brightness, and The shapes are all different.
  • the shape displayed by the plurality of first display tubes mainly depends on the number and distribution positions of the first display tubes in the lighted state.
  • the number of lighted display tubes to represent the cleaning component.
  • the degree of cleanliness of the object to be cleaned indicates the degree of cleanliness of the cleaning object by the cleaning assembly.
  • the combination of colors and shapes displayed by the plurality of first display tubes is used to characterize the degree of cleanliness of the cleaning component 13 to the object to be cleaned, and in the combination of colors and shapes, the color represents the degree of cleanliness Greater than the shape's characterization of cleanliness. For example, assuming that multiple first display tubes include red, yellow, and green, the shapes "I", “L”, and "K” can be combined, and the cleanliness of red, yellow, and green will increase in sequence.
  • the multiple first display tubes may display different shapes, different brightness, or different numbers of display tubes in a lighted state.
  • the shape, brightness, or the number of the display tubes in the lighted state displayed by the plurality of first display tubes can represent the degree of cleanliness of the cleaning object by the cleaning assembly.
  • the brightness displayed by the plurality of first display tubes is different to characterize the difference in cleanliness. Taking blue as an example, multiple blue display tubes are all brightly displayed, and the higher the brightness, the higher the cleanliness.
  • the cleanliness can also be characterized by the combination of shape and brightness.
  • the blue display tubes are all bright, and the brightness of some of the blue display tubes decreases according to a predetermined rule, and the remaining part is blue.
  • the display tube is not bright, this kind of scene can also characterize the cleanliness.
  • the shapes displayed by the plurality of first display tubes mainly depend on the number and distribution positions of the first display tubes in the lighted state.
  • the number of display tubes in a lighted state indicates the degree of cleanliness of the cleaning object by the cleaning assembly.
  • a plurality of first display tubes can display the cleaning degree of the cleaning component to the cleaning object.
  • the more complex shapes the first display tubes can display the lower the cleaning level of the cleaning assembly 13 for the cleaning object, that is, the more complicated the shapes that the first display tubes can display, the more dirty the cleaning object is. Not limited to this. Assuming that the multiple first display tubes can display several shapes "I", “L” and “K”, the shape "I” indicates that the cleaning object is the cleanest, and "K” indicates that the cleaning object is the driest and dirty.
  • the brightness of the plurality of first display tubes is different.
  • the brightness and number of the first display tubes are positively correlated with the degree of cleanliness of the cleaning object by the cleaning assembly; that is, the higher the cleanliness, the more the number of lights on the first display tubes, and the higher the brightness of each first display tube.
  • the degree of cleanliness is in an intermediate state, some of the first display tubes display blue, some display red, and the gradual part from blue to red.
  • the brightness of the multiple blue display tubes decreases successively, and the brightness of the multiple red display tubes decreases.
  • a light guide plate is provided on the display, and the light guide plate has the same shape as the display.
  • the light guide plate is fixed on the outer surface of the display by means of gluing or snapping.
  • the light guide plate can enhance the optical display effect on the one hand, including but It is not limited to gradual display; on the other hand, it can also protect the display screen and act as a protective cover.
  • Embodiment A1 The degree of cleanliness of the cleaning object can be divided into Y grades, where Y ⁇ 2 and is an integer.
  • the plurality of first display tubes have two colors of red and blue, and optionally, the red display tube and the blue display tube form a circular ring.
  • the red display tubes are all lit; when the cleanliness level reaches the highest level Y, the blue display tubes are all lit; when the cleanliness level of the cleaning object is between 0 and
  • the adjacent part of the red display tube and part of the blue display tube overlap and light up, and the brightness gradually increases or decreases to show a gradual effect.
  • the first display tube displays red at one end, blue at the other end, and a gradient effect from red to blue in the middle. Or, when the degree of cleanliness of the cleaning object is between 0 and Y, the non-adjacent red display tubes and blue display tubes are in a lighted state, and the gradual effect is not presented.
  • Embodiment A2 The degree of cleanliness of the cleaning object can be divided into Y grades, where Y ⁇ 2 and is an integer.
  • the plurality of first display tubes have one color, which is assumed to be blue.
  • the blue display tube forms a circular ring.
  • the blue display tubes are all closed; when the cleanliness level reaches the highest level Y, the blue display tubes are all lit to form a blue ring;
  • the blue display tube part is in the lighted state, and the brightness presents a gradually increasing or decreasing gradual effect to form a blue gradual arc.
  • Embodiment A3 The degree of cleanliness of the cleaning object can be divided into Y grades, where Y ⁇ 2 and is an integer.
  • the plurality of first display tubes have two colors of red and blue.
  • the red display tube and the blue display tube form a circular ring.
  • the cleanliness level is the lowest level 0, all the red display tubes are in the lighted state to form a red light arc; when the cleanliness level reaches the highest level Y, all the blue display tubes are in the lighted state to A blue lighting arc is formed; when the cleanliness of the cleaning object is between 0 and Y, the blue display tube and the red display tube are all lit, but the brightness of the blue display tube and the red display tube are different.
  • the brightness presents a gradually increasing or decreasing trend to form a ring with a red-blue gradient effect.
  • Embodiment A4 The degree of cleanliness of the cleaning object can be divided into 100 levels.
  • the plurality of first display tubes have two colors of red and blue.
  • the red display tube and the blue display tube each form a row of continuous circular arcs, the two rows of circular arcs have the same shape and are adjacent to each other, and the circular arcs are non-closed circular rings.
  • the cleanliness is 0, all the red display tubes are in the lighted state, and the blue display tubes are not lighted to form a red arc; when the cleanliness is 100, all the blue display tubes are in the lighted state, The red display tube does not light up to form a blue arc.
  • the first to 25th display tubes from the counterclockwise direction of the blue display tube display 100% blue brightness
  • the 26th to 75th display tubes display blue brightness in descending order: for example, 26 display 98% brightness, 27th display 96% brightness...74th display 2% brightness, 75th display brightness 0; 76th to 100th display tubes display blue brightness 0, that is, the display tube is not lit.
  • the red display tube displays 100% red from the 1st to the 25th display tube in the clockwise direction, and the 26th to the 75th display tubes display red brightness in descending order: for example, the 26th display tube displays 98% brightness, the second 27 displays 96% brightness...74 displays 2% brightness, 75 displays brightness is 0; the 76th to 100th display tubes display red brightness is 0, that is, the display tube is not lit status.
  • the first display tube forms a gradual arc effect showing cleanliness through the combination of shape, color, brightness, and quantity: the first part is a full blue display, the second part is a blue to red gradient display, and the third part is Displayed in red.
  • the above is only an exemplary description.
  • the shape of the first display tube, the color composition of red and blue, the number of lights on, and the percentage of brightness can all be adjusted according to actual conditions, and there is no limitation here.
  • the shape and color of the first display tube, the display effect adapted to the cleanliness of the cleaning object, and the gears of the cleanliness of the first display tube described in the foregoing embodiments A1-A4 are all exemplary descriptions. In practical applications, it can be flexibly set to display the degree of cleanliness, which will not be listed here.
  • FIG. 2a is a schematic structural diagram of another cleaning machine provided by an embodiment of the application.
  • the washing machine includes: a suction channel 16 and a recovery barrel 17 sequentially connected with the cleaning assembly 13; the dirty liquid on the cleaning object is sucked by the suction nozzle 13a on the cleaning brush 13 and passed through the suction channel 16. Put it into the recycling bin 17.
  • the dirty liquid flows from the suction nozzle 13a on the cleaning assembly 13 through the suction channel 16 to the recovery barrel 17, forming a circulation path for the dirty liquid.
  • the cleaning machine further includes: a cleanliness detection device 18.
  • the cleanliness detection device 18 is partially or completely arranged on the circulation path of the dirty liquid.
  • the cleanliness detection device 18 is partially arranged on the circulation path of the dirty liquid, which means that some components of the cleanliness detection device 18 are arranged on the circulation path of the dirty liquid, and the remaining components are arranged on the washing machine except for the circulation path of the dirty liquid. Other parts.
  • the cleanliness detection device 18 may be arranged in the cavity of the cleaning assembly 13, the suction nozzle 13a of the cleaning assembly 13, the suction channel 16 or the recycling bucket 17, or may be arranged in a plurality of these parts. In the embodiments of the present application, multiple refers to two or more than two.
  • a cleanliness detection device 18 may be provided in the suction nozzle 13a and the suction channel 16 of the cleaning assembly 13, or at least one cleanliness detection device 18 may be provided in the cavity of the cleaning assembly 13 and the recycling bucket 17, etc., but Not limited to this.
  • FIG. 2a only uses the cleanliness detection device 18 to be arranged in the suction channel 16 as an example, and does not limit the position where it is arranged.
  • the number of cleanliness detection devices 18 provided at each location may be one or more.
  • the cleanliness detection device 18 is used to detect the physical property value of the dirty liquid and provide the physical property value of the dirty liquid to the processing system 14.
  • the processing system 14 can determine the degree of cleanliness of the cleaning object according to the physical property value of the dirty liquid.
  • a detection device that can detect the physical property value of the dirty liquid on the cleaning object is added to the washing machine, that is, part or all of the detection device is set on the flow path of the dirty liquid.
  • the processing system can determine the degree of cleanliness of the cleaning object based on the physical attribute value of the dirty liquid detected by the detection device, and realizes the autonomous detection of the degree of cleanliness of the cleaning object. There is no need to manually determine whether the cleaning object is clean, which is beneficial to improve user experience.
  • the working principle of the cleanliness detection component 18 is different, and the physical properties of the detectable dirty liquid are different.
  • some optical detection devices can detect the optical property value of the dirty liquid; for another example, some electrical detection devices can detect the electrical property value of the dirty liquid.
  • the physical properties of the dirty liquid include its optical properties and/or electrical properties.
  • the optical properties of the dirty liquid can be the color, turbidity, or transparency of the dirty liquid;
  • the electrical properties of the dirty liquid can be the resistance, resistivity, current or voltage of the dirty liquid, and so on.
  • optical property value and electrical property value of the dirty liquid detected by the cleanliness detection component 18 are taken as examples to illustrate the cleanliness detection component 18 provided in the embodiment of the present application.
  • FIG. 2b is a schematic structural diagram of a cleanliness detection device provided by an embodiment of the application.
  • the cleanliness detection assembly 18 includes a light source 18a and a light detector 18b.
  • the light signal emitted by the light source 18a can reach the light detector 18b after passing through the dirty liquid.
  • the photodetector 18b converts the arriving optical signal into an electrical signal and outputs it to the processing system 14.
  • the electrical signal output by the photodetector 18b can reflect the optical properties of the dirty liquid.
  • the electrical signal output by the photodetector 18b is defined as the first electrical signal.
  • the processing system 14 can calculate the optical property value of the dirty liquid according to the first electrical signal, and determine the cleanliness of the cleaning object according to the optical property value of the dirty liquid.
  • the processing system 14 may match the optical property value of the dirty liquid in the known correspondence between the optical property value and the cleaning level, and determine the cleaning level corresponding to the optical property value of the dirty liquid as the cleaning object The cleanliness level.
  • the cleanliness level of the cleaned object can reflect its cleanliness.
  • the light source 18a and the light detector 18b may be arranged opposite to each other.
  • the arrangement of the light source 18a and the light detector 18b opposite to each other means that the light receiving surface of the light detector 18b faces the light source 18a through the dirty liquid, that is, the light emitted by the light source 18a is transmitted through the dirty liquid to the light detector 18b. In this way, the light signal emitted by the light source 18a can reach the light detector 18b after being transmitted through the dirty liquid.
  • the light source 18a and the light detector 18b can be arranged on the same side. Where the light source 18a and the light detector 18b are arranged oppositely, it means that the light receiving surface of the light detector 18b and the light source 18a are located on the same side of the dirty liquid, that is, the light emitted by the light source 18a is reflected by the dirty liquid and reaches the light detector 18b. In this way, the light signal emitted by the light source 18a can reach the light detector 18b after being reflected by the dirty liquid.
  • the light source 18a and the light detector 18b are arranged oppositely, which can be understood as the light source 18a and the light detector 18b are respectively arranged on the front and back of the suction channel; or respectively arranged on the left and right sides of the suction channel.
  • the light source 18a and the light detector 18b are arranged on the same side, and it can be understood that the light source 18a and the light detector 18b are both arranged on the front, back, left or right side of the suction channel.
  • the light source 18a and the light detector 18b can be respectively arranged on the front and back of the recycling bin 17 (shown in Figure 2d); or the light source 18a and the light detector 18b can be respectively located on the left and right sides of the recycling bin 17 ( Figure 2d). 2e).
  • the light source 18a and the light detector 18b are arranged on the same side. It can be understood that the light source 18a and the light detector 18b are arranged on the front, back, left or right of the recycling bin 17. In Fig. 2f, only the light source 18a and the light detector 18b are arranged on the recycling bin.
  • the left side of 17 is an example.
  • the light source 18a and the light detector 18b are both arranged at the bottom of the recovery barrel 17, which helps to improve the detection rate of the optical property value of the dirty liquid.
  • the structural form of the recycling bin 17 is only an exemplary description, and is not limited thereto.
  • the wavelength of the light generated by the light source 18a is within the light wavelength range that can be detected by the photodetector 18b.
  • the light source 18a may be a light source of various light wavelengths, and accordingly, the light detector 18b may be a light receiver that can receive the light wavelength of the light emitted by the light source 18a.
  • the light detector 18b can be an infrared receiving tube; if the light source 18a is a laser light source, the light detector 18b can be a laser diode; if the light source 18a is an LED light source, the light detector 18b can be a color sensor or the like; but it is not limited to this.
  • the working principle of the cleanliness detection assembly 18 will be exemplified.
  • the processing system 14 can calculate the color of the dirty liquid according to the RGB voltage; and determine the degree of cleanliness of the cleaning object according to the color of the dirty liquid.
  • the corresponding relationship between the liquid color and the cleanliness level may be preset in the processing system 14.
  • the processing system 14 can match the color of the dirty liquid with the corresponding relationship between the color of the liquid and the cleaning level, and use the cleaning level corresponding to the color of the dirty liquid as the cleaning level of the cleaning object.
  • the cleanliness level of the cleaned object may reflect the cleanliness of the cleaned object.
  • the brightness of the light source 18a can be adjusted before the cleaning machine performs the cleaning task on the cleaning object until the output of the light detector 18b The reference electrical signal meets the set requirements.
  • the reference electrical signal output by the photodetector 18b meets the setting requirement means that the difference between the intensity of the reference electrical signal output by the photodetector 18b and the preset reference intensity is within the preset difference range.
  • the reference electrical signal output by the photodetector 18b is a voltage signal
  • the voltage signal output by the photodetector 18b satisfies the setting requirements means: the voltage value output by the photodetector 18b is between the preset reference voltage value The voltage difference is within the preset voltage difference range.
  • the processing system 14 may output a first prompt message to prompt the user to clean the flow path of the dirty liquid. That is, the user is prompted to clean the part involved in the flow path of the dirty liquid.
  • the manner in which the processing system 14 outputs the first prompt information is not limited.
  • the washing machine includes an audio component, and the processing system 14 can play the first prompt information through the audio component.
  • the processing system 14 may also display the first prompt information through the display 15.
  • the washing machine includes a buzzer, and the buzzer is electrically connected to the processing system 14.
  • the processing system 14 can also control the buzzer to emit a buzzing sound to remind the user to clean the dirty liquid. Circulation path.
  • the washing machine further includes an indicator light, and the indicator light is electrically connected to the processing system 14.
  • the processing system 14 can also control the cleanliness indicator (not shown in Figures 1b and 1c) A reminder signal is issued to remind the user to clean the circulation path of the dirty liquid.
  • the processing system 14 may also control the cleanliness indicator to flash or display a set color, etc., but it is not limited thereto.
  • the washing machine may also provide a self-cleaning function.
  • the self-cleaning function means that the washing machine autonomously cleans the circulation path of its dirty liquid.
  • the at least one display area further includes: a second display area 15b.
  • the second display area may be formed by the first indicator light.
  • the first indicator light is in the on state during the self-cleaning function of the washing machine.
  • the processing system 14 can also activate the self-cleaning function of the washing machine and control the first indicator light when the cleanliness of the dirty liquid flow path detected by the cleanliness detection device 18 does not meet the set requirements.
  • the cleanliness degree of the circulation path of the dirty liquid does not meet the set requirements means that when the brightness of the light source is adjusted to the maximum, the reference electrical signal output by the photodetector 18b still does not meet the set requirements.
  • the processing system 14 may also activate the self-cleaning function of the washing machine and control the first indicator light to light up when the time for the washing machine to perform the cleaning task on the cleaning object reaches a preset length of time.
  • the processing system 14 may also remind the user that self-cleaning is required when the time for the cleaning machine to perform the cleaning task on the cleaning object reaches a preset length of time, and if the user triggers the self-cleaning button, the self-cleaning function of the cleaning machine is activated, And control the first indicator light to light up.
  • the user can also trigger the corresponding self-cleaning function control switch to turn on the self-cleaning function.
  • the processing system 14 detects that the self-cleaning function control switch is turned on, starts the self-cleaning function of the washing machine, and controls the first indicator light to light up.
  • the cleanliness detection device provided by the embodiment of the present application can also be implemented as an electrical detection device, which will be exemplified below with reference to FIG. 2g.
  • the cleanliness detection device 18 includes: a first conductive body group 181 and a first detection circuit 182.
  • the first conductive body group 181 is arranged on the circulation path of the dirty liquid.
  • the first detection circuit 182 is electrically connected between the first conductive body group 181 and the processing system 14.
  • the conductor group refers to a group of conductors.
  • a group of conductors is defined as a conductor group.
  • the conductor is a one-piece structure, which has good conductive properties in the liquid. It not only does not chemically react with the liquid, but also has a certain degree of hardness, which can be realized by metal or non-metal materials.
  • the electrical conductor may preferably be a stainless steel wire.
  • the first detection circuit 182 can generate a second electrical signal and output it to the processing system 14 when the first electrical conductor group 181 is in contact with the dirty liquid.
  • the second electrical signal can reflect the electrical properties of the dirty liquid.
  • the first electrical conductor group 181 includes at least two electrical conductors that are not in contact with each other. In Fig. 2g-Fig. 21, only the number of conductors is two for example.
  • the first detection circuit 182 can generate a second electrical signal when a path is formed between the positive conductor and the ground conductor, and output the second electrical signal to the processing system 14.
  • the power supply unit is configured to provide power to various components of the washing machine or cleaning equipment.
  • the power supply unit may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the equipment where the power supply unit is located.
  • the power supply unit may further include: a battery pack.
  • the battery pack can be a storage battery or a rechargeable battery.
  • the conductor may be a conductive probe, a conductive patch, or a conductive contact, etc., but is not limited thereto.
  • the conductor can be made of stainless steel.
  • the conductive bodies in the first conductive body group 181 may be arranged oppositely or on the same side. As shown in FIG. 2g and FIG. 2h, if the first conductive body group 181 is arranged in the suction channel, each conductive body in the first conductive body group 181 can be arranged on the inner side wall of the suction channel. If the first conductive body group 181 is disposed in the recycling bin, each conductor in the first conductive body group 181 can be disposed on the inner wall of the recycling bin 17.
  • the first conductive body group 181 may be disposed on the inner side wall of the recycling bin 17.
  • the first conductive body group 181 is arranged at the bottom of the inner side wall.
  • the first conductive body group 181 is arranged at the bottom of the recycling bin 17.
  • the conductor is a conductive probe, as shown in FIG. 2k, it can also be hung in the recycling bin 17.
  • the conductive probe extends into the bottom of the recovery bucket 17, so that once the dirty liquid is sucked into the recovery bucket 17, the conductive probe can detect the electrical property value of the dirty liquid.
  • the conductor is a conductive probe, it can be a rigid conductive probe, which can prevent the positive electrode conductor and the negative electrode conductor from directly contacting, causing a short circuit.
  • the working principle and structure of the first detection circuit 182 will be exemplarily described in conjunction with the circuit schematic diagrams shown in FIGS. 21 and 2m. .
  • the first detection circuit 182 includes: a voltage detection circuit 182a.
  • the power supply terminal P of the voltage detection circuit 182a is electrically connected to the conductor A.
  • the power supply terminal P is also electrically connected to the positive pole of the power supply unit.
  • the ground terminal and the output terminal Q of the voltage detection circuit 182 a are electrically connected to the conductor B, and the output terminal Q of the voltage detection circuit 182 a is electrically connected to the processing system 14.
  • the ground terminal of the voltage detection circuit 182a is electrically connected to the ground.
  • the voltage detection circuit 182a further includes: a reference sampling resistor R3. Both ends of the reference sampling resistor R3 are electrically connected to the conductor B and the ground.
  • the connection point between the conductor B and the reference sampling resistor R3 can be used as the output terminal Q of the voltage detection circuit 182a.
  • the processing system 14 can detect the voltage across the reference sampling resistor R3 to obtain the conductor A and the conductor.
  • the voltage of the path formed by the body B that is, the voltage of the dirty liquid (second electrical signal). Since the resistance value of the reference sampling resistor R3 is known, the current in the path formed by the conductor A and the conductor B can be obtained, thereby obtaining the resistance value of the dirty liquid.
  • a buffer circuit can be connected to the output end of the voltage detection circuit 182a. 182b.
  • the input terminal of the buffer circuit 182b is electrically connected to the output terminal Q of the voltage detection circuit 182a, and the output terminal (DW-R) of the buffer circuit 182b is electrically connected to the processing system 14.
  • the buffer circuit 182b may include: an operational amplifier U1 and an RC filter circuit.
  • the RC filter is formed by a resistor R1 and a capacitor C1 in series.
  • the non-inverting input terminal 1 of the operational amplifier U1 is electrically connected to the output terminal Q of the voltage detection circuit 182a, and the inverting input terminal 3 thereof is electrically connected to the output terminal 4 thereof.
  • the RC filter circuit is connected in parallel between the output terminal 4 of the transport amplifier and the ground, and the ungrounded end of the RC filter circuit is electrically connected to the processing system 14. That is, the series connection point of the resistor R1 and the capacitor C1 in the RC filter circuit is electrically connected to the processing system 14.
  • the reference electrical signal of the clean liquid sprayed by the washing machine can be measured in advance.
  • the clean liquid can be clean water, cleaning liquid or disinfecting liquid.
  • the detection circuit for measuring the reference electrical signal of the clean liquid sprayed by the washing machine is defined as the reference detection circuit, and the overall resistance of the reference detection circuit is defined as the reference resistance.
  • the overall resistance of the reference detection circuit is the overall resistance of the reference detection circuit itself, and does not include the resistance of the clean liquid.
  • the reference detection circuit may be the first detection circuit or other detection circuits, such as the second detection circuit in the following embodiments.
  • the overall resistance of the first detection circuit 182 can be set as the reference resistance when measuring the electrical property value of the dirty liquid.
  • a variable resistance circuit 182c can be provided in the first detection circuit 182.
  • the first detection circuit 182a further includes: a variable resistance circuit 182c.
  • the first end E1 of the variable resistance circuit 182c is electrically connected to the reference sampling resistor R3 in the voltage detection circuit, the second end E2 is electrically connected to the processing system 14, and the third end E3 is grounded.
  • the processing system 14 can adjust the resistance of the variable resistance circuit 182c to adjust the overall resistance of the first detection circuit 182 to the reference resistance.
  • variable resistance circuit 182c may be implemented as a variable resistor, such as a sliding rheostat, a potentiometer, and the like.
  • the adjustable end of the variable resistor is the second end E2 that is electrically connected to the processing system 14, and the remaining two non-adjustable ports are electrically connected to the reference sampling resistor R3 and the ground.
  • the processing system 14 can adjust the resistance of the variable resistor by adjusting the adjustable end of the variable resistor, and then adjust the overall resistance of the first detection circuit 182.
  • variable resistance circuit 182c may further include a plurality of sampling resistors connected in series.
  • multiple refers to two or more.
  • the sampling resistor included in the variable resistance circuit 182c is defined as an optional sampling resistor.
  • a plurality of optional sampling resistors are connected in series between the reference sampling resistor R3 and the ground, and an N-MOS tube is connected in parallel at each resistance series connection point, and the drain D of each N-MOS tube is electrically connected to the series connection point.
  • the source S of each N-MOS transistor serves as the third terminal E3 of the variable resistance circuit 182c to ground
  • the gate G of each N-MOS transistor serves as the third terminal E3 of the variable resistance circuit 182c.
  • the two ends E2 are electrically connected to the processing system 14 respectively.
  • the processing system 14 can determine whether to connect the optional sampling resistor to the first detection circuit 182 and determine which optional sampling resistor or resistors to connect to the first detection circuit 182 by adjusting the states of multiple N-MOS transistors.
  • the overall resistance of the first detection circuit 182 is adjusted to the reference resistance. For example, in FIG.
  • the optional sampling resistors R4, R5, and R6 are short-circuited, that is, the optional sampling resistors R4, R5, and R6 are not connected to the first detection circuit 182. If the N-MOS transistor Q1 is turned off and the N-MOS transistor Q2 is turned on, the optional sampling resistor R4 can be connected to the first detection circuit 182. If the N-MOS transistors Q1, Q2, and Q3 are all turned off, the optional sampling resistors R4, R5, and R6 can all be connected to the first detection circuit 182; and so on.
  • the components in the schematic diagram of the circuit structure provided in the embodiments of the present invention can be replaced with components with the same or similar functions.
  • the N-MOS tube can also be replaced with a P-MOS tube or a triode (NPN triode or PNP triode), and the connection relationship between the devices can be adjusted adaptively with reference to the circuit working principle diagram shown in FIG. 2m.
  • the reference electrical signal can be measured before the washing machine leaves the factory, and the measured reference electrical signal is preset in the washing machine.
  • the cleaning machine further includes: a water outlet pipe 110 and a solution tank 111 connected to the nozzle 19 of the cleaning assembly 13 in sequence. Wherein, the clean liquid in the solution tank 111 is sent to the nozzle 19 through the water outlet pipe 110 for the nozzle 19 to spray onto the cleaning object.
  • the cleaning machine further includes: a second conductive body group 112 and a second detection circuit 113. Wherein, the second conductive body group 112 is arranged on the circulation path of the clean liquid. The second detection circuit 113 is electrically connected between the second conductive body group 112 and the processing system 14.
  • the second electrical conductor group 112 may be arranged in at least one of the solution tank 111, the water outlet pipe 110 and the nozzle 19.
  • the related content of the above-mentioned first conductive body group please refer to the related content of the above-mentioned first conductive body group, which will not be repeated here.
  • one or more second conductive body groups can be provided in each part.
  • a transition solution bucket (not shown in FIG. 2n) can be set between the solution bucket 111 and the nozzle 19.
  • the transition solution bucket is simply referred to as the transition bucket; and
  • the water outlet pipe between the solution tank 111 and the transition barrel is defined as the first water outlet pipe, and the water outlet pipe between the transition barrel and the nozzle is defined as the second water outlet pipe.
  • the clean liquid in the solution tank 111 flows into the transition tank through the first water outlet pipe, and then is sent to the nozzle 19 through the second water outlet pipe for the nozzle 19 to spray onto the cleaning object.
  • the second conductive body group 112 is arranged on the circulation path of the clean liquid. Further, the second conductive body group 112 can also be arranged in the transition barrel.
  • the second conductive body group 112 includes at least two conductive bodies that are not in contact with each other.
  • the number of conductors is only two as an example.
  • a part of the conductors in the second conductor group 112 are electrically connected to the positive electrode of the power supply unit to form a positive electrode conductor; the remaining part is grounded to form a grounded conductor.
  • the second detection circuit 113 can generate a reference electrical signal when the positive conductor and the ground conductor form a path, and output the reference electrical signal to the processing system 14.
  • the second detection circuit 113 can generate a reference electrical signal and output it to the processing system 14 when the second conductive body group 112 is in contact with the clean liquid.
  • the circuit structure of the second detection circuit 113 can be implemented as the circuit structure shown in FIG. 2o.
  • the circuit structure of the second detection circuit 113 please refer to the related content of the first detection circuit 182 mentioned above. Go into details again.
  • the processing system 14 can adjust the state of the multiple N-MOS transistors in the second detection circuit 113 to keep the reference electrical signal output by the second detection circuit 113 in a stable range.
  • the processing system 14 may adjust the states of multiple N-MOS transistors in the second detection circuit 113 so that the reference voltage output by the second detection circuit 113 is the median voltage of the power supply unit voltage, etc., but not limited to this.
  • the processing system 14 can adjust the states of the multiple N-MOS transistors in the first detection circuit 182, so that the states of the multiple N-MOS transistors in the first detection circuit 182 are the same as the states of the multiple N-MOS transistors in the second detection circuit 182.
  • the states of the MOS tubes are the same, so that the overall resistance of the first detection circuit 182 and the overall resistance of the second detection circuit 113 are the same, which helps to reduce the difference between the subsequent processing system 14 according to the second electrical signal and the reference electrical signal , To determine the calculated amount of cleanliness of the cleaning object.
  • the processing system 14 can determine the cleanliness of the cleaning object according to the difference between the second electrical signal and the reference electrical signal.
  • the processing system 14 may include a processor 14a.
  • the processor 14a may be: the processor 14a may be any hardware processing device.
  • the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Microcontroller Unit (MCU); it may also be a Field Programmable Gate Array (Field Programmable Gate Array).
  • FPGA -Programmable Gate Array
  • PAL Programmable Array Logic
  • GAL General Array Logic
  • CPLD Complex Programmable Logic Device
  • RISC advanced reduced instruction set
  • ARM Advanced RISC Machines
  • SOC System on Chip
  • the processor 14a can match the difference between the second electrical signal and the reference electrical signal in the known correspondence between the electrical signal difference and the cleanliness level to determine the cleanliness level of the cleaning object, That is, the cleanliness level corresponding to the difference between the second electrical signal and the reference electrical signal is taken as the cleanliness level of the cleaning object.
  • the processor 14a may calculate the difference between the second electrical signal and the reference electrical signal.
  • the processing system 14 may further include: a differential operation circuit 14b.
  • the first input terminal DW-R of the differential operation circuit 14b is connected to the output terminal of the first detection circuit 182 for receiving the second electrical signal; the second input terminal PW-R of the differential operation circuit 14b receives the reference electrical signal.
  • the output terminal DL of the differential arithmetic circuit 14b is electrically connected to the processor 14a, and is used to output the difference between the second electrical signal and the reference electrical signal to the processor 14a.
  • the processor 14a can determine the degree of cleanliness of the cleaning object according to the difference between the second electrical signal and the reference electrical signal.
  • the differential operation circuit 14b may include: an operational amplifier U3 and an RC filter circuit.
  • the non-inverting input terminal 1 of the operational amplifier U3 serves as the first input terminal of the differential arithmetic circuit and is electrically connected to the output terminal of the first detection circuit 182 for receiving the second electrical signal.
  • the inverting input terminal 3 of the operational amplifier U3 serves as the second input terminal of the differential arithmetic circuit 14b to receive the reference electrical signal.
  • an RC parallel circuit is connected in parallel between the inverting input terminal 3 of the operational amplifier U3 and the output terminal 4 thereof.
  • the RC parallel circuit is composed of resistor R24 and capacitor C10 in parallel.
  • the RC filter circuit is connected in parallel between the output terminal 4 of the operational amplifier U3 and the ground.
  • the RC filter circuit is composed of a resistor R23 and a capacitor C9 in series, and the series connection point of the resistor R23 and the capacitor C9 is used as the output terminal DL of the differential operation circuit 14b.
  • the operational amplifier U3 further includes: positive and negative power supply unit power supply terminals 2 and 5; wherein the positive power supply unit power supply terminal 5 is electrically connected to the positive electrode of the power supply unit of the washing machine, and the negative power supply unit power supply terminal 5 is grounded.
  • the above-mentioned optical property value and the second electrical signal can also be used to jointly determine the cleanliness of the cleaning object.
  • the specific implementation may be Refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the cleanliness detection methods shown in Figures 2a-2p are not only suitable for washing machines, but also for other cleaning equipment, such as hand-held vacuum cleaners, window cleaning robots, wall washing machines or autonomous mobile vacuum cleaners, etc. But it is not limited to this. It is also worth noting that, in some embodiments, the cleanliness detection results obtained in FIGS. 2a-2p may not be displayed visually, that is, the cleaning equipment can use the method provided in FIGS. 2a-2p to clean the cleaning object. Degree detection, but does not display. In other embodiments, the processing system 14 can control multiple first display tubes to display combinations of different colors, brightness, and shapes according to the cleanliness detection results obtained in FIGS. 2a-2p, and can also perform other operations. For example, the processing system 14 can also adjust the working status of the washing machine and so on according to the degree of cleanliness of the cleaning object.
  • some sensors for sensing the behavior characteristics may also be provided.
  • a pressure sensor can be provided on the handle 11a of the cleaning machine.
  • the pressure sensor can be provided at the user's grip of the handle 11a; or a pressure sensor can be provided on the cleaning assembly.
  • the pressure sensor can be provided on the floor brush. The bottom of the object conflicts with the object to be cleaned.
  • the resistance strain gauge used in the pressure sensor is made according to the "strain effect", that is, when the conductor or semiconductor material is mechanically deformed under the action of external force, its resistance value also changes accordingly. Therefore, when the pressure sensor is subjected to different stresses, its resistance will change.
  • the pressure detection circuit includes: an RC filter circuit; wherein, the RC filter circuit is connected in parallel between the output terminal of the pressure sensor and the ground, and can filter the voltage value output by the pressure sensor and provide it to the processing system 14. Because the pressure sensor is subjected to different stresses, its resistance will change. Correspondingly, the voltage of the interface between the processing system 14 and the pressure sensor will also change accordingly. Therefore, the processing system 14 can change the resistance of the pressure sensor to obtain the user's use process. Changes in the degree of exertion.
  • the corresponding relationship between the resistance of the pressure sensor and the pressure can be preset in the processing system 14.
  • the corresponding relationship between the resistance value of the pressure sensor and the pressure can be formed by a table, a graph, or the like. In Fig. 2s, only the corresponding relationship between the resistance value of the pressure sensor and the pressure is shown in the form of a graph.
  • the processing system 14 can match the resistance value R0 of the pressure sensor with the preset corresponding relationship between the resistance value of the pressure sensor and the pressure, and then obtain the pressure value P1 corresponding to the resistance value R0 of the pressure sensor, and compare the pressure value P1 is used as the pressure value corresponding to the pressure sensor.
  • the pressure sensor may be a flexible film pressure sensor, which helps to reduce the feeling of foreign body when the user grips the handle.
  • the thickness of the flexible film pressure sensor may be less than 0.3 mm.
  • the size diagram of the pressure sensor can be shown in Figure 2r. In Figure 2r, ⁇ 10 indicates that the diameter of the pressure sensor is 10mm; ⁇ 7.5 indicates that the diameter of the pressure sensor sensing surface is 7.5mm; 40 indicates that the pressure sensor The length of the membrane is 40mm; 5.8 means that the width of the pressure sensor membrane is 5.8mm; 2.54 means that the distance between the two output pins of the pressure sensor is 2.54mm.
  • the pressure sensor can detect the pressure value of the handle and provide it to the processing system 14.
  • the processing system 14 can control the first display area to display a pressure value; the magnitude of the pressure value represents the degree of cleanliness of the cleaning object by the cleaning component. Among them, the greater the pressure value, the lower the degree of cleanliness of the cleaning object.
  • the processing system 14 is preset with a corresponding relationship between the pressure value and the degree of cleanliness. Based on this, the processing system 14 may also use the pressure value of the handle detected by the pressure sensor and the corresponding relationship between the pressure value and the degree of cleanliness. , Determine the degree of cleanliness of the cleaning component to the cleaning object; and control the plurality of first display tubes to display the combination of color, brightness and shape corresponding to the degree of cleanliness.
  • the force applied to the handle 11a is different.
  • the relative pressure value may be used to characterize the cleaning degree of the cleaning object.
  • the relative pressure value is the pressure difference ⁇ P between the pressure value measured in real time and the reference pressure value.
  • the user when the user uses it, the user can first measure the initial pressure of the handle 11a, and use the measured initial pressure value as the reference pressure value, and then in the process of performing cleaning tasks on the cleaning object by the washing machine, real-time
  • the pressure applied by the user to the handle 11a is measured, and the pressure difference ⁇ P between the pressure applied to the handle 11a by the user during use and the reference pressure value is calculated.
  • the processing system 14 may determine the degree of cleanliness of the cleaning object according to a preset corresponding relationship between the pressure difference and the degree of cleanliness.
  • the processing system 14 can also adjust the working state of the cleaning machine according to the pressure difference ⁇ P between the pressure applied to the handle 11a by the user during use and the reference pressure value.
  • the processing system 14 can adjust the power of the main motor 120 of the washing machine, the motor of the water pump 114, and the motor of the cleaning assembly 13 according to the pressure difference ⁇ P between the pressure applied to the handle 11a by the user during use and the reference pressure value. To the power adapted to the pressure value ⁇ P and so on.
  • an acceleration sensor can be installed on the washing machine.
  • the acceleration sensor can detect acceleration information of the washing machine during use, and provide the detected acceleration information to the processing system 14.
  • the processing system 14 can determine the frequency of changes in the working direction of the washing machine based on the acceleration information.
  • the processing system 14 can control a plurality of first display tubes to display the rate of change of the working direction.
  • the frequency of the change of the working direction represents the degree of cleanliness of the cleaning object by the cleaning component.
  • the processing system 14 presets the corresponding relationship between the frequency of change in the working direction and the degree of cleanliness. Based on this, the processing system 14 can also determine the cleaning component according to the corresponding relationship between the frequency of change in the working direction of the washing machine and the degree of cleanliness The degree of cleanliness of the cleaning object; and controlling the plurality of first display tubes to display the combination of color, brightness and shape corresponding to the degree of cleanliness.
  • the processing system 14 can also adjust the working state of the washing machine according to the frequency of the change of the working direction of the washing machine.
  • the processing system 14 can adjust the power of the main motor 120 of the washing machine, the motor of the water pump 114, and the motor of the cleaning assembly 13 to a power adapted to the frequency of the change of the working direction of the washing machine according to the frequency of the change of the working direction of the washing machine. and many more.
  • the processing system may not change the power of the main motor 120, the motor of the water pump 114, and the motor of the cleaning assembly 13 when the frequency of the change in the working direction of the cleaning machine is less than or equal to the set first frequency;
  • the power of the main motor 120 of the washing machine, the electric motor of the water pump 114, and the electric motor of the cleaning assembly 13 are adjusted to the power adapted to the changing frequency of the working direction of the washing machine, etc. Wait.
  • the acceleration sensor can be arranged on each part of the washing machine.
  • the acceleration sensor can be arranged on the bottom of the cleaning assembly, the body or the handle assembly.
  • the processing system 14 can display the degree of cleanliness of the cleaning object through the display 15 on the one hand, and can also display the degree of cleanliness of the cleaning object on the other hand. , Adjust the working status of the washing machine.
  • the processing system 14 can adjust the power of the water pump 114 of the washing machine to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 14 can preset the correspondence between the cleanliness level and the power of the water pump, and based on the correspondence, the processing system 14 can determine the power of the water pump according to the cleanliness level of the cleaning object.
  • the processing system 14 may also adjust the power of the main motor and/or the cleaning component motor of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 14 can preset the correspondence between the cleanliness level and the power of the main motor and/or the cleaning component motor. Based on the correspondence, the processing system 14 can determine the main motor and/or the cleanliness level of the cleaning object. Or clean the power of the component motor. Preferably, the higher the cleaning level, the lower the power of the main motor and/or the cleaning component motor, and the lower the water absorption capacity of the cleaning device, indicating that the cleaning object is cleaner.
  • the main motor sucks the dirty liquid from the suction nozzle 13a on the cleaning component of the cleaning device and sends it into the recycling bucket of the cleaning device through the suction channel on the cleaning device.
  • the cleaning component motor drives the cleaning component. Perform cleaning operations on the cleaning objects.
  • the processing system 14 may also adjust the task execution time of the cleaning device to a time suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 14 can preset the correspondence between the cleanliness level and the cleaning time, and based on the correspondence, the processing system 14 can determine the cleaning time according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the main motor and/or the cleaning component motor, and the shorter the cleaning time, indicating that the cleaning object is cleaner.
  • the processing system 14 determines that the cleanliness of the cleaning object meets the standard, the cleaning machine can be controlled to stop working.
  • the cleanliness level of the cleaning object meets the standard may be that the cleanliness level of the cleaning object is the highest cleanness level.
  • the processing system 14 may control the water pump, the main motor, and/or the cleaning component motor to stop rotating, and so on.
  • the washing machine further includes: a water pump driving circuit 115.
  • the water pump driving circuit 115 is electrically connected between the water pump 114 and the processing system 14.
  • the processing system 14 adjusts the working state of the washing machine, it can determine the signal parameter according to the cleanliness of the cleaning object; and input the first PWM signal with the signal parameter to the water pump driving circuit 115 to control the pump output to meet the cleaning demand ⁇ The water output.
  • the signal parameters include: the frequency and duty cycle of the first PWM signal.
  • the voltage of the power supply unit may be different. Therefore, the processing system 14 may also determine the signal parameter according to the voltage of the power supply unit and the cleanliness of the cleaning object. For example, the corresponding relationship between the voltage of the power supply unit and the signal parameter of the first PWM signal may be as shown in Table 1 below.
  • the embodiment of the present application also provides a water pump driving circuit.
  • the water pump driving circuit 115 includes a main driving circuit 115a, an auxiliary driving circuit 115b, and a selection circuit 115c.
  • the main driving circuit 115a and the auxiliary driving circuit 115b are electrically connected to the processing system 14, the selection circuit, and the water pump 114.
  • the main driving circuit 115a may be directly electrically connected to the water pump 114, or may be electrically connected to the water pump through the auxiliary driving circuit 115b.
  • the auxiliary driving circuit 115b may be directly electrically connected to the processing system 14, or may be electrically connected to the processing system 14 through the main driving circuit 115a.
  • the main driving circuit 115a can drive the water pump 114 to work according to the first PWM signal sent by the processing system 14.
  • the selection circuit 115c can cut off the auxiliary drive circuit 115b when the main drive circuit 115a fails to avoid damage to the water pump 114 after the direct voltage is applied to the water pump 114.
  • FIG. 3c is a working principle diagram of a water pump driving circuit provided by an embodiment of the application.
  • the input end of the main drive circuit 115a is electrically connected to the processing system 14 for receiving the first PWM signal sent by the processing system 14; its output end is electrically connected to the water pump 114 through the auxiliary drive circuit 115b, and its power supply end It is electrically connected to the power supply unit.
  • the main driving circuit 115a can drive the water pump 114 to work according to the first PWM signal.
  • the selection circuit 115c is electrically connected to the connection point between the output end of the main drive circuit 115a and the input end of the auxiliary drive circuit 115b.
  • the selection circuit 115c can cut off the auxiliary drive circuit 115b when the main drive circuit 115a fails to prevent DC voltage from being applied to the water pump 114 After that, the water pump 114 is damaged.
  • the main driving circuit 115a may include: an NPN transistor Q10, an NPN transistor Q9, and a P-MOS transistor Q8.
  • the base of the NPN transistor Q10 is electrically connected to the processing system 14, and its collector is electrically connected to the positive pole P+ of the power supply unit after series resistance R34 and R35; its emitter is grounded.
  • the base of the NPN transistor Q9 is electrically connected to the series connection point of the resistors R34 and R35, its collector is electrically connected to the positive pole P+ of the power supply unit, and its emitter is electrically connected to the gate of the P-MOS transistor Q8.
  • the P-MOS transistor Q8 its source S is electrically connected to the positive pole P+ of the power supply unit, and its drain D is electrically connected to the input end of the auxiliary driving circuit 115b.
  • the auxiliary driving circuit 115b includes a P-MOS transistor Q7.
  • the source S of the P-MOS tube Q7 is electrically connected to the output end of the main driving circuit 115a, and its gate G is electrically connected to the positive pole P+ of the power supply unit after a series resistor R50, and its drain D is electrically connected to the positive pole PM+ of the water pump 114. connection.
  • the selection circuit includes: a capacitor C23, a diode D11, and an NPN transistor Q11.
  • One end of the capacitor C23 is electrically connected to the connection point between the output end of the main drive circuit 115a and the input end of the auxiliary drive circuit 115b, and the other end is electrically connected to the cathode of the diode D11; the anode of the diode D11 is grounded.
  • the base of the NPN transistor Q11 is electrically connected to the series connection point of the capacitor C23 and the diode D11, its collector is electrically connected to the anode P+ of the power supply unit, and its emitter is grounded.
  • the selection circuit 115c may further include: a buffer circuit 115c1.
  • the buffer circuit is electrically connected between the series connection point of the capacitor C23 and the diode D11 and the base of the NPN transistor Q11.
  • the buffer circuit 115c1 includes: an operational amplifier U4 and an RC filter circuit.
  • the non-inverting input terminal of the operational amplifier U4 is connected in series with R44 after being electrically connected to the series connection point of the capacitor C23 and the diode D11, and its inverting input terminal is electrically connected to its output terminal.
  • the RC filter circuit is connected in parallel between the output terminal of the transport amplifier U4 and the ground, and is composed of a resistor R46 and a capacitor C25 in series; wherein the series connection point of the resistor R46 and the capacitor C25 is connected in series with R47 and then electrically connected to the base of the NPN transistor Q11 .
  • the water pump driving circuit 115 may further include: a water pump current detection circuit 115d.
  • the water pump current detection circuit 115d is electrically connected between the negative electrode of the water pump 114 and the processing system 14 for detecting the current flowing through the water pump 114 and providing it to the processing system 14.
  • the port PMCS of the water pump current detection circuit 115d is electrically connected to the processing system 14.
  • the processing system 14 stops inputting the first PWM signal to the water pump driving circuit 115 to stop the water pump 114.
  • the preset current threshold may be the current value at which the water pump works abnormally.
  • the water pump current detection circuit 115d includes: parallel sampling resistors R42 and R43. Furthermore, as shown in FIG. 3c, the water pump current detection circuit 115d may further include an RC filter circuit composed of a resistor R40 and a capacitor C22, which is used to filter out ripples in the output voltage of the water pump 114.
  • the processing system 14 inputs the first PWM signal to the NPN transistor Q10 through the Pump-c port.
  • the NPN transistor Q10 is turned on.
  • the voltage of the gate G of the PMOS transistor Q8 is pulled down, and the voltage of the source S is the voltage of the power supply unit. Since the voltage of the source S is higher than the voltage of the gate G, the PMOS transistor Q8 is turned on.
  • the P-MOS transistor Q8 is turned off.
  • the processing system 14 inputs the first PWM signal to the NPN transistor Q10, the two ends of the capacitor C23 receive the AC signal, the capacitor C23 is turned on, and its output voltage is passed through the operational amplifier U4, followed by the input of the NPN transistor Q11, and the NPN transistor Q11 is turned on ,
  • the gate of the P-MOS transistor Q7 is pulled down, and its source S is the voltage of the power supply unit. Therefore, the P-MOS transistor Q7 is turned on. Therefore, the power supply unit starts to supply power to the water pump 114, and the water pump 114 operates.
  • the current flows from the positive pole PM+ of the water pump into the water pump, then flows out from the negative pole PM- of the water pump, and then passes through the sampling resistors R42 and R43 to ground.
  • There will be a voltage value U I*R at the PMCS port, where the resistance value R is the parallel resistance value of the sampling resistors R42 and R43.
  • the processing system 14 detects the voltage value of the PMCS port and can calculate the value flowing through the water pump 114 Current value.
  • the capacitor C23 receives the DC signal, and the capacitor C23 is in a charged state, which is equivalent to a disconnection, so that the NPN transistor Q11 is turned off, and then P- The grid G of the NOS tube Q7 is electrically connected to the positive pole P+ of the power supply unit through a resistor R50. Since the main driving circuit 115a is short-circuited, the voltage of the source S of Q7 is equal to the voltage of the gate G, so Q7 cannot be turned on, which can protect the water pump from being burnt.
  • circuit structure of the water pump drive circuit shown in FIG. 3c is only an exemplary description, and does not limit the circuit structure.
  • the at least one display area further includes: a third display area 15c.
  • the third display area 15 is used to display the liquid level information of the liquid storage device of the washing machine.
  • the liquid storage device is a solution tank and/or a recovery tank; optionally, as shown in FIGS. 1b and 1c, the third display area 15c is located in the middle area of the display 15.
  • the liquid level information of the liquid storage device may be: the liquid level value of the liquid storage device, or the liquid level state in the liquid storage device.
  • the liquid level state in the liquid storage device refers to whether the liquid storage device is in a full liquid level state or in a liquid shortage state.
  • the third display area 15c may include a first sub-area 15c1 formed by at least one second indicator light. Among them, at least one second indicator light displays different liquid level states of the liquid storage device under the control of the processing system 14.
  • the liquid storage device of the washing machine includes a solution tank and a recovery tank.
  • the at least one second indicator light may include: a first type indicator light and a second type indicator light.
  • the first type of indicator light and the second type of indicator light can be distributed in the same row, in the same row, or in a staggered distribution, etc., but it is not limited to this.
  • the first type of indicator light is used to light up or flash when the clean liquid in the solution tank of the washing machine is lower than the set first liquid level threshold to remind the user that the solution tank is in a state of lack of liquid;
  • the second type indicator light is used to light up or flash when the dirty liquid in the recovery bucket of the washing machine exceeds the set second liquid level threshold to remind the user that the recovery bucket is at a full level.
  • the first liquid level threshold refers to the lowest liquid level of the clean liquid in the solution tank allowed by the washing machine. If the clean liquid in the solution tank is lower than the first liquid level threshold, the solution tank is in a state of lack of liquid;
  • the liquid level threshold refers to the highest liquid level of the dirty liquid that the recovery bucket can contain.
  • the first liquid level threshold is smaller than the second liquid level threshold.
  • the second liquid threshold is less than or equal to the height of the recovery barrel.
  • the first type of indicator light can also indicate that the solution tank is at a full level during the process of injecting clean liquid into the solution tank, so as to remind the user to stop injecting clean liquid into the solution tank.
  • the third display area may further include: a second sub-area (not shown in FIGS. 1b and 1c).
  • the second sub-area may be formed by at least one first nixie tube, and is used to display the liquid level value of the liquid storage device under the control of the processing system 14, for example, 1, 2 or 3.
  • the at least one first nixie tube may be located in the middle of the first type indicator light and the second type indicator light, that is, the first type indicator light and the second type indicator light are respectively arranged on both sides of the at least one first nixie tube .
  • the cleaning machine may include: the liquid level detection device 117.
  • the liquid level detecting device 117 can be arranged inside and/or outside of the liquid storage device, and is used to detect the liquid level information of the liquid in the liquid storage device.
  • the liquid level information may reflect the liquid level status and/or liquid level value of the liquid storage device.
  • the processing system 14 is electrically connected to the liquid level detection device 117, and the liquid level state or liquid level value of the liquid level storage device can be calculated according to the liquid level information of the liquid in the liquid level storage device.
  • the processing system 14 can also control the liquid storage device correspondingly according to the liquid level information.
  • the liquid level detection device 117 may be a contact liquid level detection device or a non-contact liquid level detection device, which will be exemplarily described below.
  • Fig. 4a is a schematic structural diagram of another cleaning machine provided by an embodiment of the application. As shown in FIG. 4a, at least one third conductor group 117a (contact liquid level detection device) is provided in the liquid storage device, and at least one third conductor group 117a is connected to the processing system 14. At least one third conductive body group 117a is used to detect the liquid level information of the liquid in the liquid storage device, and report the detected liquid level information to the processing system 14. On the one hand, the processing system 14 can display liquid level information in the third display area 15c, and on the other hand, can control the liquid storage device correspondingly according to the liquid level information.
  • the processing system 14 can display liquid level information in the third display area 15c, and on the other hand, can control the liquid storage device correspondingly according to the liquid level information.
  • the electric conductor is used to detect the liquid level information of the liquid in the liquid storage device, and the liquid level detection can be realized without using the buoyancy of the liquid, which not only reduces the influence of the stability of the liquid surface on the liquid level detection result, but also It can improve the reliability and timeliness of liquid level detection.
  • the cleaning machine further includes: at least one liquid level detection circuit 118.
  • At least one third conductive body group 117a is connected to the processing system 14 through at least one liquid level detection circuit 118.
  • at least one liquid level detection circuit 118 is used to convert the liquid level information detected by the at least one third conductor group 117a into an electrical signal and then output it to the processing system 14, so that the processing system 14 performs processing on the liquid storage device according to the electrical signal.
  • the arrangement position and quantity of the liquid level detection circuit 118 in FIG. 4a are only exemplary descriptions, and are not limited to them.
  • each liquid level detection circuit 118 includes: a power supply terminal P+, a ground terminal GND, and a signal output terminal MCU-IN connected to the processing system 14. As shown in Fig. 4b, each liquid level detection circuit 118 also includes a first terminal 1 and a second terminal 2 insulated from each other. The first terminal 1 and the second terminal 2 are used to connect at least one terminal for detecting the same liquid level.
  • One third conductor group 117a. Each third electrical conductor group 117a includes a first electrical conductor and a second electrical conductor that are not in contact with each other.
  • each third conductor group 117a includes the number of first conductors can be one or more, the number of second conductors can also be one or more, and the number of first conductors and the number of second conductors The number can be the same or different.
  • Fig. 4b is a circuit schematic diagram of a liquid level detection circuit provided by an embodiment of the application. As shown in FIG.
  • the liquid level detection circuit in addition to the power supply terminal P+, the ground terminal GND, and the signal output terminal MCU-IN connected to the processing system 14, the liquid level detection circuit also includes a filter circuit 118a on the side of the power supply terminal P+.
  • the filter circuit 118a is connected in parallel with several groups of conductors connected to the detection circuit to which it belongs, and is used to filter the noise interference caused by the fluctuation of the liquid level.
  • the first conductor in each conductor group it can be electrically connected to the first terminal 1 of the liquid level detection circuit 118 or can be electrically connected to the second terminal 2 of the liquid level detection circuit 118.
  • the second electrical conductor is electrically connected to the second terminal 2 of the liquid level detection circuit 118.
  • the first electrical conductor is electrically connected to the second terminal 2 of the liquid level detection circuit 118
  • the second electrical conductor is electrically connected to the first terminal 1 of the liquid level detection circuit 118.
  • the conductor electrically connected to the second terminal 2 of the liquid level detection circuit 118 is referred to as a positive conductor
  • the conductor electrically connected to the first terminal 1 of the liquid level detection circuit 118 is referred to as a positive conductor. It is a grounded conductor.
  • the positive conductor is electrically connected to the second terminal 2 of the liquid level detection circuit 118
  • the ground conductor is electrically connected to the first terminal 1 of the liquid level detection circuit 118.
  • the filter circuit 118a may be an RC circuit, and a filter is formed by a resistor R51, a resistor R52, and a capacitor C27.
  • the capacitance value of the capacitor C27 can be of ⁇ f or pf level.
  • the liquid level detection circuit 118 further includes: a first voltage regulator tube D12. Wherein, the cathode and anode of the first voltage regulator tube D12 are electrically connected to the power supply terminal P+ and the ground terminal GND of the detection circuit to which they belong, and are located between the RC series-parallel circuit and the power supply terminal P+.
  • the liquid level detection circuit 118 further includes: a second voltage regulator tube D13 arranged on the side of the signal output terminal MCU-IN.
  • the cathode and anode of the second regulator tube D13 are respectively electrically connected to the power supply terminal P+ and the ground terminal GND of the detection circuit to which it belongs.
  • the liquid level detection circuit 118 is provided with: series connection to the power supply terminal P+
  • the current-limiting resistor R53 between the RC circuit and the current-limiting resistor R54 is connected in series between the signal output terminal MCU-IN and the positive conductor.
  • Resistor R53 and resistor R54 are both current-limiting resistors, which mainly play a protective role. Among them, the resistor R53 protects the first voltage regulator tube D12, and the resistor R54 protects the processing system 14. Further, the first voltage regulator tube D12 and the second voltage regulator tube D13 can make the signal output more stable.
  • the detection circuit is used to detect the predetermined full liquid level of the liquid storage device.
  • the first electrical conductor and the second electrical conductor connected to the liquid level detection circuit 118 the first electrical conductor and the second electrical conductor are under the action of the liquid, the first electrical conductor Conduction with the second conductor, the voltage of the signal output terminal MCU-IN changes, and the signal output terminal MCU-IN outputs a third electrical signal to the processing system 14.
  • the processing system 14 performs corresponding control on the liquid storage device according to the third electrical signal.
  • the liquid level detection circuit can also be used to detect the predetermined remaining liquid level of the liquid storage device.
  • the processing system 14 can obtain, according to the second electrical signal, that the predetermined remaining liquid level of the liquid storage device is lower than the predetermined liquid level (for the solution tank, the predetermined liquid level is the aforementioned first liquid level threshold), and The liquid storage device can be controlled correspondingly according to the second signal.
  • the number of at least one liquid level detection circuit 118 and the number of at least one third conductive body group 117a can be flexibly set according to actual requirements.
  • the number of liquid level detection circuits 118 can be the same as or different from the number of conductor groups 117a, and can be set flexibly according to actual liquid level detection requirements.
  • the setting of the number of liquid level detection circuits 118 and the number of conductor groups 117a will be exemplified.
  • Manner 1 As shown in FIG. 4c, a conductor group 117a is deployed at the same liquid level to detect the liquid level, and the conductor group is electrically connected to the detection circuit corresponding to the liquid level. In this way, the number of detection circuits is equal to the number of conductor groups.
  • Manner 2 As shown in FIG. 4d, a plurality of conductor groups 117a are deployed at the same liquid level to detect the liquid level, and these conductor groups can be connected to a detection circuit in common. In this way, the number of detection circuits can be less than the number of conductor groups.
  • Method 3 As shown in Figure 4e, the same conductor group is used to detect multiple liquid levels. Conductors that detect different liquid levels in a conductor group are electrically connected to different detection circuits. In this way, the number of detection circuits is more than the number of conductor groups.
  • the liquid of the liquid storage device can be monitored. Liquid level detection. Therefore, the detection of different liquid levels can be achieved by controlling the distance between the first electrical conductor and/or the second electrical conductor in the at least one third electrical conductor group 117a and the bottom of the liquid storage device.
  • the distance between the end of each conductor in the plurality of groups of conductors used for detecting the same liquid level in the at least one third conductor group 117a and the bottom of the liquid storage device is the same.
  • the distances between the ends of the first and second conductors of the plurality of groups of conductors used to detect the same liquid level in the at least one third conductor group 117a and the bottom of the liquid storage device are not the same; however, The distance between the ends of all the first conductors and the bottom of the liquid storage device for detecting the same liquid level of all the first conductors of the several groups of conductors is the same, and the second conductor of the several groups of conductors for detecting the same liquid level The distance between the end of the liquid storage device and the bottom of the liquid storage device is the same.
  • the distance between them and the bottom of the liquid storage device is not the same.
  • At least one third conductive body group 117a can be arranged at different positions of the liquid storage device to control the distance between it and the bottom of the liquid storage device.
  • the arrangement position of the at least one third conductive body group 117a will be exemplarily described.
  • Embodiment 1 All the conductors in each conductor group may be arranged on the inner side wall of the liquid storage device.
  • Embodiment 2 Part of the conductors in each conductor group is arranged on the inner side wall of the liquid storage device, and another part of the conductors is arranged on the bottom of the liquid storage device.
  • Embodiment 3 All the conductors in each conductor group are hung on the inside of the top of the liquid storage device.
  • Embodiment 4 Part of the conductors in each conductor group is suspended on the inner side of the top of the liquid storage device, and another part of the conductors is arranged on the bottom of the liquid storage device.
  • Embodiment 5 Part of the conductors in each conductor group is hung on the inside of the top of the liquid storage device, and another part of the conductors is arranged on the inner side wall of the liquid storage device.
  • Embodiment 6 All the conductors in each conductor group are arranged on the bottom of the liquid storage device.
  • the conductor hanging on the inside of the top of the liquid storage device can be a rigid conductive probe, and one end of the probe is fixed on the inside of the top of the liquid storage device, so that when the liquid of the liquid storage device flows, it can prevent the liquid from pushing The conductor swings and causes a short circuit between the conductors.
  • the conductive body provided on the inner side wall of the liquid storage device it may be a flexible conductive sheet, a conductive contact, a conductive terminal, etc., but is not limited thereto.
  • the conductor is a rigid conductive probe, it can be an integrally formed linear structure.
  • each conductor group may include at least one rigid conductive probe arranged in the center of the liquid storage device and at least one rigid conductive probe arranged in the center of the liquid storage device.
  • the conductor for detecting the same liquid level includes at least one conductor connected to the first terminal 1 of the detection circuit and at least one conductor connected to the second terminal 2 of the detection circuit.
  • at least one rigid conductive probe and at least one flexible conductive sheet, conductive contact or conductive terminal arranged on the inner side wall of the liquid storage device can be arranged in the following possible implementation manners.
  • Embodiment a1 At least one rigid conductive probe arranged in the center of the liquid storage device can extend to the bottom of the liquid storage device, and a conductor (flexible conductive sheet, conductive contact or conductive terminal) arranged on the inner side wall of the liquid storage device They are fixed on the inner side wall of the liquid storage device in order of the distance from the bottom of the liquid storage device from low to high.
  • a conductor flexible conductive sheet, conductive contact or conductive terminal
  • the processing system 14 performs corresponding control on the liquid storage device according to the first electrical signal.
  • the processing system 14 performs corresponding control on the liquid storage device according to the second electrical signal.
  • Embodiment a2 At least one rigid conductive probe is hung on the inner side of the top of the liquid storage device in order of the distance between its end and the bottom of the liquid storage device, and the conductive probe is arranged on the inner side wall of the liquid storage device
  • the body flexible conductive sheet, conductive contact or conductive terminal
  • the distance between the conductor and the bottom of the liquid storage device is the same.
  • the rigid conductive probe used to detect the liquid level is in conduction with the conductor arranged on the inner side wall of the liquid storage device.
  • the signal output terminal MCU-IN of the detection circuit connected to the rigid conductive probe for detecting the liquid level and the conductor arranged on the inner side wall of the liquid storage device outputs the third electric signal to the processing system 14. After that, the processing system 14 performs corresponding control on the liquid storage device according to the third electrical signal.
  • the rigid conductive probe for detecting the liquid level is The electrical conductor provided on the inner side wall of the liquid storage device is not conductive.
  • the signal output terminal MCU-IN of the detection circuit connected to the rigid conductive probe for detecting the liquid level and the conductor provided on the inner side wall of the liquid storage device outputs the fourth electrical signal to the processing system 14. After that, the processing system 14 performs corresponding control on the liquid storage device according to the fourth electrical signal.
  • the specific relative positions of the conductors on the inner side wall of the liquid storage device are not limited. That is, the conductors disposed on the inner side wall of the liquid storage device can run along the liquid storage device. It can be arranged along any straight line on the inner side wall of the liquid storage device, and can also be arranged along any spiral line or curve on the inner side wall of the liquid storage device, etc., but not limited to this.
  • each conductor set includes a plurality of rigid conductive probes suspended inside the top of the liquid storage device, and one of the plurality of rigid conductive probes is conductive probe The needle is located in the center of the liquid storage device, and the remaining rigid conductive probes surround the conductor located in the center.
  • each conductor group can be set up in the following several implementation ways.
  • Embodiment b1 the distance between the end of the rigid conductive probe in each conductor group and the bottom of the liquid storage device is the same.
  • each set of rigid conductive probes can be used to detect a liquid level.
  • Embodiment b2 The end of the first conductive probe in each conductor group is in contact with the bottom of the liquid storage device or its end extends to a position at a first distance from the bottom of the liquid storage device, which may be a liquid storage device The lowest liquid level.
  • the liquid level of the liquid in the liquid storage device is lower than the liquid level, that is, when there is no liquid at the lowest liquid level, the liquid storage device is in a liquid shortage state.
  • the distances between the conductive probes other than the central conductive probe in each conductive body group and the bottom of the liquid storage device are the same.
  • each set of rigid conductive probes can be used to detect a liquid level.
  • the conductive probes other than the first conductive probe in the implementation b1 and the implementation b2 are arranged around the central conductive probe, it can be detected no matter which direction the liquid storage device is tilted.
  • the liquid level that can be detected by the group of conductors can prevent the liquid storage device from tilting and cause the liquid level to be undetected, and the detection accuracy of the liquid storage device by the conductor is improved.
  • Embodiment b3 The end of the first conductive probe in each conductor group is in contact with the bottom of the liquid storage device or its end extends to a position at a first distance from the bottom of the liquid storage device, except for each conductor group
  • the distances between the conductive probes other than the first conductive probe and the bottom of the liquid storage device are different.
  • the distance between the other conductive probes in each conductive body group except the first conductive probe and the bottom of the liquid storage device can be set according to the different inclination of the liquid storage device, so that regardless of the liquid storage The liquid level of the liquid inside the device can be detected regardless of the tilt angle of the device, thereby improving the accuracy of the liquid level measurement of the liquid storage device when the liquid storage device is tilted.
  • Embodiment b4 The end of the first conductive probe in each conductor group is in contact with the bottom of the liquid storage device or its end extends to a position at a first distance from the bottom of the liquid storage device, except for each conductor group
  • the distances between the conductive probes other than the first conductive probe and the bottom of the liquid storage device are different.
  • the distances between the conductive probes other than the first conductive probe in each conductive body group and the bottom of the liquid storage device are set in the order from high to bottom, and the minimum distance is the above-mentioned first distance.
  • each set of rigid conductive probes can be used to detect multiple liquid levels.
  • each electrical conductor group includes a plurality of rigid conductive probes suspended inside the top of the liquid storage device, and the plurality of rigid conductive probes are arranged around the center of the top of the liquid storage device.
  • the number of rigid conductive probes can be 3, 4, 5, 6, 8, etc., but it is not limited thereto.
  • each conductor group includes a plurality of conductive probes arranged at the bottom of the liquid storage device, and these conductive probes Extending from the bottom to the top of the liquid storage device, the top of each set of conductive probes is conductive, and the body is insulated by insulating material and does not conduct electricity.
  • the conductor when the plurality of conductive probes in each group extend the same first length, it can be used to detect the preset lowest liquid level of the liquid storage device;
  • the plurality of conductive probes in each group extend for different second lengths, they can be used to detect the height of the liquid level in the middle of the liquid storage device, that is, the middle liquid level.
  • the plurality of conductive probes in each group extend the same third length, they can be used to detect the highest liquid level preset by the liquid storage device.
  • the first length is smaller than the second length
  • the second length is smaller than the third length.
  • Fig. 5a is a schematic structural diagram of another cleaning machine provided by an embodiment of the application.
  • the cleaning machine further includes: a liquid level detection device 117 arranged on the outside of the liquid storage device.
  • the liquid level detection device 117 includes: at least one liquid level detection sensor 117b.
  • the liquid level detection sensor 117b includes a component (such as a capacitor), and the physical properties of the component (such as a capacitor) will change as the liquid moves away or approaches (non-contact).
  • the liquid level detection sensor 117b can detect the change of the liquid level by using the principle that the physical properties of the component will change when the liquid moves away or approaches.
  • Each liquid level detection sensor 117b can sense the change of the liquid level in the liquid storage device, and convert the sensed change of the liquid level into an electrical signal and then output it to the processing system 14, so that the processing system 14 can calculate according to the electrical signal Liquid level information of the liquid storage device.
  • the above-mentioned at least one liquid level detection sensor 117b is arranged on the outer wall of the liquid storage device to sense the change of the liquid level in the liquid storage device.
  • the body 11 usually wraps the bottom surface and part or all of the side surfaces of the liquid storage device for fixing or supporting the liquid storage device.
  • the inner side wall of the body 11 may be close to the liquid storage device, or may maintain a small air gap with the liquid storage device, which is not limited in this embodiment.
  • at least one liquid level detection sensor 117b may be provided on the side wall (inner side wall or outer side wall) of the body 11 of the cleaning device.
  • at least one liquid level detection sensor 117b can also be arranged on the outer wall of the liquid storage device.
  • part of the liquid level detection sensor is provided on the side wall (inner side wall or outer side wall) of the body 11 of the cleaning device, and part of the liquid level detection sensor is provided on the outer wall of the liquid storage device.
  • the schematic illustration of the arrangement position of the at least one liquid level detection sensor 117b in FIG. 5a is used for exemplary description, and does not limit other optional arrangement positions.
  • the location of the at least one liquid level detection sensor 117b can be flexibly set according to actual needs.
  • At least one liquid level detection sensor 117b may be grouped, and each liquid level detection sensor group may be dispersedly arranged in the liquid level storage unit by grouping.
  • the liquid level information in the liquid storage device can be comprehensively detected from multiple directions.
  • the at least one liquid level detection sensor 117b may be divided into at least one liquid level detection sensor group.
  • the at least one liquid level detection sensor group may be dispersedly arranged on the outer wall of the liquid storage device in at least one direction, or may be dispersedly arranged on the side wall of the body 11 of the cleaning device in at least one direction.
  • the at least one direction includes: at least one of front, back, left, and right.
  • each liquid level detection sensor group can be arranged in the liquid storage device along the height direction of the liquid storage device.
  • On the outer wall or the side wall of the body 11 of the cleaning device at least one liquid level detection sensor group can be arranged on the outer wall of the liquid storage device along the direction of the generatrix of the liquid storage device.
  • the arrangement heights between different liquid level detection sensor groups may be the same or different, which is not limited in this embodiment.
  • each liquid level detection sensor 117b may be implemented as a capacitive, resistive, photoelectric or electromagnetic sensor, and this embodiment includes but is not limited to this.
  • each capacitive sensor can be implemented as a self-capacitance composed of a metal foil, which can be attached to the outer wall of the liquid level storage device or the side wall of the body of the cleaning device, with a simple structure and low cost .
  • a metal foil which can be attached to the outer wall of the liquid level storage device or the side wall of the body of the cleaning device, with a simple structure and low cost .
  • the parasitic capacitance When there is no liquid approaching, there is a small parasitic capacitance between the metal foil and the ground. When the liquid is close to the pin, the parasitic capacitance will change, and the height of the liquid level can be detected according to the change of the parasitic capacitance.
  • other types of capacitance sensors may also be used, which is not limited in this embodiment.
  • the liquid level detection device 117 includes a float valve and a motor current detection circuit 117c.
  • the float valve is arranged in the recovery barrel, and is used to take off when the liquid level of the recovery barrel exceeds a preset second liquid level threshold.
  • the motor current detection circuit 117c is connected between the main motor 120 of the washing machine and the processing system 14, and is used to detect the current flowing through the main motor 120 and provide the current flowing through the main motor 120 to the processing system. 14.
  • the processing system 14 can determine the state of the liquid level in the recovery bucket according to the current of the main motor.
  • the motor current detection circuit 117c includes a current sampling circuit 117c1.
  • the current sampling circuit 117c1 is electrically connected between the main motor 120 and the processing system 14.
  • the current sampling circuit 117c1 includes: a sampling resistor R60 and an RC filter circuit connected in parallel with the sampling resistor R60; the series connection point of the resistor R59 and the capacitor C29 in the RC filter circuit is electrically connected to the processing system ; Among them, the sampling resistor R60 is connected between the negative pole M- of the main motor 120 and the ground.
  • the processing system 14 can collect the voltage across the sampling resistor R60, and determine the liquid level state in the recovery barrel according to the voltage across the sampling resistor R60.
  • the processing system may calculate the current flowing through the main motor 120 based on the voltage across the sampling resistor R60; and determine the liquid level state in the recovery bucket based on the current flowing through the main motor 120.
  • the processing system 14 may also calculate the rotation speed of the main motor according to the frequency of the voltage change of the sampling resistor R60; and determine the liquid level state in the recovery barrel according to the rotation speed of the main motor 120 and the current power of the main motor 120.
  • the processing system 14 can set a fixed current threshold, that is, when the current of the sampling resistor R60 is less than the set current threshold, it is determined that the float valve has taken off, that is, it is determined that the recovery bucket is in a full level state. .
  • the processing system only sets a voltage limit and cannot effectively judge the float valve's take-off condition. For example: if the current threshold is set too high, when the battery pack voltage drops, the normal working current of the sampling resistor R60 will also be less than the current threshold when the float valve does not trip, and a false alarm will occur; or, if the current threshold is set If the battery pack voltage is relatively low, if the float valve has taken off, the current of the sampling resistor R60 will also be greater than the current threshold after the take off, and no alarm will occur.
  • a current threshold can be set in each voltage segment of the power supply unit, and according to the voltage of the power supply unit and the current of the main motor, it is determined whether the float valve has tripped, that is, whether the recycling bin is in Full level state.
  • the cleaning machine may further include: a power supply unit voltage detection circuit 119, wherein the power supply The unit voltage detection circuit 119 is connected between the power supply unit and the processing system 14, and is used to provide the voltage detected by the power supply unit to the processing system 14.
  • the processing system 14 determines the liquid level state in the recovery bucket 17, it is specifically used to determine the power supply unit's current voltage according to the current voltage of the power supply unit and the preset correspondence between the voltage of the power supply unit and the main motor current threshold.
  • the main motor current threshold corresponding to the current voltage; if the current flowing through the main motor is less than the main motor current threshold corresponding to the current voltage of the power supply unit, it is determined that the liquid level state in the recovery bucket 117 is full.
  • the power supply voltage is a rechargeable battery such as a lithium battery
  • the washing machine has a constant suction power
  • the main motor current is a modulated current, which changes periodically. If the collected data is directly compared with the current threshold set by the processing system, the liquid level status of the recovery bin cannot be accurately determined. Because of current modulation, the sampled data may be the maximum value in the period or the minimum value in the period, and cannot be used as valid data. Based on this, in this embodiment, the Nyquist sampling theorem can be used to sample the voltage across the sampling resistor R60.
  • N the collected data from largest to smallest, take the first N data and average them as one valid data, and then make the difference with the next valid data, and use the difference to judge the float valve's take-off state.
  • N the collected data from largest to smallest, take the first N data and average them as one valid data, and then make the difference with the next valid data, and use the difference to judge the float valve's take-off state.
  • the motor current detection circuit 117c further includes a buffer circuit 117c2.
  • the buffer circuit 117c2 includes: an operational amplifier chip AR1 and an RC filter circuit.
  • the RC filter is formed by a resistor R64 and a capacitor C30 in series.
  • the non-inverting input terminal IN+ of the operational amplifier chip AR1 is electrically connected to the output terminal of the current sampling circuit 117c1
  • the inverting input terminal IN- is electrically connected to its output terminal OUT.
  • the RC filter circuit is connected in parallel between the output terminal OUT of the transport amplifier and the ground, and the ungrounded end of the RC filter circuit is electrically connected to the processing system 14. That is, the series connection point of the resistor R64 and the capacitor C30 in the RC filter circuit is electrically connected to the processing system 14.
  • the embodiment of the present application further provides a main motor drive circuit 120a.
  • a main motor drive circuit 120a For the structure and working principle of the main motor drive circuit 120a, please refer to the relevant content of the main drive circuit in the above-mentioned water pump drive circuit, which will not be repeated here.
  • the processing system 14 determines the liquid level state in the recovery bucket according to the rotation speed of the main motor 120 and the current power of the main motor 120
  • the processing system 14 is specifically configured to: determine that the main motor 120 operates for a certain period of time at the current power Whether the rotation speed in the inside is greater than the rotation speed threshold corresponding to the current power; if the judgment result is yes, it is determined that the liquid level state in the recovery bucket is full.
  • the main motor 120 running at the current power for a certain period of time refers to a period of time after the main motor 120 starts to run at the current power for a preset period of time, or the main motor 120 starts to run at the current power. Timed for a period of time.
  • a certain period of time can be flexibly set according to the current power of the motor 119.
  • a certain period of time may refer to the main motor 120 operating at the current power of 90W for 2s within 1s, 2s, 5s, etc., but it is not limited to this.
  • a certain period of time may refer to within 1s after the main motor 120 is operated at the current power for 2s, etc., but it is not limited to this.
  • the current power of the main motor 120 is 90W
  • the rotation speed of the main motor 120 is greater than 55000 rpm within 1 s after the main motor 120 runs for 2 s. If the judgment result is yes, it is determined that the recovery bucket 17 is at a full liquid level.
  • the current power of the main motor 120 is 150W, it can be determined whether the rotation speed within 1s after the main motor 120 runs for 2s is greater than 59000 rpm. If the determination result is yes, it is determined that the recovery bucket 17 is in a full liquid level state.
  • the current power of the main motor 120 is 90W, 120W, and 150W, it can be judged whether the rotation speed increment within 1s after the main motor 120 runs for 2s is greater than 4000rpm. If the judgment result is yes, the recycle bin is determined 17 is at full level.
  • the rotation speed of the main motor 120 during a certain period of time running at the current power is greater than the rotation speed threshold corresponding to the current power, which may mean that the rotation speed of the main motor 120 during a certain period of time running at the current power is greater than the rotation speed threshold corresponding to the current power; It can mean that the average speed of the main motor 120 running at the current power for a certain period of time is greater than the speed threshold corresponding to the current power; or it can mean that the speed of the main motor 120 running at the current power for a certain period of time is greater than the speed corresponding to the current power.
  • the probability of the threshold is greater than or equal to the preset probability threshold.
  • the preset probability threshold is greater than
  • the processing system 14 controls the main motor 120 to operate at a power of 90W.
  • step S2 After the main motor 120 runs for 2 seconds at a power of 90W, it is determined whether the rotation speed of the main motor 120 is greater than the set first rotation speed threshold. If the judgment result is yes, it is determined that the liquid level state of the recovery bucket 117 is full, and step S7 is executed; if the judgment result is no, step S3 is executed.
  • the first rotational speed threshold is 50,000 rpm.
  • step S3 Monitor whether the power of the main motor 120 has changed. If the judgment result is yes, then step S4 is executed; if the judgment result is no, then step S7 is executed.
  • step S4 After the main motor 120 runs for 2 seconds at the changed power, it is determined whether the rotation speed of the main motor 120 is greater than the rotation speed threshold corresponding to the changed power. If the judgment result is yes, it is determined that the liquid level state of the recovery bucket 117 is full, and step S7 is executed; if the judgment result is no, step S5 is executed.
  • S5 Detect the rotation speed of the main motor 120 according to the set sampling period, and calculate the rotation speed increment in each sampling period.
  • the sampling period is 0.2s, etc., but it is not limited to this.
  • step S6 Determine whether the rotation speed increment in each sampling period is greater than or equal to the preset increment threshold; if the determination result is yes, determine that the liquid level status of the recovery bucket 117 is full, and execute step S7; if it is judged If the result is no, return to step S5.
  • the processing system 14 controls the second type of indicator light to light up or flash, and controls the washing machine to stop.
  • the processing system 14 may also calculate the current power of the main motor 120 according to the signal parameters of the second PWM signal currently input to the main motor 120.
  • the at least one display area may further include: a fourth display area 15d formed by a plurality of second display tubes.
  • multiple second display tubes can display the power of the main motor under the control of the processing system 14.
  • the number of lights on the plurality of second display tubes is positively correlated with the power of the main motor, that is, the greater the power of the main motor 120, the greater the number of second display tubes in the lighting state.
  • the fourth display area 15d may be located below the third display area 15c.
  • the plurality of second display tubes may be distributed in rows, columns, rings, or in a matrix.
  • FIGS. 1a and 1c only a plurality of second display tubes are shown in a matrix distribution.
  • the plurality of second display tubes may further include: a high-power indicator light and a low-power indicator light.
  • the high-power indicator light and the low-power indicator light are respectively used to indicate that the main motor is currently working in a high-power state and a low-power state.
  • the processing system 14 can control the high-power indicator light to light up when the power of the main motor is greater than or equal to the set first power threshold; and when the power of the main motor is less than or equal to the set second power threshold, Control the low-power indicator light to light up; wherein, the first power threshold is greater than the second power threshold.
  • the at least one display area may further include: a fifth display area 15e.
  • the fifth display area 15e can display the power of the power supply unit of the washing machine under the control of the processing system 14.
  • the fifth display area includes: a third sub-area 15e1 formed by a plurality of second nixie tubes, used to display the percentage of power of the power supply unit under the control of the processing system 14 .
  • the fifth display area further includes: a fourth sub-area 15e2 formed by a plurality of third indicator lights with different colors, which is used to display the power of the power supply unit under the control of the processing system 14.
  • the processing system 14 may determine the brightness of the plurality of third indicator lights according to the power of the power supply unit, so that the fourth sub-region presents a color that matches the power of the power supply unit.
  • the processing system 14 may control the plurality of third indicator lights to light up in a color matching the power of the power supply unit according to the power of the power supply unit, so that the fourth sub-region presents a color that matches the power of the power supply unit.
  • the fourth sub-region is located in an adjacent region of the third sub-region.
  • the fourth sub-region may be located on the left side of the third sub-region (as shown in FIG. 7); or, the fourth sub-region may be located above, below, or on the right side of the third sub-region, and so on.
  • the fifth display area further includes: a fifth sub-area 15e3 formed by a plurality of third display tubes for displaying the remaining working time of the power supply unit.
  • the fifth sub-region 15e3 may be located in an area below the third sub-region 15e1 and the fourth sub-region 15e2.
  • the processing system 14 can calculate the remaining working time of the power supply unit according to the power of the power supply unit; and control the plurality of third display tubes to display the remaining working time of the power supply unit according to the working time of the power supply unit.
  • the display 15 may further include a sixth display area 15f formed by a fourth indicator light, which is used to indicate the blocking of the cleaning assembly 13 when the cleaning assembly 13 is blocked.
  • the processing system 14 may control the fourth indicator light to turn on or flash when the cleaning assembly 13 is blocked, so as to prompt the user that the cleaning assembly 13 is blocked.
  • the processing system 14 may detect the current of the cleaning component 13, and if the current is greater than or equal to a preset current threshold, it is determined that the cleaning component 13 is blocked. Further, when the cleaning assembly 13 is locked, the fourth indicator light is controlled to light up or flash.
  • the display 15 may further include a seventh display area 15g formed by a plurality of fourth display tubes for displaying the working status of the communication component of the washing machine.
  • the plurality of fourth display tubes are distributed in a scattering arc shape.
  • the communication component is configured to facilitate wired or wireless communication between the washing machine and other devices.
  • the washing machine can be connected to a wireless network based on communication standards, such as WiFi, 2G or 3G, 4G, 5G or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may also be based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology Or other technologies to achieve.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • BT Bluetooth
  • the display 15 may also display information such as date, time, brand name, model or user name.
  • the display 15 may also be a liquid crystal display, an LED display, or an OLED display, etc.
  • the display 15 can also play a continuous animation. For example, the instructions for use of the washing machine, precautions, troubleshooting guidance, etc., are played on the display 15, but it is not limited to this.
  • the implementation manner for displaying related status information of the washing machine during use is not only applicable to the washing machine, but also applicable to various cleaning equipment.
  • the cleaning equipment may include: a body and a display arranged on the body.
  • the display is electrically connected to the processing system to display relevant status information of the cleaning equipment during use; wherein, the relevant status information of the cleaning equipment during use includes at least one of the following: (1) Capacity information of the recycling bin ; (2) Liquid level information of the solution tank; (3) Information on the cleanliness of the cleaning object by the cleaning component; (4) Power information of the power supply unit; (5) Self-cleaning information of the cleaning equipment; (6) Power information of the main motor ; (7) The stall information of the cleaning component; (8) The working status information of the communication component.
  • the capacity information of the recycle bin may be: the used capacity of the recycle bin, or the remaining usable capacity of the recycle bin.
  • the capacity information of the recycle bin may also be the liquid level information of the recycle bin.
  • the liquid level information of the solution tank, and the capacity information of the recovery tank refer to the relevant content of the foregoing embodiment, which will not be repeated here.
  • a hand-held vacuum cleaner includes: an air inlet located on the front side of the hand-held vacuum cleaner, a handle located on the rear side of the hand-held vacuum cleaner, a body located between the air inlet and the handle, and a cyclone separator located inside the body.
  • the handheld vacuum cleaner also includes a body and a display located on the body.
  • the display is electrically connected to the processing system to display relevant status information of the handheld vacuum cleaner during use; wherein, the relevant status information of the cleaning device during use includes at least one of the following: (1) The capacity of the recycling bin Information; (2) Liquid level information of the solution tank; (3) Information on the degree of cleanliness of the cleaning component to the cleaning object; (4) Power information of the power supply unit; (5) Self-cleaning information of the handheld vacuum cleaner; (6) Main motor Power information; (7) Stalled rotor information of ground brush; (8) Working status information of communication components.
  • the display is arranged above the cyclone separator and arranged on the outside of the fuselage to facilitate the user to obtain the display information of the display.
  • each display area is composed of multiple LEDs.
  • the first display area is the dust bin icon showing the capacity information of the recycling bin, which can display the capacity information of the recycling bin of the handheld vacuum cleaner. If the recycling bin is full, the light in the first display area is on or flashing, indicating that the capacity of the recycling bin has reached a predetermined range. Need to clean the recycle bin.
  • the second display area is a circular arc showing the color and brightness of the floor cleaning information of the floor brush, which can display the cleanliness information.
  • the processing system displays the cleanliness of the cleaning object through the second display area to represent The degree of cleanliness of the floor by the handheld vacuum cleaner, the more blue arcs, the cleaner the floor, and the more red arcs, the dirtier the floor.
  • the third display area is a number showing the power information of the power supply unit, which displays the current battery power percentage in real time. As the battery power decreases, the battery power percentage number gradually decreases until it decreases from 100 to 0.
  • the fourth display area is an icon displaying self-cleaning information.
  • the self-cleaning icon lights up or flashes; when the handheld vacuum cleaner needs to perform self-cleaning, the self-cleaning icon lights up or flashes; self-cleaning Icon to indicate the vacuum cleaner is in need of self-cleaning reminder or in the state of self-cleaning.
  • the fifth display area is a square icon showing the power of the motor. All or part of the square icon is in a lighted state, indicating different motor powers of the handheld vacuum cleaner. When the handheld vacuum cleaner is in the highest power state, all the square icons are in the lighted state, and when the motor power is in a certain gear in the middle, the square icon part is in the lighted state. In the fifth display area, the number of lights on the square icon represents the different motor power levels of the handheld vacuum cleaner.
  • the sixth display area is an icon that shows the ground brush is blocked.
  • the floor brush locked-rotor icon in the sixth display area is lit or flashing, indicating that the floor brush has a locked-rotor fault message.
  • the seventh display area is an icon showing the working status of the communication module.
  • the icon in the seventh display area is in the lighted state or flashing state, indicating that the communication component of the handheld vacuum cleaner is in The status of successful network configuration.
  • the display of the handheld vacuum cleaner contains the above seven display areas, of course, it is not limited to this.
  • the display of the handheld vacuum cleaner can also have other display areas to characterize the working status information of the vacuum cleaner, such as: date and time, brand , User name, fault, historical cumulative working time, battery charging times, self-cleaning times and other information.
  • a sweeping robot includes a fuselage, a moving part at the bottom of the fuselage and a display on the top of the fuselage, wherein the display is electrically connected with a processing system built into the fuselage to display relevant status information of the handheld vacuum cleaner during use
  • the relevant status information of the cleaning equipment during use includes at least one of the following: (1) information on the capacity of the recycling bin; (2) information on the degree of cleanliness of the cleaning object by the floor brush; (3) battery power information; (4) Self-cleaning information of the sweeping robot; (5) Main motor power information; (6) Blocking information of the floor brush; (7) Working status information of the communication component.
  • the display is arranged on the outer surface of the top of the fuselage, which is convenient for the user to obtain the working status information of the sweeping robot in time.
  • each display area is composed of multiple LEDs.
  • the first display area represents the capacity information of the recycling bin
  • the second display area represents the cleanliness information of the floor brush
  • the third display area represents the remaining battery capacity information
  • the fourth display area represents the self-cleaning information of the sweeping robot
  • the fifth display area represents the power information of the main motor
  • the sixth display area represents the locked-rotor information of the floor brush
  • the seventh display area represents the information about the network connection status of the sweeping robot.
  • the display of the cleaning robot includes the above seven display areas, of course, it is not limited to this.
  • the display of the cleaning robot can also have other display areas to represent the working status information of the vacuum cleaner, such as: date and time, brand, user Name, fault, map of the area to be cleaned of the object to be cleaned, map of the cleaned area of the object to be cleaned, historical cleaning map, historical cleaning times, historical cumulative working time, battery charging times, self-cleaning times and other information.
  • the embodiments of the present application also provide information display methods.
  • An example description is given below in conjunction with the figure.
  • FIG. 8 is a schematic flowchart of an information display method provided by an embodiment of this application. As shown in Figure 8, the method includes:
  • the cleaning device can be a handheld vacuum cleaner, a window cleaning robot, a floor cleaning robot (dry sweeping or wet and dry), a wall cleaning robot, etc., but it is not limited thereto.
  • the cleaning device is a hand-held vacuum cleaner, the setting position, shape and implementation form of the display can be referred to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the working status information of at least one component includes at least one of the following: (1) the capacity information of the recovery tank; (2) the liquid level information of the solution tank; (3) the degree of cleanliness of the cleaning object by the cleaning component Information; (4) Power information of the power supply unit; (5) Self-cleaning information of the cleaning equipment; (6) Power information of the main motor; (7) Stall information of the cleaning component; (8) Working status information of the communication component.
  • the capacity information of the recycle bin may also be the liquid level information of the recycle bin.
  • this embodiment can provide a method for displaying information on the washing machine. Firstly, the working status information of at least one component on the washing machine is acquired, and secondly, the working status information of at least one component is displayed on the display of the washing machine. .
  • the working status information of multiple components includes at least one of the following: (1) information about the capacity of the recycling bin; (2) information about the degree of cleanliness of the floor brush to the cleaning object; (3) information about the battery power; (4) information about the cleaning machine Self-cleaning information; (5) Main motor power information; (6) Blocking information of ground brush; (7) Working status information of communication components.
  • the working status information of the washing machine is displayed to the user so that the user can know the working status and use status of the washing machine in time.
  • the cleaning device is a handheld vacuum cleaner, so this embodiment can provide an information display method on the handheld vacuum cleaner.
  • First obtain the working status information of at least one component on the handheld vacuum cleaner, and secondly display at least The working status information of a component.
  • the working status information of multiple components includes at least one of the following: (1) the capacity information of the dust tank; (2) the liquid level information of the solution tank; (3) the cleanliness information of the floor brush to the cleaning object; (4) the battery (5) Self-cleaning information of the handheld vacuum cleaner; (6) Main motor power information; (7) Blocking information of the floor brush; (8) Working status information of the communication components.
  • the working status information of the handheld vacuum cleaner is displayed to the user, so that the user can know the working status and use status of the washing machine in time.
  • the floor brush is a cleaning component of a hand-held vacuum cleaner, also called a cleaning brush.
  • a display is added to the cleaning equipment to display the working status information of at least one component on the cleaning equipment, so that the working status of the cleaning equipment can be displayed intuitively.
  • the user can intuitively understand the working status of the components on the cleaning device, which helps to improve the user experience.
  • the display includes at least one display area for displaying working status information of different components.
  • the at least one display area includes: a first display area formed by a plurality of first display tubes.
  • the first display tube can be an LED, an OLED, or a thin-film LED, etc., but is not limited thereto.
  • an optional implementation manner of step 801 is: controlling the first display area to display information about the degree of cleanliness of the cleaning object by the cleaning component.
  • the colors of the plurality of first display tubes are different.
  • the processing system controls the first display area to display information about the degree of cleanliness of the cleaning object by the cleaning component
  • the multiple first display tubes can be controlled to have different colors, and under the control of the processing system, combinations of different colors, brightness and shapes can be displayed.
  • the combination of different colors, brightness, and shapes represents the different cleaning degrees of the cleaning components to the cleaning objects.
  • the combination of different colors, brightness, and shapes please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the dirty liquid flows from the suction nozzle on the cleaning component through the suction channel to the recovery barrel to form a circulation path of the dirty liquid, and a cleanliness detection device is provided to detect the cleanliness of the cleaning object by the cleaning component.
  • the cleanliness detection device is partially or completely arranged on the circulation path of the dirty liquid.
  • the cleanliness detection device can detect the physical property value of the dirty liquid, and provide the physical property value of the dirty liquid to the processing system.
  • the processing system can determine the degree of cleanliness of the cleaning object according to the physical property value of the dirty liquid.
  • some sensors for sensing the behavior characteristics may also be provided.
  • a pressure sensor can be provided on the handle of the cleaning device.
  • the processing system can determine the degree of cleanliness of the cleaning object by the cleaning component according to the pressure value borne by the handle.
  • an acceleration sensor can be installed on the cleaning device.
  • the acceleration sensor can detect the acceleration information of the cleaning device during use, and provide the detected acceleration information to the processing system.
  • the processing system can determine the frequency of changes in the operating direction of the cleaning equipment based on the acceleration information.
  • the processing system can control the plurality of first display tubes to display the rate of change of the working direction.
  • the frequency of the change of the working direction represents the degree of cleanliness of the cleaning object by the cleaning component.
  • the processing system can also adjust the working state of the cleaning equipment according to the frequency of the working direction of the cleaning equipment.
  • the processing system can adjust the power of the main motor of the cleaning device, the motor of the water pump, and the motor of the cleaning component according to the frequency of the change of the working direction of the cleaning device to a power adapted to the frequency of the change of the working direction of the cleaning device, and so on.
  • the processing system can adjust the working state of the cleaning equipment according to the degree of cleanliness of the cleaning object.
  • the processing system 14 may adjust the power of the water pump of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system can preset the correspondence between the cleanliness level and the power of the water pump, and based on the correspondence, the processing system can determine the power of the water pump according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the water pump, and the smaller the water output of the cleaning equipment, indicating that the cleaning object is cleaner.
  • the processing system may also adjust the power of the main motor and/or the cleaning component motor of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system can preset the corresponding relationship between the cleanliness level and the power of the main motor and/or the cleaning component motor. Based on the corresponding relationship, the processing system can determine the main motor and/or cleanliness level according to the cleanliness level of the cleaning object The power of the component motor. Preferably, the higher the cleaning level, the lower the power of the main motor and/or the cleaning component motor, and the lower the water absorption capacity of the cleaning device, indicating that the cleaning object is cleaner.
  • the main motor sucks the dirty liquid from the suction nozzle 13a on the cleaning component of the cleaning device and sends it into the recycling bucket of the cleaning device through the suction channel on the cleaning device.
  • the cleaning component motor drives the cleaning component. Perform cleaning operations on the cleaning objects.
  • the processing system may also adjust the task execution time of the cleaning device to a time suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system can preset the correspondence between the cleanliness level and the cleaning time, and based on the correspondence, the processing system can determine the cleaning time according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the main motor and/or the cleaning component motor, and the shorter the cleaning time, indicating that the cleaning object is cleaner.
  • the cleaning device can be controlled to stop working.
  • the cleanliness level of the cleaning object meets the standard may be that the cleanliness level of the cleaning object is the highest cleanness level.
  • the processing system may control the water pump, the main motor and/or the motor of the cleaning component to stop rotating, and so on.
  • the processing system when it adjusts the working state of the cleaning equipment, it can determine the signal parameter according to the cleanliness of the cleaning object; and input the first PWM signal with the signal parameter to the water pump drive circuit to control the pump output to meet the cleaning requirements.
  • the signal parameters include: the frequency and duty cycle of the first PWM signal.
  • the display can also display liquid level information of the liquid storage device of the cleaning equipment.
  • the at least one display area further includes: a third display area.
  • the third display area is used to display the liquid level information of the liquid storage device of the cleaning equipment.
  • the liquid storage device is a solution barrel and/or a recovery barrel.
  • the liquid level information of the liquid storage device may be: the liquid level value of the liquid storage device, or the liquid level state in the liquid storage device.
  • the liquid level state in the liquid storage device refers to whether the liquid storage device is in a full liquid level state or in a liquid shortage state.
  • the liquid storage device includes: solution tank and recovery tank.
  • the at least one second indicator light includes: a first type indicator light and a second type indicator light.
  • the processing system controls the first type of indicator light to light up or flash to remind the user that the solution tank is in a state of lack of liquid; and
  • the second type indicator light is controlled to light up or flash to remind the user that the recovery bucket is at a full liquid level.
  • the first liquid level threshold refers to the lowest liquid level of the clean liquid in the solution tank.
  • the second liquid level threshold refers to The highest level of dirty liquid that can be contained in the recovery bucket. If the clean liquid in the recovery bucket is higher than this level, it means that the recovery bucket is at a full level.
  • the first liquid level threshold is smaller than the second liquid level threshold. Further, the second liquid threshold is less than or equal to the height of the recovery barrel.
  • the processing system can also calculate the liquid level state of the liquid level storage device according to the liquid level information of the liquid in the liquid level storage device.
  • the processing system can also obtain the liquid level information of the liquid in the liquid level storage device.
  • a transition solution tank can also be provided between the solution tank and the nozzle.
  • the transition solution tank is referred to as the transition tank for short; and the solution tank and the transition tank are referred to as the transition tank.
  • the water outlet pipe in the middle is defined as the first water outlet pipe, and the water outlet pipe between the transition barrel and the nozzle is defined as the second water outlet pipe.
  • the clean liquid in the solution tank flows into the transition tank through the first water outlet pipe, and then is sent to the nozzle through the second water outlet pipe for the nozzle to spray onto the cleaning object.
  • the second conductive body group is arranged on the circulation path of the clean liquid.
  • the liquid storage device can also be a transition barrel.
  • the liquid level state in the transition tank can reflect the liquid level state of the solution tank. That is, if the transition barrel is in a liquid-deficient state, the reaction solution barrel is also in a liquid-deficient state.
  • the processing system can determine the state of the liquid level in the recovery bucket according to the current of the main motor.
  • the processing system may calculate the current flowing through the main motor based on the voltage across the sampling resistor; and determine the liquid level state in the recovery bucket based on the current flowing through the main motor.
  • the processing system can determine the main motor corresponding to the current voltage of the power supply unit according to the current voltage of the power supply unit and the preset correspondence between the voltage of the power supply unit and the current threshold of the main motor. Motor current threshold; if the current flowing through the main motor is less than the main motor current threshold corresponding to the current voltage of the power supply unit, it is determined that the liquid level status in the recovery bucket is full.
  • the processing system can also calculate the rotation speed of the main motor according to the frequency of the voltage change of the sampling resistor; and determine the liquid level state in the recovery bucket according to the rotation speed of the main motor and the current power of the main motor.
  • the processing system can also determine whether the rotation speed of the main motor during a certain period of time running at the current power is greater than the rotation speed threshold corresponding to the current power; if the determination result is yes, it is determined that the liquid level state in the recovery bucket is full.
  • an embodiment of the present application also provides a computer-readable storage medium storing computer instructions, which when the computer instructions are executed by one or more processors, cause the one or more processors to execute the foregoing information display The steps in the method.
  • execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 801 and 802 may be device A; for another example, the execution subject of step 801 may be device A, and the execution subject of step 802 may be device B; and so on.
  • the liquid level detection of the liquid storage device on the cleaning equipment is mainly realized by a mechanical float.
  • the buoyancy of the liquid on the float is also different, that is, the float can be moved to different positions by the thrust that changes with the height of the liquid. Therefore, the liquid can be detected by detecting the position of the float.
  • the liquid level in the storage device is very susceptible to the influence of liquid level stability, resulting in poor reliability of liquid level detection results. For example, when the airflow in the liquid storage device is complicated or the user pushes and pulls back and forth with a cleaning device, the liquid level in the liquid storage device will be unstable. This situation is likely to cause the mechanical float to move in advance, which will result in the liquid level detection result. Too big.
  • the cleaning equipment includes: a liquid storage device, a non-contact liquid detection device to control the device; wherein the non-contact liquid detection device is arranged on the outside of the liquid storage device, and can detect without contacting the liquid in the liquid storage device Liquid level information in the liquid storage device; the control device is electrically connected to the liquid detection device, and is used to calculate the liquid storage state of the liquid storage device according to the liquid level information, and output a control command corresponding to the liquid storage state.
  • the non-contact liquid detection device is used to detect the liquid level information in the liquid storage device.
  • the non-contact liquid detection device does not need to be in contact with the liquid to achieve liquid level detection, which effectively reduces the instability of the liquid level.
  • the influence of nature on the liquid level detection result is beneficial to improve the reliability of the liquid level detection result.
  • Fig. 9a is a schematic structural diagram of a cleaning device provided by an embodiment of the application.
  • the cleaning equipment includes: a liquid storage device 91, a non-contact liquid detection device 92, and a control device 93.
  • the non-contact liquid detection device 92 is disposed outside the liquid storage device 91, and can detect the liquid level information of the liquid in the liquid storage device 91 without contacting the liquid in the liquid storage device 91.
  • control device 93 is electrically connected to the non-contact liquid detection device 92, and is used to calculate the liquid storage state of the liquid storage device 91 according to the liquid level information, and output a control command corresponding to the liquid storage state.
  • control device 93 can output a control instruction corresponding to the liquid storage state to other devices on the cleaning equipment, so as to control the other devices according to the liquid storage state.
  • control device 93 may use various application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), a micro central control element, a microprocessor or other electronic elements are implemented, which is not limited in this embodiment.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing equipment
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • micro central control element a microprocessor or other electronic elements are implemented, which is not limited in this embodiment.
  • the cleaning device may be a washing machine that cleans the floor, wall, ceiling, glass, motor vehicle, etc., a water-washing vacuum cleaner, other washing machines, dishwashers, and other cleaning devices, but it is not limited to this.
  • the liquid storage device 91 may be a solution tank of a cleaning device for storing cleaning agent and/or clean water; it may also be a recycling tank of a cleaning device for storing recycled waste liquid, sewage, and the like.
  • the liquid may be any one of clean water, a mixed liquid of clean water and cleaning agent, wastewater, sewage, and the like.
  • a non-contact liquid detection device is used to detect the liquid level information in the liquid storage device.
  • the non-contact liquid detection device does not need to be in contact with the liquid to achieve liquid level detection, which effectively reduces the liquid level.
  • the influence of instability on the liquid level detection result is beneficial to improve the reliability of the liquid level detection result.
  • the non-contact liquid detection device 92 may include at least one liquid level detection sensor 921 disposed on the outside of the liquid storage device 91.
  • the liquid level detection sensor 921 includes a component (such as a capacitor). Far away or close (non-contact), the physical properties of the component (such as a capacitor) will change.
  • the liquid level detection sensor 921 can detect the change of the liquid level by using the principle that the physical properties of the component will change when the liquid moves away or approaches.
  • Each liquid level detection sensor 921 can sense the change of the liquid level in the liquid storage device 91, and convert the sensed change of the liquid level into an electrical signal and then output it to the control device 93 so that the control device 93 can respond to the electrical signal
  • the liquid storage state of the liquid storage device 91 is calculated.
  • the above-mentioned at least one liquid level detection sensor 921 is disposed on the outer wall of the liquid storage device 91 to sense the change of the liquid level in the liquid storage device 91.
  • the cleaning device further includes a body 94, and the side wall of the body 94 is close to the outer wall of the liquid storage device 91.
  • the body 94 of the cleaning equipment usually wraps the bottom surface and part or all of the side surfaces of the liquid storage device 91 for fixing or supporting the liquid storage device 91.
  • the side wall of the body 94 may be close to the liquid storage device 91, or may maintain a small air gap with the liquid storage device 91, which is not limited in this embodiment.
  • at least one liquid level detection sensor 921 may be provided on the side wall of the body 94 of the cleaning device.
  • at least one liquid level detection sensor 921 may also be arranged on the outer wall of the liquid storage device 91.
  • part of the liquid level detection sensor 921 is arranged on the side wall of the body 94 of the cleaning device, and part of the liquid level detection sensor 921 is arranged on the outer wall of the liquid storage device 91.
  • the at least one liquid level detection sensor 921 may be disposed on the outer wall S1 of the liquid storage device 91, as shown in FIG. 9a.
  • the at least one liquid level detection sensor 921 may be arranged on the outer wall S2 of the side wall of the body of the cleaning device, as shown in FIG. 9b.
  • the at least one liquid level detection sensor 921 may be disposed on the inner wall S3 of the side wall of the body, as shown in FIG. 9c.
  • At least one liquid level detection sensor 921 may be respectively disposed on multiple walls in S1, S2, and S3.
  • a part of the at least one liquid level detection sensor 921 is arranged on the outer wall S2 of the side wall of the machine body, and the other part is arranged on the inner wall S3 of the side wall of the machine body, which is not shown in the figure.
  • at least one liquid level detection sensor 921 may be preferably arranged on S1, or all on S2 or all on S3, At this time, each liquid level detection sensor 921 has the same detection condition.
  • FIGS. 9a, 9b, and 9c are used for exemplary description, and do not limit other optional placement positions.
  • the location of the at least one liquid level detection sensor 921 can be flexibly set according to actual needs.
  • At least one liquid level detection sensor 921 may be grouped, and each liquid level detection sensor group is dispersedly arranged in the liquid level storage unit by grouping.
  • the liquid level information in the liquid storage device 91 can be comprehensively detected from multiple directions.
  • the at least one liquid level detection sensor 921 may be divided into at least one liquid level detection sensor group.
  • the at least one liquid level detection sensor group may be dispersedly arranged on the outer wall of the liquid storage device 91 in at least one direction, or may be dispersedly arranged on the side wall of the body of the cleaning device in at least one direction.
  • the at least one direction includes: at least one of a front direction, a rear direction, a left direction, and a right direction.
  • the liquid storage device 91 is designed to follow the movement of the entire cleaning device. Therefore, the liquid storage device 91 and the cleaning device can be defined in the same direction.
  • the front direction refers to the direction that is consistent with the direction in which the user pushes the cleaning device forward when the user uses the cleaning device to push and pull the cleaning device;
  • the rear direction refers to the direction that the user returns to the user when the cleaning device is used.
  • the direction in which the cleaning device is pulled is the same direction;
  • the left direction and the right direction refer to the two directions perpendicular to the direction in which the user pushes the cleaning device out or pulls back the cleaning device, and is relative to the user.
  • the liquid storage device 91 is implemented as a solution bucket or a recovery bucket on the cleaning device.
  • the front direction of the cleaning device and the liquid storage device 91 is consistent with the front of the user, and the rear direction is consistent with the rear of the user.
  • the left direction is consistent with the user's left hand direction, and the right direction is consistent with the user's right hand direction.
  • the at least one liquid level detection sensor group may include the following optional setting modes:
  • Manner a1 at least one liquid level detection sensor group is arranged on the outer wall of the front side of the liquid storage device 91, as shown in FIG. 10a.
  • At least one liquid level detection sensor group is arranged on the outer wall of the rear side of the liquid storage device 91, as shown in FIG. 10b.
  • part of the liquid level detection sensor group is arranged on the outer wall of the front side of the liquid storage device 91, part of the liquid level detection sensor group is arranged on the outer wall of the rear side of the liquid storage device 91, and part of the liquid level detection sensor group is arranged on the liquid storage device 91 on the outer wall on the left side, as shown in Figure 10d.
  • Method a5 part of the liquid level detection sensor group is arranged on the outer wall of the front side of the liquid storage device 91, part of the liquid level detection sensor group is arranged on the outer wall of the rear side of the liquid storage device 91, and part of the liquid level detection sensor group is arranged on the liquid storage device 91 on the outer wall on the right side, as shown in Figure 10e.
  • part of the liquid level detection sensor group is arranged on the outer wall of the front side of the liquid storage device 91, part of the liquid level detection sensor group is arranged on the outer wall of the rear side of the liquid storage device 91, and part of the liquid level detection sensor group is arranged on the liquid storage device On the outer wall on the left side of 91, part of the liquid level detection sensor group is arranged on the outer wall on the right side of the liquid storage device 91, as shown in FIG. 10f.
  • the at least one liquid level detection sensor group may include the following optional setting modes:
  • Manner b1 at least one liquid level detection sensor group is arranged on the front outer wall (or inner wall) of the side wall of the body of the cleaning device.
  • At least one liquid level detection sensor group is arranged on the rear outer wall (or inner wall) of the side wall of the body of the cleaning device.
  • Part of the liquid level detection sensor group is arranged on the front outer wall (or inner wall) of the side wall of the cleaning device, and part of the liquid level detection sensor group is arranged on the rear outer wall (or inner wall) of the side wall of the cleaning device. on.
  • Mode b4 Part of the liquid level detection sensor group is arranged on the front outer wall (or inner wall) of the side wall of the cleaning device, and part of the liquid level detection sensor group is arranged on the rear outer wall (or inner wall) of the side wall of the cleaning device. Above, part of the liquid level detection sensor group is arranged on the left outer wall (or inner wall) of the side wall of the body of the cleaning device.
  • Mode b5 part of the liquid level detection sensor group is arranged on the front outer wall (or inner wall) of the side wall of the cleaning equipment body, and part of the liquid level detection sensor group is arranged on the rear outer wall (or inner wall) of the side wall of the cleaning equipment body ), part of the liquid level detection sensor group is arranged on the right outer wall (or inner wall) of the side wall of the body of the cleaning device.
  • part of the liquid level detection sensor group is arranged on the front outer wall (or inner wall) of the side wall of the cleaning equipment body, and part of the liquid level detection sensor group is arranged on the rear outer wall (or inner wall) of the side wall of the cleaning equipment body ), part of the liquid level detection sensor group is arranged on the left outer wall (or inner wall) of the side wall of the cleaning equipment body, and part of the liquid level detection sensor group is arranged on the right outer wall (or inner wall) of the side wall of the cleaning equipment body )on.
  • the setting modes of the above-mentioned multiple optional liquid level detection sensor groups are no longer illustrated.
  • the outer wall described in each method can be replaced with the inner wall described in parentheses, and the repeated enumeration will not be repeated here.
  • each liquid level detection sensor group can be arranged in the liquid storage along the height direction of the liquid storage device 91.
  • the outer wall of the device 91 or the side wall of the body of the cleaning device For example, as shown in Figures 11a and 11b, when the liquid storage device 91 is implemented as a cylindrical device, at least one liquid level detection sensor group can be arranged on the outer wall of the liquid storage device 91 along the direction of the generatrix of the liquid storage device 91 .
  • the arrangement heights between different liquid level detection sensor groups may be the same or different, which is not limited in this embodiment.
  • each liquid level detection sensor 921 may be implemented as a capacitive, resistive, photoelectric or electromagnetic sensor, and this embodiment includes but is not limited to this.
  • the liquid level detection sensor 921 is implemented as a capacitive sensor as an example for illustrative description.
  • each of the level detection sensor group may include a capacitive sensor, the capacitive sensor has a large detection range, can be perceived level changes continuously.
  • the arrangement of the capacitive sensor can be implemented as one of the following arrangement so that the detection range of the capacitive sensor covers at least one of the upper storage limit position and the lower storage limit position of the liquid storage device 91:
  • the detection range of the capacitance sensor may cover the upper storage limit position of the liquid storage device 91.
  • the capacitance sensor may be arranged on the outer wall of the liquid storage device 91 at a position corresponding to the upper storage limit.
  • the capacitance sensor may be arranged on the side wall of the body of the cleaning device at a position corresponding to the upper limit of storage of the liquid storage device 91.
  • the capacitive sensor can sense whether the liquid in the liquid storage device 91 has reached the upper storage limit position, so as to avoid liquid overflow.
  • the detection range of the capacitance sensor covers the storage lower limit position of the liquid storage device 91.
  • the capacitance sensor may be disposed on the outer wall of the liquid storage device 91 at a position corresponding to the storage lower limit.
  • the capacitance sensor may be arranged on the side wall of the body of the cleaning equipment at a position corresponding to the lower storage limit of the liquid storage device 91.
  • the capacitive sensor can sense whether the liquid in the liquid storage device 91 is close to the storage lower limit position, so as to prompt to replenish the liquid.
  • the detection range of the capacitance sensor covers the upper storage limit position and the storage lower limit position of the liquid storage device 91.
  • a capacitance sensor whose measurement range is larger than the distance difference between the upper storage limit and the lower storage limit of the liquid storage device 91 can be selected.
  • the capacitance sensor is arranged on the outer wall of the liquid storage device 91, the starting end of the measurement range of the capacitance sensor can correspond to the storage lower limit position or lower than the storage lower limit position, and the end of the measurement range can correspond to the storage upper limit position or higher than the storage limit position.
  • the upper limit position is shown in Figure 11a.
  • the capacitive sensor can sense whether the liquid in the liquid storage device 91 is close to the lower storage limit position, or whether the liquid in the liquid storage device 91 is close to the upper storage limit position.
  • each of the level detection sensor group may include a plurality of capacitive sensors.
  • the multiple capacitive sensors can be implemented as a capacitive sensor with a small detection range or a single-point capacitive sensor.
  • the number of capacitance sensors included in each liquid level detection sensor group is small, point liquid level measurement can be realized.
  • each liquid level detection sensor group includes a large number of capacitive sensors closely arranged, continuous liquid level measurement can be realized.
  • the setting method of multiple capacitive sensors can be implemented as one of the following:
  • the detection range of at least one capacitance sensor may cover the upper storage limit position of the liquid storage device 91.
  • one or more capacitance sensors are provided on the outer wall of the liquid storage device 91 at positions corresponding to the upper storage limit.
  • one or more capacitive sensors are arranged on the side wall of the body of the cleaning equipment at a position corresponding to the upper limit of the storage of the liquid storage device 91.
  • the one or more capacitive sensors can sense whether the liquid in the liquid storage device 91 has reached the upper storage limit position, so as to avoid liquid overflow.
  • the detection range of at least one capacitance sensor may cover the storage lower limit position of the liquid storage device 91.
  • one or more capacitance sensors are arranged on the outer wall of the liquid storage device 91 at positions corresponding to the lower limit of the storage.
  • one or more capacitive sensors are arranged on the side wall of the body of the cleaning equipment at positions corresponding to the lower storage limit of the liquid storage device 91.
  • the capacitive sensor can sense whether the liquid in the liquid storage device 91 is close to the storage lower limit position, so as to prompt to replenish the liquid.
  • the detection range of at least one capacitance sensor may cover the upper storage limit position of the liquid storage device 91, and at least one capacitance sensor may cover the lower storage limit position of the liquid storage device 91.
  • a capacitance sensor can be arranged on the outer wall of the liquid storage device 91 at a position corresponding to the lower storage limit, and a capacitance sensor can be arranged on the outer wall of the liquid storage device 91 at a position corresponding to the upper storage limit.
  • the capacitive sensor can sense whether the liquid in the liquid storage device 91 is close to the lower storage limit position, or whether the liquid in the liquid storage device 91 is close to the upper storage limit position.
  • each capacitance sensor can be realized as a self-capacitance composed of a metal foil, which can be attached to the outer wall of the liquid level storage device 91 or the cleaning device.
  • the structure On the side wall of the machine body, the structure is simple and the cost is low.
  • the parasitic capacitance When there is no liquid approaching, there is a small parasitic capacitance between the metal foil and the ground. When the liquid is close to the pin, the parasitic capacitance will change, and the height of the liquid level can be detected according to the change of the parasitic capacitance.
  • other types of capacitance sensors may also be used, which is not limited in this embodiment.
  • control device 93 can calculate the liquid storage state of the liquid storage device 91 according to the liquid level information detected by the non-contact liquid detection device 92, which will be further described below in conjunction with the drawings.
  • control device 93 can calculate the liquid level position and the liquid level of the liquid in the liquid storage device 91 according to the electrical signal output by the at least one liquid level detection sensor group 921 in the non-contact liquid detection device 92. At least one of the volume and the tilt angle of the liquid surface.
  • At least one liquid level detection sensor group can detect the liquid level on the front side of the liquid storage device 91; for the methods a2 and b2 described in the foregoing embodiment, at least one liquid level The position detection sensor group can detect the liquid level on the rear side of the liquid storage device 91.
  • the control device 93 can roughly estimate the position of the liquid level based on the liquid level in one direction, and estimate the liquid volume in the liquid storage device 91.
  • a liquid level detection sensor group P 1 is provided on the outer wall of the front side of the liquid storage device 91.
  • the plurality of liquid level detection sensor groups can detect more The liquid level in one (ie: two or more) directions. Based on this, the control device 93 can more accurately determine the location of the liquid level through the liquid level in multiple directions, and more accurately calculate the liquid volume and the liquid level inclination angle in the liquid storage device 91.
  • the control device 93 can more accurately calculate the position of the liquid level, and is beneficial to more accurately calculate the liquid volume.
  • a liquid level detection sensor group P 1 is provided on the outer wall of the liquid storage device 91 on the front side, and a liquid level detection sensor group P 2 is provided on the outer wall of the rear side.
  • the control means 93 receives the P and an electrical signal output from the 1 P 2, according to the capacity corresponding to the magnitude of the electrical signal, determining the level of the front side of the liquid storage means 91 is x 1, x 2 is a rear level .
  • the cross-sectional diameter of the effective volume, d 2R.
  • the position of the liquid level can be determined according to the liquid level in more than two directions.
  • At least one liquid level detection sensor group can output the liquid level in one direction. If the liquid storage device 91 is tilted, the control device 93 cannot accurately calculate the position of the liquid surface, the tilt angle of the liquid surface, and the more accurate liquid volume based on the liquid level in one direction.
  • the non-contact liquid detection device 92 provided in the embodiment of the present application further includes: at least one angle sensor 922.
  • the at least one angle sensor 922 can be arranged on the outside of the liquid storage device 91 or on the cleaning equipment.
  • Figures 9e and 9e show a schematic diagram of at least one angle sensor 922 disposed on the cleaning device, and this embodiment includes but is not limited to this. Among them, at least one angle sensor 922 is used to detect the tilt angle of the liquid storage device 91 and output the detected tilt angle to the control device 93 for the control device 93 to calculate the liquid storage state in the liquid storage device.
  • control device 93 may calculate according to the electrical signal output by the at least one liquid level detection sensor group 921 in the non-contact liquid detection device 92 and the angle detected by the at least one angle sensor 922 At least one of the position of the liquid surface of the liquid in the liquid storage device 91, the liquid volume, and the inclination angle of the liquid surface.
  • the mode a1 will be taken as an example, and an exemplary description will be given in conjunction with FIG. 12e.
  • the outer wall of the front side of the liquid storage means 91 is mounted has a liquid level detection sensor 12e group P 1, P 1 according to the size of the output capacitor can be determined for detecting the liquid level on the front side direction x 1 .
  • the control device 93 calculates the liquid level according to the multiple liquid levels. After the surface inclination angle, the calculated liquid surface inclination angle can be further corrected according to the angle detected by the at least one angle sensor 922, which will not be repeated here.
  • the cleaning equipment further includes a multimedia output device 95 connected to the control device 93.
  • the multimedia output device 95 is used to output the liquid storage state of the liquid storage device 91 by means of voice broadcast or display according to the control instruction output by the control device 93 corresponding to the liquid storage state of the liquid storage device 91.
  • the user who uses the cleaning device can obtain the storage state of the liquid in the liquid storage device 91 according to the voice content or the display content output by the multimedia output device, which is very convenient.
  • the multimedia output device 95 may include at least one of a display screen, a digital display tube, and an audio device.
  • the display screen and the digital display tube are used to visually remind users, and the audio equipment is used to give voice reminders to users.
  • the display screen may include a liquid crystal display screen, an LED (Light Emitting Diode, light emitting diode) display screen, etc., and this embodiment includes but is not limited thereto.
  • the audio device may include a device that can emit sound, such as a speaker or a buzzer.
  • control device 93 may output a first instruction to the multimedia output device 95 according to the volume of the liquid in the liquid storage device 91, and the first instruction is used to control the multimedia output device 95 to output the liquid storage device.
  • the multimedia output device 95 can display the used capacity and/or remaining capacity of the liquid storage device 91 through a display screen or a digital display tube.
  • the control device 93 may output a second instruction when the volume of the liquid in the liquid storage device 91 reaches the set upper limit threshold V max , and the second instruction is used to control the cut-off of the cleaning device.
  • the upper limit threshold V max can be calculated according to the storage upper limit position of the liquid storage device 91.
  • the power supply of the cleaning equipment or the vacuum source fan can be automatically cut off, effectively preventing the liquid in the liquid storage device 91 from being vacuum sourced. The fan is sucked in, causing liquid to flow out of the fan position on the cleaning device.
  • the control device 93 may The instruction for prompting the user to clean up the liquid is output to the multimedia output device 95, which is not repeated here.
  • control device 93 may output a third instruction when the volume of the liquid in the liquid storage device 91 reaches the set lower threshold V min , and the third instruction is used to control the cutting off of the power supply of the cleaning equipment Power or cut off the power supply of the vacuum source fan of the cleaning equipment.
  • the lower limit threshold V min can be calculated according to the storage lower limit position of the liquid storage device 91. In this embodiment, when the liquid volume is insufficient to reach the minimum capacity value of the liquid storage device 91, the power supply of the cleaning device or the vacuum source fan is automatically cut off, which can prevent the cleaning device from continuously working under the condition of poor cleaning effect.
  • the control device 93 may The instruction for prompting the user to replenish liquid is output to the multimedia output device 95, which will not be repeated here.
  • the liquid storage device 91 is implemented as a recycling bucket on the cleaning equipment shown in Figures 9d-9f.
  • the sewage sucked by the cleaning equipment is stored in the recycling bucket.
  • the air outlet, vacuum source fan, air outlet air duct, and air outlet fan are connected to the outside atmosphere.
  • the recycling bucket of the cleaning equipment is tilted with the tilt of the whole machine, if the tilt angle of the liquid level in the recycling bucket is too large , Due to the strong fluidity of the sewage, the sewage may return to the inlet of the recycling bin or be sucked into the vacuum source fan.
  • control device 93 may output a fourth instruction when the inclination angle of the liquid in the liquid storage device 91 is greater than the set angle threshold ⁇ max.
  • the instruction is used to control the multimedia output device 95 to output an early warning of the risk of liquid level tilt.
  • the multimedia output device 95 can visually remind the user of risks through a display screen or a digital tube. For example, the words "Danger! Do not tilt too far!” are displayed on the display.
  • the multimedia output device 93 may play the risk notification voice through an audio playback device, which will not be repeated here.
  • the control device 93 may output the fifth command The fifth instruction is used to control the power supply of the vacuum source fan of the cleaning equipment to be cut off to protect the cleaning equipment.
  • the control device 93 may also determine whether the cleaning equipment is in use according to the fluctuation of the liquid level position in the liquid storage device 91. For example, if the liquid level position in the liquid storage device 91 continuously fluctuates, it can be considered that the fluctuation is caused by the operation of the cleaning equipment. If the liquid level position in the liquid storage device 91 is continuously at rest for a period of time greater than the second duration threshold, the control device 93 may consider that the cleaning equipment is not in the working state. At this time, the control device 93 may output the sixth instruction, the first Six instructions are used to control the shutdown of cleaning equipment to save energy.
  • the wet cleaning equipment shown in Figure 9d- Figure 9f is mainly composed of a handle, a body, a vacuum source fan, a solution bucket, a recovery bucket, a floor brush and other components.
  • the vacuum source fan can provide vacuum suction for the entire cleaning equipment.
  • the vacuum source fan is turned on.
  • the sewage on the ground will be sucked into the floor brush by the vacuum source fan and enter the recycling bin through the air duct or pipe in the cleaning equipment. .
  • the sewage After passing through the separator in the recycling bucket, the sewage is separated from the air.
  • the sewage is recycled and stored in the recycling bucket, while the clean air is sucked away by the vacuum source fan and discharged through the outlet fan on the cleaning device.
  • the working principle of the cleaning device provided in the embodiment of the present application will be exemplified by taking the liquid storage device 91 as a solution bucket and a recovery bucket of the cleaning device as an example, respectively.
  • the liquid storage device 91 is implemented as a recycling bucket of the cleaning equipment. It is assumed that one capacitive sensor group is installed on the outer wall of the front side of the recycling bucket, and the other capacitive sensor group is installed on the outer wall of the rear side of the recycling bucket. The detection range of each capacitive sensor group covers the upper storage limit position of the recycle bin.
  • the control device 93 can control the vacuum source fan to recover the sewage into the recovery bucket, and receive the electrical signals sent by the two capacitive sensor groups. Then, the received electrical signal is converted into the height information of the liquid level.
  • the control device 93 can output a control instruction to the display screen on the cleaning equipment.
  • the control instruction is used to control the display screen to display the existing liquid in the recycling bucket. Capacity, or remaining storage capacity.
  • the control device 93 may output a control instruction to the audio device.
  • the instruction user controls the audio device to output a prompt message that the recycling bucket is full to prompt the user to clean up the sewage.
  • the control device 93 can control the vacuum source fan to cut off the power supply to prevent the sewage from being sucked out.
  • the liquid storage device 91 is the solution tank of the cleaning equipment. It is assumed that one capacitance sensor group is installed on the outer wall of the front side of the solution tank, and the other capacitance sensor group is installed on the outer wall of the rear side of the solution tank, and two The detection range of the capacitance sensor group covers the lower storage limit position of the solution tank.
  • the control device 93 can control the water pump or switch to pump out the liquid in the solution tank, and receive the electrical signals sent by the two capacitive sensor groups. Then, the received electrical signal is converted into the height information of the liquid level.
  • the control device 93 can output a control instruction to the display screen on the cleaning equipment, and the control instruction is used to control the display screen to display the remaining available liquid in the solution tank Capacity.
  • the control device 93 can output a control instruction to the audio device. The instruction user controls the audio device to output prompt information that the liquid in the solution tank needs to be supplemented to remind The user replenishes the liquid.
  • the control device 93 can control the water pump or switch to enter the off state.
  • the embodiments of the present application also provide a cleaning equipment control method, which will be described below with reference to the accompanying drawings.
  • FIG. 13 is a schematic flowchart of a method for controlling a cleaning device according to an exemplary embodiment of the present application.
  • the cleaning device includes a liquid storage device. As shown in FIG. 13, the method includes:
  • Step 1301 Acquire liquid level information detected by a non-contact liquid detection device arranged outside the liquid storage device.
  • Step 1302 Calculate the liquid storage state of the liquid storage device according to the liquid level information.
  • Step 1303 Perform corresponding control on the cleaning device according to the liquid storage state.
  • the manner of acquiring the liquid level information detected by the non-contact liquid detection device arranged outside the liquid storage device includes at least one of the following: acquiring at least one of the non-contact liquid detection devices An electrical signal output by the liquid level detection sensor following the change of the liquid level; acquiring the angle detected by at least one angle sensor in the non-contact liquid detection device.
  • a method of calculating the liquid storage state of the liquid storage device according to the liquid level information includes: according to the electrical signal output by the at least one liquid level detection sensor following the change of the liquid level position, and The angle detected by the at least one angle sensor calculates at least one of the liquid level position, the liquid volume, and the liquid level inclination angle of the liquid in the liquid storage device.
  • correspondingly controlling the cleaning device according to the liquid storage state includes at least one of the following operations: controlling the multimedia output device of the cleaning device to output the liquid according to the volume of the liquid in the liquid storage device The used capacity and/or remaining capacity of the storage device; when the liquid volume in the liquid storage device reaches the set upper threshold or lower threshold, the power supply of the cleaning equipment is cut off; the liquid volume in the liquid storage device reaches When the upper threshold or lower threshold is set, the power supply of the vacuum source fan of the cleaning device is cut off; when the liquid level inclination angle of the liquid in the liquid storage device is greater than the set angle threshold, the multimedia output device of the cleaning device is controlled Output liquid level inclination risk warning information; when the liquid level inclination angle of the liquid in the liquid storage device is continuously greater than the set angle threshold for a period of time greater than the first duration threshold, the power supply of the vacuum source fan of the cleaning equipment is cut off; When the liquid level position in the liquid storage device is continuously in a static state for a period of time greater
  • the non-contact liquid detection device is used to detect the liquid level information in the liquid storage device.
  • the non-contact liquid detection device does not need to be in contact with the liquid to achieve liquid level detection, which effectively reduces the instability of the liquid level.
  • the influence on the liquid level detection result is beneficial to improve the reliability of the liquid level detection result.
  • the embodiment of the present application also provides a computer-readable storage medium storing a computer program, which can implement the steps in the cleaning device control method provided in the embodiment of the present application when the computer program is executed.
  • the execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 1301 to 1302 may be device A; for another example, the execution subject of steps 1301 and 1302 may be device A, and the execution subject of step 1303 may be device B; and so on.
  • cleaning equipment has been widely used in daily life. People can use cleaning equipment with different functions to complete different cleaning operations, such as using a floor cleaning machine to clean the ground, and using a glass cleaning equipment to clean glass.
  • the cleaning equipment is provided with a water storage bucket, such as a solution bucket, a detergent bucket, or a mixing bucket of both.
  • a water storage bucket such as a solution bucket, a detergent bucket, or a mixing bucket of both.
  • the use status of the cleaning equipment can be monitored by monitoring the liquid level of the water storage bucket, for example, whether the water storage bucket has water or no water.
  • the detection module is placed on the bottom or wall of the water storage bucket, and the purpose of waterless detection is achieved by directly monitoring and measuring the amount of water in the water storage bucket.
  • the detection module The size and setting location are limited, and the water storage bucket is large, and only one detection module may mistransmit information. For example, when the machine is working, the machine is not in an upright state, the liquid level fluctuates greatly, and the liquid level is not stable, which may cause no water in the detection range of the detection module, but there is water in the actual storage bucket, resulting in no water detection device Misidentification.
  • the present invention is proposed to solve the above-mentioned problems or at least partially solve the above-mentioned problems, a cleaning device, a cleaning device control method, and a storage medium.
  • connection herein includes any direct and indirect means of connection. Therefore, if it is described that a first device is connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.
  • the following description of the specification is a preferred embodiment for implementing the present invention, but the description is for the purpose of explaining the general principles of the present invention, and is not intended to limit the scope of the present invention.
  • the protection scope of the present invention shall be subject to those defined by the appended claims.
  • FIG. 14 is a schematic diagram of a cleaning device provided by an embodiment of the present invention
  • FIG. 15a is a schematic diagram of a state of the cleaning device in an upright state according to an embodiment of the present invention.
  • this embodiment provides a cleaning device including: a liquid storage device 141 and a liquid spray device 142.
  • the cleaning device may be a washing machine, a vacuum cleaner, a sweeping robot, a dishwasher, etc., which can clean the ground, wall, ceiling, glass, motor vehicle, etc., but is not limited thereto.
  • the liquid storage device 141 has a liquid containing cavity, and the liquid in the liquid containing cavity may be clean water, a cleaning agent, or a mixed liquid of clean water and cleaning agent.
  • the liquid flow channel 143 is connected between the liquid storage device and the liquid spraying device, that is, the liquid flow channel 143 is used to communicate the liquid containing chamber and the liquid spraying device 142. .
  • the liquid flow channel 143 conveys the liquid in the liquid containing cavity to the liquid spraying device 142, and the liquid spraying device 142 is used for spraying the liquid in the liquid containing cavity.
  • the liquid spray device 142 can spray liquid to the roller brush to soak the roller brush.
  • the liquid spray device 142 can spray liquid to a cleaning unit such as a cloth provided at the bottom of the cleaning robot to soak the cleaning unit.
  • the liquid spray device 142 can also directly spray the cleaning liquid onto the surface to be cleaned, which is not limited in this embodiment.
  • the liquid storage device 141 and the liquid spray device 142 may be connected by a water pipe S, and a liquid flow channel 143 is formed inside the water pipe S.
  • the water pipe S may be a hard pipe that extends according to a predetermined path, or a hose that can change the path, which may be specifically selected according to the type of cleaning equipment and the structural design of the cleaning equipment. For example, when the cleaning equipment is a sweeping robot, the overall shape of the sweeping robot will not change when the sweeping robot is working, and the shape of the water pipe S does not need to be changed, and the water pipe S can be a hard tube or a hose.
  • the hand-held vacuum cleaner When the cleaning equipment is a hand-held vacuum cleaner, the hand-held vacuum cleaner includes a main body and a floor brush, and when the liquid storage device 141 is located on the main body and the liquid spray device 142 is located on the floor brush, the water pipe S connects the liquid storage device 141 and the liquid spray device 142 connection.
  • the water pipe S should be a hose so that it can be easily used. Change the form according to the relative angle and/or relative position of the host and the floor brush.
  • one end of the water pipe S may be connected to the bottom end of the liquid storage device 141, so that the liquid in the liquid storage device 141 can flow smoothly into the liquid flow channel 143 of the water pipe S under the action of gravity, and, As long as there is liquid in the liquid storage device 141, there will be liquid passing through the liquid flow channel 143.
  • the way to drain the liquid in the liquid storage device 141 to the liquid flow channel 143 can also use other power equipment.
  • a water pump can be arranged in the middle of the water pipe S. The liquid in the liquid storage device 141 is sucked into the liquid flow channel 143.
  • a detection module 144 is provided at the liquid flow channel 143, and the detection module 144 is used to detect the liquid in the liquid flow channel 143 to determine whether the liquid flow channel 143 is in a water state or an anhydrous state.
  • the "water” in the anhydrous state and the water state described in the embodiments of the present invention includes: clear water, a cleaning agent, or a mixed liquid of clear water and a cleaning agent.
  • the liquid spray device 142 cannot spray liquid, and the entire cleaning equipment cannot work normally. Only when the user adds liquid to the liquid storage device 141 Only then can work be resumed.
  • the liquid level in the liquid storage device 141 is detected to determine whether the liquid level in the liquid storage device 141 can still enable the liquid spray device 142 to spray liquid.
  • the detection elements for liquid level detection are generally small in size and have limited installation positions, which cannot reliably reflect the liquid level of the liquid storage device 141, which often leads to misidentification.
  • the liquid in the liquid device 141 is still sufficient to cover the detection area of the detection element, but due to the tilt of the machine, the liquid storage device 141 also tilts, causing the liquid to move beyond the effective detection area of the detection element, and the detection element cannot detect the liquid. It may be misjudged that the liquid storage device 141 is in an anhydrous state, which seriously affects the user experience.
  • the user can tilt the cleaning equipment (that is, the central axis of the fuselage and the surface to be cleaned at an acute or obtuse angle) as needed. This will cause the liquid level in the liquid storage device 141 to change.
  • the liquid may accumulate in the front or back corners, but the water outlet of the liquid storage device 141 is generally set in the middle position, so that when the cleaning equipment is tilted, the liquid storage device 141 The liquid cannot enter the liquid flow channel 143.
  • the bottom of the liquid storage device 141 has a first water outlet 141a, a second water outlet 141b, and a third water outlet 141c.
  • the second water outlet 141b is located in the middle of the bottom of the liquid storage device 141.
  • the water outlet 141a and the third water outlet 141c are respectively located at the front and rear sides of the second water outlet 141b.
  • the so-called "front” refers to the forward direction of the cleaning equipment, and “rear” refers to the backward direction of the cleaning equipment.
  • the liquid in the liquid storage device 141 can pass through the first outlet 141a, the second outlet 141b, and the third outlet.
  • One or more of the nozzles 141c flows into the liquid flow channel 143.
  • Fig. 15b is a schematic diagram of a state where the body of the cleaning device according to an embodiment of the present invention is tilted backward; as shown in Fig. 15b, when the cleaning device is tilted backward and the amount of liquid in the liquid storage device 141 is insufficient, a small amount of liquid gathers behind.
  • the first water outlet 141a nor the second water outlet 141b can discharge liquid, but the liquid is discharged to the liquid flow channel 143 through the third water outlet 141c.
  • 15c is a schematic diagram of a state where the body of the cleaning device according to an embodiment of the present invention is tilted forward; as shown in FIG. 15c, when the cleaning device is tilted forward and the amount of liquid in the liquid storage device 141 is insufficient, a small amount of liquid collects At the front corner, neither the second water outlet 141b nor the third water outlet 141c can discharge liquid, but the liquid is discharged to the liquid flow channel 143 through the first water outlet 141a.
  • the three water outlets are distributed in the front, middle and rear three positions of the liquid storage device 141, Therefore, no matter when the cleaning equipment is in any state of tilt or upright, and no matter how violent the liquid in the liquid storage device 141 fluctuates, or how violent the user's operation is, the liquid in the liquid storage device 141 can flow smoothly to the liquid flow.
  • the presence or absence of water in the liquid flow channel 143 can fully reflect the presence or absence of water in the liquid storage device 141.
  • the detection module 144 is provided in the liquid flow channel between the liquid storage device and the liquid spray device. Since the liquid flow channel 143 is in communication with the liquid storage device 141, the detection module 144 detects whether there is water in the liquid flow channel. , And then judge whether the amount of water in the liquid storage device 141 can still meet the spraying requirements. Since the volume of the liquid flow channel 143 is much smaller than that of the liquid storage device 141, its cross-sectional area is much smaller, and the liquid can fill the liquid flow channel 143. When the entire cleaning device is in a non-upright state, the liquid in the liquid flow channel 143 has a relatively small fluctuation range, which helps to ensure that the liquid can always cover the detection area of the detection module 144.
  • the detection module can detect If there is water in the liquid flow channel, it means that the water volume of the liquid storage device 141 can also cause the liquid spray device 142 to spray liquid.
  • the detection module determines that there is no water in the liquid flow channel, it means that the water volume of the liquid storage device 141 can no longer make the liquid spray device.
  • 142 spraying liquid the user needs to add liquid to the liquid storage device 141, the technical solution of this embodiment can effectively avoid the false detection in the prior art, and can reliably reflect whether the liquid in the liquid storage device can still be sprayed The device sprays liquid, so that the user can reliably determine whether the liquid storage device of the cleaning equipment needs to add liquid.
  • the cleaning device further includes a control element 145, and the detection module 144 is electrically connected to the control element 145.
  • the detection module 144 is used to detect the liquid in the liquid flow channel 143
  • the control element 145 is used to control the cleaning equipment according to the status information detected by the detection module 144; wherein, the status information includes the water status and the absence of water. Water state.
  • the detection module 144 can detect the liquid in the liquid flow channel 143
  • the sensing signal of the detection module 144 is transmitted to the control element 145, and the control element 145 obtains a high level, so that the control element 145 can know that the liquid flow channel 143 is in existence. Water state.
  • the sensing signal of the detection module 144 is transmitted to the control element 145, and the control element 145 obtains a low level, so that the control element 145 can know that the liquid flow channel 143 is in no state. Water state.
  • the control element 145 when the detection module 144 can detect the liquid in the liquid flow channel 143, the control element 145 can also obtain a low level, so that the control element 145 can learn that the liquid flow channel 143 is in a water state. When the detection module 144 cannot detect the liquid in the liquid flow channel 143, the control element 145 can also obtain a high level, so that the control element 145 knows that the liquid flow channel 143 is in an anhydrous state.
  • control element 145 may use various application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), a micro central control element, a microprocessor or other electronic elements are implemented, which is not limited in this embodiment.
  • ASIC application specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • micro central control element a microprocessor or other electronic elements are implemented, which is not limited in this embodiment.
  • the control element 145 includes a circuit board 145a and an MCU.
  • the circuit board converts the sensing signal into a high/low level.
  • the MCU determines the state of the liquid flow channel 143 according to the high/low level and controls the cleaning equipment accordingly.
  • the detection module 144 can be integrated on the circuit board 145a, and the circuit board 145a can be closely arranged on the outer wall of the liquid flow channel 143 to ensure the best sensing distance of the detection module 144.
  • the detection module 144 senses the liquid level signal, and the signal is converted into an electric signal by the circuit board 145a, and the electric signal is transmitted to the MCU, and the MCU performs control operations. But it should not be limited to this.
  • the conversion function of the electrical signal can also be integrated on the MCU, that is, the sensing signal can be directly transmitted to the MCU.
  • the detection module 144 and the circuit board 145a may also be provided separately, and the two are electrically connected.
  • the detection module 144 may be a contact detection module or a non-contact detection module.
  • FIG. 22 is a schematic diagram of the installation of a contact detection module provided by an embodiment of the present invention; as shown in FIG. 22, when the detection module 144 is a contact detection module, the circuit board 145a can be fixed to the outer wall of the liquid flow channel 143, and The sensing electrode of the detection module 144 on the circuit board 145 a can extend into the liquid flow channel 143.
  • FIG. 23 is a schematic diagram of the installation of a non-contact detection module provided by an embodiment of the present invention; as shown in FIG. 23, when the detection module 144 is a non-contact detection module, the circuit board 145a together with the detection module 144 can be fixed in the liquid flow On the outer wall of the channel 143, the detection module 144 does not extend into the liquid flow channel 143.
  • the detection module 144 may include a liquid level detection sensor.
  • the liquid level detection sensor reflects the liquid state in the container by detecting the liquid level of the liquid in the container, and specifically includes at least a water state and an anhydrous state.
  • the detection module 144 is a contact type liquid level detection sensor, and the contact type liquid level detection sensor includes a sensing electrode. As shown in FIG. 22, the sensing electrode extends into the liquid flow channel 143 and is used to communicate with the liquid. The liquid in the channel 143 comes into contact with each other. The liquid level in the liquid flow channel 143 is directly measured by the sensing electrode, thereby reflecting the liquid level state of the liquid flow channel, including at least a water state and an anhydrous state.
  • the non-contact detection module can be a non-contact liquid level sensor.
  • the non-contact liquid level sensor is arranged on the outer wall of the liquid flow channel 143.
  • the non-contact liquid level sensor includes a component (such as a capacitor). ), as the liquid moves away or close (non-contact), the physical properties of the component (such as a capacitor) will change.
  • the non-contact liquid level sensor can detect the change of the liquid level by using the principle that the physical properties of the component will change when the liquid is far away or approaching.
  • Each non-contact liquid level sensor can sense the change of the liquid level in the liquid flow channel 143, and transmit the sensing signal to the control element 145.
  • the control element 145 converts the sensing signal into an electric signal and judges the liquid according to the electric signal.
  • the liquid level state of the flow channel 143 indirectly reflects the liquid level state of the liquid storage device 141.
  • the non-contact liquid level sensor is used to detect the liquid level information of the liquid flow channel 143.
  • the non-contact liquid detection device can realize liquid level detection without contact with the liquid, which effectively reduces the instability of the liquid level and the result of the liquid level detection. The influence of this helps to improve the reliability of the liquid level detection results.
  • a specific non-contact liquid level sensor can be a capacitive liquid level sensor.
  • the capacitive liquid level sensor can be realized as a self-capacitance composed of a metal foil.
  • the metal foil can be attached to the outer wall of the liquid flow channel 143.
  • the structure is simple and The cost is lower.
  • the parasitic capacitance will change, and the height of the liquid level can be detected according to the change of the parasitic capacitance.
  • other types of capacitance sensors may also be used, which is not limited in this embodiment.
  • the cleaning equipment may further include: an alarm device 146; the alarm device 146 is electrically connected to the control element 145.
  • the control element 145 is used for controlling the alarm device 146 to issue an alarm signal when it is determined that the liquid flow channel 143 is in an anhydrous state.
  • the alarm device 146 may be located at any position on the cleaning equipment. Specifically, for example, it may prompt the user by voice broadcast, flashing prompt, display screen, or a combination of any of the above methods.
  • a preferred embodiment is to provide a reminder light and a loudspeaker on the cleaning equipment (for example, the liquid storage device 141), and when the control element 145 determines that the liquid flow channel 143 is in an anhydrous state, the reminder light is controlled to flash.
  • the speaker can be controlled to give voice reminders, and the user can add liquid to the liquid storage device 141 according to the above-mentioned alarm information.
  • Fig. 16 is a schematic structural diagram of a detection cavity provided by an embodiment of the present invention
  • Fig. 17 is a side view of the detection cavity of Fig. 16
  • Fig. 18 is a longitudinal sectional view of the detection cavity of Fig. 16; please refer to Fig. 14- Fig. 18, this embodiment further optimizes the cleaning equipment of the present invention on the basis of the first embodiment.
  • the liquid flow channel 143 may have a detection cavity 147.
  • the so-called “detection cavity” is an additional housing provided on the liquid flow channel 143, and a detection cavity for the anhydrous detection module 144 is formed inside the additional housing.
  • the cross-sectional area of the detection cavity 147 is smaller than the cross-sectional area of other positions on the liquid flow channel 143, and the detection module 144 is provided in the detection cavity 147.
  • the detection cavity 147 can be arranged at any position of the liquid flow channel 143, and the liquid 142 in the liquid storage device 141 will pass directly through the detection cavity 147 when being transported to the liquid ejecting device 142.
  • the liquid flow channel 143 can be formed by communicating the inner cavity of the water pipe S between the liquid storage device 141 and the liquid spray device 142 and the inner cavity of the detection cavity 147.
  • the cross-sectional area of the detection cavity 147 is smaller than the cross-sectional area of other positions of the liquid flow channel 143, it is more conducive to fill most of the detection cavity after the water flows in, so that the liquid in the detection cavity 147 has a higher vertical Directional liquid level height.
  • the detection module 144 installed on the bottom or even the side of the detection cavity 147 will not fail to detect due to liquid level fluctuations, which reduces the restriction on the location of the detection module 144, and the detection accuracy better.
  • the cross-sectional area of the detection cavity 147 is larger than the cross-sectional area at other positions of the liquid flow channel 143.
  • the cross-sectional area of the detection cavity 147 is much smaller than the cross-sectional area of the liquid storage device 141, which can also improve the accuracy of anhydrous detection compared to the prior art.
  • the thickness of the detection cavity 147 is 1 mm to 1.5 mm, the length of the detection cavity 147 is 15 mm to 25 mm, and the width of the detection cavity 147 is 5 mm to 15 mm.
  • This size design makes the detection cavity 147 flat. Due to the flat design, the water in the liquid flow channel 143 flows into the detection cavity 147 to better discharge the gas in the detection cavity 147 to avoid bubbles. Etc. affect the detection of the detection module 144, thereby improving the accuracy of the sensing result on the other hand.
  • the flow rate of the water in the detection cavity 147 is slower than that in the water pipe S, thereby giving the detection module 144 sufficient time to perform the detection so that the detection result More accurate and reliable.
  • the detection module 144 can be installed on the bottom wall or side wall of the detection cavity 147, and when installed on the side wall, it can be installed in the middle of the side wall or Lower part.
  • the number of detection modules 144 is not limited to one.
  • multiple detection modules 144 can be provided in the detection cavity, and multiple detection modules 144 can be dispersedly arranged in the detection cavity 147.
  • the detection module 144 can be provided on both the bottom wall and the side wall of the detection cavity 147.
  • the detection cavity 147 in this embodiment may include a straight cavity; and/or, the detection cavity 147 may include a curved cavity curved along the direction of the liquid flow. As shown in FIG. 18 or FIG. 20, the detection cavity 147 is a straight cavity.
  • FIG. 21 is a schematic diagram of another structure of the detection cavity provided by an embodiment of the present invention; the detection cavity in FIG. 21 is a curved cavity.
  • the detection cavity 147 may also be a cavity where a straight cavity portion and a curved cavity portion are joined, which is not limited in this embodiment.
  • the curved cavity has greater resistance to the flow of liquid in the cavity, which is beneficial to slow down the liquid flow rate, so that the detection time of the detection module 144 is more sufficient, and the detection result is more accurate and reliable.
  • both ends of the detection cavity 147 are respectively provided with a water inlet connector 147a and a water outlet connector 147b.
  • the water inlet connector 147a is used for docking with the water pipe S connected to the liquid storage device 141, and the water outlet connector 147b is used for Butt with the water pipe S connected to the spraying device 142.
  • the water inlet connector 147a and the water outlet connector 147b can be integrally formed with the detection cavity 147.
  • the detection cavity 147 may include a water inlet 147c, a main part 147d, and a water outlet 147e.
  • the cross-sectional area of the water inlet 147c gradually decreases from the direction away from the main part 147d to the direction close to the main part 147d, so that a large amount of liquid in the water pipe S can flow into the detection cavity 147 and be slowly filled to the detection chamber.
  • the cross-sectional area of the water outlet 147e gradually increases from the direction close to the main portion 147d to the direction away from the main portion 147d, so that the liquid in the detection cavity 147 can slowly flow out of the detection cavity 147 into the water pipe S. It is further ensured that the flow rate of the liquid in the detection cavity 147 is small, so as to provide the detection module 144 with sufficient detection time.
  • the side of the detection cavity 147 may have an opening, and the opening may be provided with a side
  • the cover 148 and the side cover 148 can be detachably connected with the open end of the detection cavity 147.
  • the detection cavity 147 can be sealed by one side of the side cover 148, and the circuit board 145a can be contained in the other side of the side cover 148 for effective It saves space and protects the circuit board 145a to a certain extent.
  • the side cover 148 can be removed from the opening of the detection cavity 147.
  • the side cover 148 may also be non-detachably connected to the detection cavity 147, for example, integrally formed.
  • the circuit board 145a can be fixed in other positions, and is not limited to being arranged in the side cover 148.
  • FIG. 19 is a schematic diagram of another structure of a detection cavity provided by an embodiment of the present invention.
  • Fig. 20 is a longitudinal cross-sectional view of the detection cavity of Fig. 19; as shown in Figs. 19 and 20, the detection cavity 147 can be integrally formed without the side cover 148. In this case, the circuit board 145a can be fixed in other positions .
  • FIG. 15d is a schematic structural diagram of a cleaning device according to an embodiment of the present invention.
  • the cleaning equipment shown in FIG. 15d may be mainly composed of a handle 1411, a body 1412, a vacuum source fan 1413, a liquid storage device 141 (such as a solution tank), a recovery bucket 1414, a liquid spray device 142, a rolling brush 1415 and other components.
  • the vacuum source fan can provide vacuum suction for the entire cleaning equipment.
  • the vacuum source fan is turned on, and the liquid spray device is turned on. As the user pushes and pulls backwards, the sewage on the ground will be sucked into the floor brush by the vacuum source fan and pass through the air duct or the cleaning equipment.
  • the pipe enters the recycling bin. After passing through the separator in the recycling bucket, the sewage is separated from the air. The sewage is recycled and stored in the recycling bucket, and the clean air is sucked away by the vacuum source fan and discharged through the air outlet on the cleaning equipment.
  • the cleaning equipment is a washing machine, and the water in the water storage bucket on the body of the washing machine flows to the spray plate on the roller brush through the water pipe.
  • a water pump or an air pump can be provided in the middle of the water pipe to meet the large flow of water spray of the washing machine.
  • a water pump is used to pressurize and pump water to a liquid spray device (such as a spray plate).
  • the spray plate is provided with several spray holes, and the water from the spray holes is sprayed to the roller brush.
  • a detection cavity is arranged at the water pipe, and a detection module is arranged at the detection cavity.
  • the detection module is electrically connected with the control element.
  • the detection module detects the liquid level of the detection cavity, thereby indirectly reflecting whether there is water in the water storage bucket. When the detection module cannot detect the liquid level in the detection cavity, and the water in the water storage bucket has run out at this time, the detection module is connected to the alarm device through the control element, and the alarm device prompts that the water storage bucket has no water.
  • the cleaning equipment is a sweeping robot.
  • the water in the bucket set on the sweeping robot body flows to the cleaning unit (such as a rag) through a water pipe.
  • a water pump or an air pump can be arranged in the middle of the water pipe.
  • the sweeping robot does not need to be equipped with a water pump or an air pump, and can seep water to the cleaning unit (such as a rag) by gravity.
  • a detection cavity is arranged at the water pipe, and a detection module is arranged at the detection cavity.
  • the detection module is electrically connected with the control element.
  • the detection module detects the liquid level of the detection cavity, thereby indirectly reflecting whether there is water in the water storage bucket. When the detection module cannot detect the liquid level in the detection cavity, and the water in the water storage bucket has run out at this time, the detection module is connected to the alarm device through the control element, and the alarm device prompts that the water storage bucket has no water.
  • the cleaning equipment is a vacuum cleaner.
  • the water in the bucket on the floor brush of the vacuum cleaner flows to the spray plate on the roller brush through the water pipe.
  • a water pump or air pump can be installed in the middle of the water pipe to meet the large flow of water spray of the washing machine.
  • the spray plate is provided with a number of spray holes, and the water from the spray holes is sprayed toward the roller brush.
  • a detection cavity is arranged at the water pipe, and a detection module is arranged at the detection cavity.
  • the detection module is electrically connected with the control element.
  • the detection module detects the liquid level of the detection cavity, thereby indirectly reflecting whether there is water in the water storage bucket. When the detection module cannot detect the liquid level in the detection cavity, and the water in the water storage bucket has run out at this time, the detection module is connected to the alarm device through the control element, and the alarm device prompts that the water storage bucket has no water.
  • the embodiments of the present application also provide a cleaning equipment control method, which will be described below with reference to the accompanying drawings.
  • the cleaning device includes a liquid storage device and a liquid spray device, and is connected to the liquid flow between the liquid storage device and the liquid spray device.
  • the control element acquires the state information of the liquid flow channel detected by the detection module provided in the liquid flow channel, where the state information includes a water state and an anhydrous state;
  • the control element correspondingly controls the cleaning device according to the status information.
  • the corresponding control of the cleaning equipment according to the status information includes:
  • the control element controls the alarm device to give an alarm
  • control element controls the cleaning device to shut down.
  • the detection module of the liquid flow channel detects whether there is water in the liquid flow channel, thereby indirectly knowing the liquid level of the liquid storage device. Since the cross section of the liquid flow channel is smaller, it is compared with directly setting the liquid storage device.
  • the method of detecting module can effectively improve the accuracy and reliability of anhydrous detection.
  • liquid flow channel in this embodiment may be formed by a water pipe or a detection cavity.
  • the liquid flow channel in this embodiment may be formed by a water pipe or a detection cavity.
  • the cleaning equipment in this embodiment can be the cleaning equipment in the first and second embodiments, and the description of the first and second embodiments can be referred to for details.
  • the embodiment of the present application also provides a computer-readable storage medium storing a computer program, which can implement the steps in the cleaning device control method provided in the third embodiment of the present application when the computer program is executed.
  • the cleaning equipment in this embodiment can be the cleaning equipment of the first embodiment and the second embodiment.
  • the cleaning equipment in this embodiment can be the cleaning equipment of the first embodiment and the second embodiment.
  • the embodiment of the present application provides a solution.
  • the basic idea is to add the cleaning equipment to detect the physical properties of the dirty liquid on the cleaning object.
  • the value of the detection device that is, part or all of the detection device is set on the flow path of the dirty liquid.
  • the processing system can determine the degree of cleanliness of the cleaning object based on the physical attribute value of the dirty liquid detected by the detection device, and realizes the autonomous detection of the degree of cleanliness of the cleaning object. There is no need to manually determine whether the cleaning object is clean, which is beneficial to improve user experience.
  • FIG. 25a is a schematic structural diagram of a cleaning device provided by an embodiment of the application.
  • the cleaning device S10 includes: a floor brush 251, a suction channel 252, and a recovery bucket 253 connected in sequence; the dirty liquid on the cleaning object is sucked by the suction nozzle 251a on the floor brush 251 and passed through the suction channel 252 is sent to the recycling bin 253.
  • the dirty liquid flows from the suction nozzle 251a on the floor brush 251 through the suction channel 252 to the recovery bucket 253, forming a circulation path for the dirty liquid.
  • the floor brush 251 refers to the cleaning component on the cleaning device S10, and may also be referred to as a cleaning brush.
  • the cleaning device S10 further includes: a processing system 254 and a first detection device 255.
  • the first detection device 255 is partially or completely arranged on the circulation path of the dirty liquid.
  • the first detection device 255 is partially arranged on the circulation path of the dirty liquid, which means that part of the components of the first detection device 255 are arranged on the circulation path of the dirty liquid, and the remaining components are arranged at other places except the circulation path of the dirty liquid. .
  • the first detection device 255 may be disposed in the cavity of the floor brush 251, the suction nozzle 251a of the floor brush 251, the suction channel 252, or the recycling bucket 253, or may be disposed in a plurality of these parts. In the embodiments of the present application, multiple refers to two or more.
  • the first detection device 255 may be provided in the suction nozzle 251a and the suction channel 252 of the floor brush 251, or at least one first detection device 255 may be provided in the cavity of the floor brush 251 and the recycling bin 253, etc., but Not limited to this.
  • FIG. 25a only uses the first detection device 255 to be disposed in the suction channel 252 as an example, and does not limit the position of the first detection device 255.
  • the number of the first detection device 255 provided in each location may be one or more.
  • the first detection device 255 is used to detect the physical property value of the dirty liquid and provide the physical property value of the dirty liquid to the processing system 254.
  • the processing system 254 can determine the degree of cleanliness of the cleaning object according to the physical property value of the dirty liquid.
  • the implementation form of the cleaning device S10 shown in FIG. 25a is only exemplary.
  • the cleaning device S10 may be an autonomous mobile cleaning device, or a hand-held cleaning device as shown in FIG. 25a.
  • the cleaning device S10 may be a cleaning machine used to clean areas such as ground, floor, carpet, wall, ceiling, or glass, but is not limited thereto.
  • a detection device that can detect the physical property value of the dirty liquid on the cleaning object is added to the cleaning equipment, that is, part or all of the detection device is set on the flow path of the dirty liquid.
  • the processing system can determine the degree of cleanliness of the cleaning object based on the physical attribute value of the dirty liquid detected by the detection device, and realizes the autonomous detection of the degree of cleanliness of the cleaning object. There is no need to manually determine whether the cleaning object is clean, which is beneficial to improve user experience.
  • the working principle of the first detection device 255 is different, and the physical properties of the detectable dirty liquid are different.
  • some optical detection devices can detect the optical property value of the dirty liquid; for another example, some electrical detection devices can detect the electrical property value of the dirty liquid.
  • the physical properties of the dirty liquid include its optical properties and/or electrical properties.
  • the optical properties of the dirty liquid can be the color, turbidity, or transparency of the dirty liquid;
  • the electrical properties of the dirty liquid can be the resistance, resistivity, current or voltage of the dirty liquid, and so on.
  • optical property value and electrical property value of the dirty liquid detected by the first detection device 255 are respectively taken as examples to illustrate the first detection device 255 provided in the embodiment of the present application.
  • FIG. 25b is a schematic structural diagram of a first detection device provided by an embodiment of the application.
  • the first detection device 255 includes a light source 255a and a light detector 255b.
  • the light signal emitted by the light source 255a can reach the light detector 255b after passing through the dirty liquid.
  • the photodetector 255b converts the arriving optical signal into an electrical signal and outputs it to the processing system 254.
  • the electrical signal output by the photodetector 255b can reflect the optical properties of the dirty liquid.
  • the electrical signal output by the photodetector 255b is defined as the first electrical signal.
  • the processing system 254 may calculate the optical property value of the dirty liquid according to the first electrical signal, and determine the degree of cleanliness of the cleaning object according to the optical property value of the dirty liquid.
  • the processing system 254 may match the optical property value of the dirty liquid in a known correspondence between the optical property value and the cleaning level, and determine the cleaning level corresponding to the optical property value of the dirty liquid as the cleaning object The cleanliness level.
  • the cleanliness level of the cleaning object can reflect its cleanliness.
  • the light source 255a and the light detector 255b may be arranged opposite to each other.
  • the arrangement of the light source 255a and the light detector 255b opposite to each other means that the light receiving surface of the light detector 255b faces the light source 255a through the dirty liquid, that is, the light emitted by the light source 255a is transmitted through the dirty liquid to the light detector 255b. In this way, the light signal emitted by the light source 255a can reach the light detector 255b after being transmitted through the dirty liquid.
  • the light source 255a and the light detector 255b may be arranged on the same side. Where the light source 255a and the light detector 255b are arranged oppositely, it means that the light receiving surface of the light detector 255b and the light source 255a are located on the same side of the dirty liquid, that is, the light emitted by the light source 255a is reflected by the dirty liquid and reaches the light detector 255b. In this way, the light signal emitted by the light source 255a can reach the light detector 255b after being reflected by the dirty liquid.
  • the position of the center of gravity of each component is defined as the bottom of the component.
  • the position of the recycling bucket 253 pointed to by the center of gravity of the recycling bucket 253 is defined as the bottom of the recycling bucket 253.
  • the part of the components that the forward direction of the cleaning device S10 points to is defined as the front of the component; accordingly, the side of each component opposite to the forward direction of the cleaning device S10 is defined as The back of the component; in turn, the left and right sides of each component are defined.
  • the light source 255a and the light detector 255b are arranged oppositely, which can be understood as the light source 255a and the light detector 255b are respectively arranged on the front and back of the suction channel; or are respectively arranged on the suction channel.
  • the light source 255a and the light detector 255b are arranged on the same side, and it can be understood that the light source 255a and the light detector 255b are both arranged on the front, back, left or right side of the suction channel.
  • the light source 255a and the light detector 255b can be respectively arranged on the front and back of the recycling bin 253 (shown in Figure 25d); or the light source 255a and the light detector 255b can be respectively set on the left and right sides of the recycling bin 253 ( Figure 25d). 25e).
  • the light source 255a and the light detector 255b are arranged on the same side. It can be understood that the light source 255a and the light detector 255b are both arranged on the front, back, left or right of the recycling bin 253. In FIG. 25f, only the light source 255a and the light detector 255b are both arranged on the recycling bin.
  • the left side of 253 is an example.
  • the light source 255a and the light detector 255b are both arranged at the bottom of the recovery bucket 253, which helps to improve the detection rate of the optical property value of the dirty liquid.
  • the structural form of the recycling bin 253 is only an exemplary description, and is not limited thereto.
  • the wavelength of the light generated by the light source 255a is within the light wavelength range that can be detected by the photodetector 255b.
  • the light source 255a may be a light source of various light wavelengths, and correspondingly, the light detector 255b may be a light receiver that can receive the light wavelength of the light emitted by the light source 255a.
  • the photodetector 255b can be an infrared receiving tube; if the light source 255a is a laser light source, the photodetector 255b can be a laser diode; if the light source 255a is an LED light source, the photodetector 255b can be a color sensor or the like; but it is not limited to this.
  • the light source 255a as an LED light source and the light detector 255b as a color sensor as an example, the working principle of the first detection device 255 will be exemplarily described.
  • the color sensor can convert the received light signal into RGB voltage and output it to the processing system 254.
  • the processing system 254 can calculate the color of the dirty liquid based on the RGB voltage; and determine the cleanliness of the cleaning object based on the color of the dirty liquid.
  • the corresponding relationship between the liquid color and the cleanliness level may be preset in the processing system 254.
  • the processing system 254 can match the color of the dirty liquid with the corresponding relationship between the color of the liquid and the cleaning level, and use the cleaning level corresponding to the color of the dirty liquid as the cleaning level of the cleaning object.
  • the cleanliness level of the cleaned object may reflect the cleanliness of the cleaned object.
  • the brightness of the light source 255a can be adjusted before the cleaning device S10 performs the cleaning task on the cleaning object until the light detector 255b outputs The reference electrical signal meets the set requirements.
  • the reference electrical signal output by the photodetector 255b satisfies the setting requirement means that the difference between the intensity of the reference electrical signal output by the photodetector 255b and the preset reference intensity is within the preset difference range.
  • the reference electrical signal output by the photodetector 255b is a voltage signal
  • the voltage signal output by the photodetector 255b satisfies the setting requirements means: the voltage value output by the photodetector 255b is between the preset reference voltage value The voltage difference is within the preset voltage difference range.
  • the processing system 254 may output a first prompt message to prompt the user to clean the flow path of the dirty liquid. That is, the user is prompted to clean the part involved in the flow path of the dirty liquid.
  • the manner in which the processing system 254 outputs the first prompt information is not limited.
  • the cleaning device S10 includes an audio component, and the processing system 254 may play the first prompt information through the audio component.
  • the cleaning device S10 includes a display screen, and the processing system 254 may display the first prompt information through the display screen.
  • the cleaning device S10 includes a display screen and provides a corresponding human-computer interaction interface, and the processing system 254 may display the first prompt information on the human-computer interaction interface.
  • the cleaning device S10 includes a buzzer, and the buzzer is electrically connected to the processing system 254.
  • the processing system 254 can also control the buzzer to emit a buzzing sound to remind the user to clean the dirty liquid. Circulation path.
  • the cleaning device S10 further includes an indicator light, and the indicator light is electrically connected to the processing system 254.
  • the processing system 254 can also control the indicator light to send a reminder signal to remind the user to clean the flow path of the dirty liquid .
  • the processing system 254 can also control the indicator light to flash or display a set color, etc., but it is not limited thereto.
  • the first detection device provided by the embodiment of the present application can also be implemented as an electrical detection device, which will be exemplified below with reference to FIG. 25g.
  • the first detection device 255 includes: a first conductive body group 2551 and a first detection circuit 2552.
  • the first conductive body group 2551 is arranged on the circulation path of the dirty liquid.
  • the first detection circuit 2552 is electrically connected between the first conductive body group 2551 and the processing system 254.
  • the conductor group refers to a group of conductors.
  • a group of conductors is defined as a conductor group.
  • the conductor is a one-piece structure, which has good conductive properties in the liquid. It not only does not chemically react with the liquid, but also has a certain degree of hardness, which can be realized by metal or non-metal materials.
  • the electrical conductor may preferably be a stainless steel wire.
  • the first detection circuit 2552 can generate a second electrical signal and output it to the processing system 254 when the first electrical conductor group 2551 is in contact with the dirty liquid.
  • the second electrical signal can reflect the electrical properties of the dirty liquid.
  • the first electrical conductor group 2551 includes at least two electrical conductors that are not in contact with each other. In FIGS. 25g to 25l, only the number of conductors is two for example.
  • the first detection circuit 2552 can generate a second electrical signal when the positive conductor and the ground conductor form a path, and output the second electrical signal to the processing system 254.
  • the conductor may be a conductive probe, a conductive patch, or a conductive contact, etc., but is not limited thereto.
  • the conductor can be made of stainless steel.
  • the conductors in the first conductor group 2551 can be arranged oppositely or on the same side. As shown in FIG. 25g and FIG. 25h, if the first conductive body group 2551 is disposed in the suction channel, each conductor in the first conductive body group 2551 can be disposed on the inner side wall of the suction channel. If the first conductive body group 2551 is disposed in the recycling bin, each conductor in the first conductive body group 2551 can be disposed on the inner wall of the recycling bin 253.
  • FIG. 25g and FIG. 25h if the first conductive body group 2551 is disposed in the suction channel, each conductor in the first conductive body group 2551 can be disposed on the inner side wall of the suction channel.
  • each conductor in the first conductive body group 2551 can be disposed on the inner wall of
  • the first conductive body group 2551 may be disposed on the inner side wall of the recycling bin 253.
  • the first conductive body group 2551 is arranged at the bottom of the inner side wall.
  • the first conductive body group 2551 is arranged at the bottom of the recycling bin 253.
  • the conductor is a conductive probe, as shown in FIG. 25k, it can also be hung in the recycling bin 253.
  • the conductive probe extends into the bottom of the recovery bucket 253, so that once a dirty liquid is sucked into the recovery bucket 253, the conductive probe can detect the electrical property value of the dirty liquid.
  • the conductor is a conductive probe, it can be a rigid conductive probe, which can prevent the positive electrode conductor and the negative electrode conductor from directly contacting, causing a short circuit.
  • the working principle and structure of the first detection circuit 2552 will be exemplified in conjunction with the circuit schematic diagrams shown in FIGS. 25l and 25m. .
  • the first detection circuit 2552 includes: a voltage detection circuit 2552a.
  • the power supply terminal P of the voltage detection circuit 2552a is electrically connected to the conductor A.
  • the power supply terminal P is also electrically connected to the positive pole of the power supply.
  • the ground terminal and the output terminal Q of the voltage detection circuit 2552 a are electrically connected to the conductor B, and the output terminal Q of the voltage detection circuit 2552 a is electrically connected to the processing system 254.
  • the ground terminal of the voltage detection circuit 2552a is electrically connected to the ground.
  • the voltage detection circuit 2552a further includes: a reference sampling resistor R3. Both ends of the reference sampling resistor R3 are electrically connected to the conductor B and the ground.
  • the connection point between the conductor B and the reference sampling resistor R3 can be used as the output terminal Q of the voltage detection circuit 2552a.
  • the processing system 254 can detect the voltage across the reference sampling resistor R3 to obtain the conductor A and the conductor.
  • the voltage of the path formed by the body B that is, the voltage of the dirty liquid (second electrical signal). Since the resistance value of the reference sampling resistor R3 is known, the current of the path formed by the conductor A and the conductor B can be obtained, thereby obtaining the resistance value of the dirty liquid.
  • a buffer circuit can be connected to the output end of the voltage detection circuit 2552a. 2552b.
  • the input terminal of the buffer circuit 2552b is electrically connected to the output terminal Q of the voltage detection circuit 2552a, and the output terminal (DW-R) of the buffer circuit 2552b is electrically connected to the processing system 254.
  • the buffer circuit 2552b may include: an operational amplifier U1 and an RC filter circuit.
  • the RC filter is formed by a resistor R1 and a capacitor C1 in series.
  • the non-inverting input terminal 1 of the operational amplifier U1 is electrically connected to the output terminal Q of the voltage detection circuit 2552a, and its inverting input terminal 3 is electrically connected to its output terminal 4.
  • the RC filter circuit is connected in parallel between the output terminal 4 of the transport amplifier and the ground, and the ungrounded end of the RC filter circuit is electrically connected to the processing system 254. That is, the series connection point of the resistor R1 and the capacitor C1 in the RC filter circuit is electrically connected to the processing system 254.
  • the reference electrical signal of the clean liquid sprayed by the cleaning device S10 can be determined in advance.
  • the clean liquid can be clean water, cleaning liquid or disinfecting liquid.
  • the detection circuit for measuring the reference electrical signal of the clean liquid sprayed by the cleaning device S10 is defined as the reference detection circuit, and the overall resistance of the reference detection circuit is defined as the reference resistance. .
  • the overall resistance of the reference detection circuit is the overall resistance of the reference detection circuit itself, and does not include the resistance of the clean liquid.
  • the reference detection circuit may be the first detection circuit or other detection circuits, such as the second detection circuit in the following embodiments.
  • the overall resistance of the first detection circuit 2552 can be set as the reference resistance when measuring the electrical property value of the dirty liquid.
  • a variable resistance circuit 2552c can be provided in the first detection circuit 2552.
  • the first detection circuit 2552a further includes: a variable resistance circuit 2552c.
  • the first end E1 of the variable resistance circuit 2552c is electrically connected to the reference sampling resistor R3 in the voltage detection circuit, the second end E2 is electrically connected to the processing system 254, and the third end E3 is grounded.
  • the processing system 254 can adjust the resistance of the variable resistance circuit 2552c to adjust the overall resistance of the first detection circuit 2552 to the reference resistance.
  • variable resistance circuit 2552c may be implemented as a variable resistor, such as a sliding rheostat, a potentiometer, and the like.
  • the adjustable end of the variable resistor is the second end E2 that is electrically connected to the processing system 254, and the remaining two non-adjustable ports are electrically connected to the reference sampling resistor R3 and the ground.
  • the processing system 254 can adjust the resistance of the variable resistor by adjusting the adjustable end of the variable resistor, and then adjust the overall resistance of the first detection circuit 2552.
  • variable resistance circuit 2552c may further include: a plurality of sampling resistors connected in series.
  • multiple refers to two or more.
  • the sampling resistor included in the variable resistance circuit 2552c is defined as an optional sampling resistor.
  • a plurality of optional sampling resistors are connected in series between the reference sampling resistor R3 and the ground, and an N-MOS tube is connected in parallel at each resistance series connection point, and the drain D of each N-MOS tube is electrically connected to the series connection point. Further, as shown in FIG.
  • the source S of each N-MOS transistor serves as the third terminal E3 of the variable resistance circuit 2552c to ground
  • the gate G of each N-MOS transistor serves as the third terminal E3 of the variable resistance circuit 2552c.
  • the two terminals E2 are electrically connected to the processing system 254 respectively.
  • the processing system 254 can determine whether to connect the optional sampling resistor to the first detection circuit 2552 and determine which optional sampling resistor or resistors to connect to the first detection circuit 2552 by adjusting the states of multiple N-MOS transistors.
  • the overall resistance of the first detection circuit 2552 is adjusted to the reference resistance. For example, in FIG.
  • the optional sampling resistors R4, R5, and R6 are short-circuited, that is, the optional sampling resistors R4, R5, and R6 are not connected to the first detection circuit 2552. If the N-MOS transistor Q1 is turned off and the N-MOS transistor Q2 is turned on, the optional sampling resistor R4 can be connected to the first detection circuit 2552. If the N-MOS transistors Q1, Q2, and Q3 are all turned off, the optional sampling resistors R4, R5, and R6 can all be connected to the first detection circuit 2552; and so on.
  • the components in the schematic diagram of the circuit structure provided in the embodiments of the present invention can be replaced with components with the same or similar functions.
  • the N-MOS tube can also be replaced with a P-MOS tube or a triode (NPN triode or PNP triode), and the connection relationship between the devices can be adjusted adaptively with reference to the circuit working principle diagram shown in FIG. 25m.
  • the reference electrical signal can be measured before the cleaning device S10 is shipped, and the measured reference electrical signal is preset in the cleaning device S10.
  • a detection device for the reference electrical signal may be provided in the cleaning equipment S10, and a part of the detection device may be provided on the circulation path of the clean liquid. In this way, the processing system 254 can determine the cleanliness of the cleaning object according to the difference between the second electrical signal and the reference electrical signal.
  • the cleaning device S10 further includes: a water outlet pipe 257 and a solution tank 256 connected to the nozzle 258 of the floor brush 251 in sequence. Wherein, the clean liquid in the solution tank 256 is sent to the nozzle 258 through the water outlet pipe 257 for the nozzle 258 to spray onto the cleaning object.
  • the cleaning device S10 further includes: a second conductive body group 259 and a second detection circuit 2510. Wherein, the second conductive body group 259 is arranged on the circulation path of the clean liquid.
  • the second detection circuit 2510 is electrically connected between the second conductive body group 259 and the processing system 254.
  • the second electrical conductor group 259 may be provided in at least one of the solution tank 256, the water outlet pipe 257, and the nozzle 258.
  • the related content of the above-mentioned first conductive body group 2551 please refer to the related content of the above-mentioned first conductive body group 2551, which will not be repeated here.
  • one or more second conductive body groups 259 may be provided in each part.
  • the second electrical conductor group 259 includes at least two electrical conductors that are not in contact with each other. In FIG. 25n, only the number of conductors is two as an example. Furthermore, a part of the conductors in the second conductor group 259 are electrically connected to the positive pole of the power supply to form a positive conductor; the remaining part is grounded to form a grounded conductor. In this way, when the positive electrode conductor and the ground conductor contact a clean liquid, the positive electrode conductor and the ground conductor form a path.
  • the second detection circuit 2510 can generate a reference electrical signal when the positive conductor and the ground conductor form a path, and output the reference electrical signal to the processing system 254. The second detection circuit 2510 can generate a reference electrical signal and output it to the processing system 254 when the second electrical conductor group 259 is in contact with the clean liquid.
  • the circuit structure of the second detection circuit 2510 can be implemented as the circuit structure shown in FIG. 25o.
  • the description of the circuit structure of the second detection circuit 2510 please refer to the related content of the first detection circuit 2552 mentioned above. Go into details again.
  • the processing system 254 can adjust the state of multiple N-MOS transistors in the second detection circuit 2510 to keep the reference electrical signal output by the second detection circuit 2510 in a stable range. Inside. For example, the processing system 254 can adjust the state of multiple N-MOS transistors in the second detection circuit 2510 so that the reference voltage output by the second detection circuit 2510 is the median voltage of the power supply, etc., but not limited to this.
  • the processing system 254 can adjust the state of the multiple N-MOS transistors in the first detection circuit 2552 to make the state of the multiple N-MOS transistors in the first detection circuit 2552 and the state of the multiple N-MOS transistors in the second detection circuit 2510 be the same as the state of the multiple N-MOS transistors in the second detection circuit 2510.
  • the states of the MOS tubes are the same, so that the overall resistance of the first detection circuit 2552 is the same as the overall resistance of the second detection circuit 2510, which helps to reduce the difference between the subsequent processing system 254 according to the second electrical signal and the reference electrical signal , To determine the calculated amount of cleanliness of the cleaning object.
  • the processing system 254 may determine the cleanliness of the cleaning object according to the difference between the second electrical signal and the reference electrical signal.
  • the processing system 254 may include a processor 254a.
  • the processor 254a may be: the processor 254a may be any hardware processing device.
  • the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Microcontroller Unit (MCU); it may also be a Field Programmable Gate Array (Field Programmable Gate Array).
  • FPGA -Programmable Gate Array
  • PAL Programmable Array Logic
  • GAL General Array Logic
  • CPLD Complex Programmable Logic Device
  • RISC advanced reduced instruction set
  • ARM Advanced RISC Machines
  • system chip System on Chip SOC
  • the processor 254a may match the difference between the second electrical signal and the reference electrical signal in the known correspondence between the electrical signal difference and the cleanliness level to determine the cleanliness level of the cleaning object, That is, the cleanliness level corresponding to the difference between the second electrical signal and the reference electrical signal is taken as the cleanliness level of the cleaning object.
  • the processor 254a may calculate the difference between the second electrical signal and the reference electrical signal.
  • the processing system 254 may further include: a differential operation circuit 254b.
  • the first input terminal DW-R of the differential operation circuit 254b is connected to the output terminal of the first detection circuit 2552 for receiving the second electrical signal; the second input terminal PW-R of the differential operation circuit 254b receives the reference electrical signal.
  • the output terminal DL of the differential arithmetic circuit 254b is electrically connected to the processor 254a, and is used to output the difference between the second electrical signal and the reference electrical signal to the processor 254a.
  • the processor 254a can determine the degree of cleanliness of the cleaning object according to the difference between the second electrical signal and the reference electrical signal.
  • the differential operation circuit 254b may include: an operational amplifier U3 and an RC filter circuit.
  • the non-inverting input terminal 1 of the operational amplifier U3 serves as the first input terminal of the differential arithmetic circuit and is electrically connected to the output terminal of the first detection circuit 2552 for receiving the second electrical signal.
  • the inverting input terminal 3 of the operational amplifier U3 serves as the second input terminal of the differential arithmetic circuit 254b to receive the reference electrical signal.
  • an RC parallel circuit is connected in parallel between the inverting input terminal 3 of the operational amplifier U3 and the output terminal 4 thereof.
  • the RC parallel circuit is composed of resistor R24 and capacitor C10 in parallel.
  • the RC filter circuit is connected in parallel between the output terminal 4 of the operational amplifier U3 and the ground.
  • the RC filter circuit is composed of a resistor R23 and a capacitor C9 in series, and the series connection point of the resistor R23 and the capacitor C9 is used as the output terminal DL of the differential operation circuit 254b , And electrically connected with the processing system 254.
  • the operational amplifier U3 further includes: positive and negative power supply terminals 2 and 5; wherein the positive power supply terminal 5 is electrically connected to the positive electrode of the power supply of the cleaning device S10, and the negative power supply terminal 5 is grounded.
  • the above-mentioned optical property value and the second electrical signal can also be used to jointly determine the cleanliness of the cleaning object.
  • the specific implementation may be Refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the processing system 254 can also adjust the working state of the cleaning equipment according to the cleanliness of the cleaning object.
  • the processing system 254 may adjust the power of the water pump of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 254 can preset the correspondence between the cleanliness level and the power of the water pump, and based on the correspondence, the processing system 254 can determine the power of the water pump according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the water pump, and the smaller the water output of the cleaning equipment, indicating that the cleaning object is cleaner.
  • the processing system 254 may also adjust the power of the main motor and/or the floor brush motor of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 254 can preset the corresponding relationship between the cleanliness level and the power of the main motor and/or the floor brush motor. Based on the corresponding relationship, the processing system 254 can determine the main motor and/or the cleanliness level of the cleaning object. Or the power of the ground brush motor.
  • the higher the cleaning level the lower the power of the main motor and/or the floor brush motor, and the lower the water absorption capacity of the cleaning equipment, indicating that the cleaning object is cleaner.
  • the main motor sucks the dirty liquid from the suction nozzle 251a on the floor brush of the cleaning device and sends it into the recovery bucket of the cleaning device through the suction channel on the cleaning device.
  • the floor brush motor drives the floor brush. Clean clean objects.
  • the processing system 254 may also adjust the task execution time of the cleaning device to a time suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system 254 may preset the correspondence between the cleanliness level and the cleaning time, and based on the correspondence, the processing system 254 may determine the cleaning time according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the main motor and/or the floor brush motor, and the shorter the cleaning time, indicating that the cleaning object is cleaner.
  • the processing system 254 determines that the cleanliness of the cleaning object meets the standard, the cleaning device S10 can be controlled to stop working.
  • the cleanliness level of the cleaning object meets the standard may be that the cleanliness level of the cleaning object is the highest cleanness level.
  • the processing system 254 may control the water pump, the main motor and/or the ground brush motor to stop rotating, and so on.
  • the embodiment of the present application further provides a power management circuit 2511, where the power management circuit 2511 is used to convert the output voltage of the battery into the voltage required by the cleaning device S10.
  • the power management circuit 2511 includes a voltage management chip U4, wherein the input end of the voltage management chip U4 is used to electrically connect to the positive electrode of the battery, the ground end is grounded, and the output end is used to connect to the power supply terminals of the above-mentioned circuits. Electric connection.
  • the voltage management chip U4 can convert the input battery voltage into a +5V voltage and output it.
  • a light emitting diode D2 can be connected in series between the positive electrode of the battery and the input terminal of the voltage management chip U4, the anode of the light emitting diode D2 is electrically connected to the positive electrode of the battery, and the cathode thereof is electrically connected to the input terminal of the voltage management chip U4.
  • the light emitting diode D2 can be used to display the power supply status of the cleaning device S10.
  • a filter circuit can be connected in parallel between the input terminal of the voltage management chip U4 and the ground to filter out ripples in the voltage output by the battery and also filter out noise in the voltage output by the battery 251.
  • the filter circuit can be composed of an active capacitor EC1 and a passive capacitor C18 in parallel.
  • a filter circuit can also be connected in parallel between the output terminal of the voltage management chip and the ground to avoid the voltage drop due to the sudden change of the output current of the power management chip U4, which is equivalent to filtering out the ripple of the output voltage of the power management chip U4 , Can also filter out the noise in the output voltage of the power management chip U4.
  • the filter circuit connected in parallel between the output terminal of the voltage management chip and the ground can be formed by the active capacitor EC2 and the passive capacitor C19 in parallel.
  • the cleaning device S10 may also include communication components, rollers, driving components, etc. according to application requirements, which are not shown in FIGS. 25a-25q. Only part of the components are shown schematically in Figures 25a-25q, which does not mean that the cleaning device S10 must include all the components shown in Figures 25a-25q, nor does it mean that the cleaning device S10 can only include those shown in Figures 25a-25q. Components. It is also worth noting that, in the circuit schematic diagrams provided in the embodiments of the present application, the same port marks indicate the electrical connection of the corresponding ports.
  • the embodiment of the present application also provides a cleanliness detection method. From the perspective of the processing system, the cleanliness detection method provided in the embodiments of the present application will be exemplified below.
  • FIG. 26 is a schematic flowchart of a method for detecting cleanliness according to an embodiment of the application. As shown in Figure 26, the method includes:
  • the cleaning device may be a cleaning machine used to clean areas such as ground, floor, carpet, wall, ceiling, or glass, but is not limited to this.
  • the dirty liquid is sucked by the suction nozzle on the floor brush of the cleaning equipment and sent into the recycling bucket of the cleaning equipment through the suction channel on the cleaning equipment.
  • the first detection device is partially or completely arranged on the circulation path of the dirty liquid.
  • the structure and arrangement of the first detection device please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • a detection device that can detect the physical property value of the dirty liquid on the cleaning object is added to the cleaning equipment, that is, part or all of the detection device is set on the flow path of the dirty liquid.
  • the processing system can determine the degree of cleanliness of the cleaning object based on the physical attribute value of the dirty liquid detected by the detection device, and realizes the autonomous detection of the degree of cleanliness of the cleaning object. There is no need to manually determine whether the cleaning object is clean, which is beneficial to improve user experience.
  • the working principle of the first detection device is different, and the physical properties of the detectable dirty liquid are different.
  • some optical detection devices can detect the optical property value of the dirty liquid; for another example, some electrical detection devices can detect the electrical property value of the dirty liquid.
  • the physical properties of the dirty liquid include its optical properties and/or electrical properties.
  • the optical properties of the dirty liquid can be the color, turbidity, or transparency of the dirty liquid;
  • the electrical properties of the dirty liquid can be the resistance, resistivity, current or voltage of the dirty liquid, and so on.
  • the first detection device may include: a light source and a light detector.
  • the first detection device may provide a first electrical signal to the processing system, wherein the first electrical signal reflects the optical properties of the dirty liquid.
  • an optional implementation of step 2602 is: calculating the optical property value of the dirty liquid according to the first electrical signal provided by the first detection device, and determining the cleanliness of the cleaning object according to the optical property value of the dirty liquid.
  • the specific implementation for determining the cleanliness level of the cleaning object according to the optical property value of the dirty liquid refer to the relevant content of the foregoing embodiment, which will not be repeated here.
  • the first detection device may include: a first conductive body group and a first detection circuit.
  • the first conductive body group is arranged on the circulation path of the dirty liquid.
  • the first detection circuit is electrically connected between the first conductive body group and the processing system.
  • the first detection circuit can provide the second electrical signal to the processing system.
  • the second electrical signal reflects the electrical properties of the dirty liquid.
  • another optional implementation manner of step 2602 is to determine the cleanliness of the cleaning object according to the second electrical signal provided by the first detection device.
  • the first detection device may include: a light source and a light detector, as well as a first electrical conductor group and The first detection circuit.
  • Another optional implementation manner of step 2602 is to determine the cleanliness of the cleaning object according to the optical property value of the dirty liquid and the second electrical signal provided by the first detection device.
  • the working state of the cleaning equipment can also be adjusted according to the cleanliness of the cleaning object.
  • the processing system may adjust the power of the water pump of the cleaning device to a power suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system can preset the correspondence between the cleanliness level and the power of the water pump, and based on the correspondence, the processing system can determine the power of the water pump according to the cleanliness level of the cleaning object.
  • the higher the cleaning level the lower the power of the water pump, and the smaller the water output of the cleaning equipment, indicating that the cleaning object is cleaner.
  • the power of the main motor and/or the floor brush motor of the cleaning device can be adjusted to a power suitable for the cleanliness of the cleaning object.
  • the processing system can preset the corresponding relationship between the cleanliness level and the power of the main motor and/or the floor brush motor. Based on the corresponding relationship, the processing system can determine the main motor and/or ground according to the cleanliness level of the cleaning object.
  • the power of the brush motor Preferably, the higher the cleaning level, the lower the power of the main motor and/or the floor brush motor, and the lower the water absorption capacity of the cleaning equipment, indicating that the cleaning object is cleaner.
  • the main motor sucks the dirty liquid from the suction nozzle on the floor brush of the cleaning device and sends it into the recycling bucket of the cleaning device through the suction channel on the cleaning device.
  • the floor brush motor drives the floor brush to clean. Clean the object.
  • the task execution time of the cleaning device can also be adjusted to a time suitable for the cleanliness of the cleaning object according to the cleanliness of the cleaning object.
  • the processing system can preset the correspondence between the cleanliness level and the cleaning time, and based on the correspondence, the processing system can determine the cleaning time according to the cleanliness level of the cleaning object. Preferably, the higher the cleaning level, the lower the power of the main motor and/or the floor brush motor, and the shorter the cleaning time, indicating that the cleaning object is cleaner.
  • the cleaning device can be controlled to stop working.
  • the cleanliness level of the cleaning object meets the standard may be that the cleanliness level of the cleaning object is the highest cleanness level.
  • the processing system can control the water pump, the main motor and/or the ground brush motor to stop, etc.
  • the embodiments of the present application also provide a computer-readable storage medium storing computer instructions, which, when the computer instructions are executed by one or more processors, cause the one or more processors to execute the steps in the foregoing method.
  • execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 2601 and 2602 may be device A; for another example, the execution subject of step 2601 may be device A, and the execution subject of step 2602 may be device B; and so on.
  • the movable equipment may respond to an instruction instructing it to stop operation to control the fluid supply device to stop spraying liquid to the target object or control
  • the fluid supply device reduces the amount of spraying and controls the recovery device to continue to recover the liquid on the target object, which helps to reduce the liquid residue on the target object, thereby helping to improve the user experience.
  • FIG. 27a is a schematic structural diagram of a movable device provided by an embodiment of this application.
  • the movable equipment includes: a fluid supply device 271, a recovery device 272, and a control system 273.
  • the control system 273 is electrically connected to the fluid supply device 271 and the recovery device 272, and can control the working state of the fluid supply device 271 and the recovery device 272.
  • the fluid supply device 271 is responsible for spraying liquid outward.
  • the liquid sprayed by the fluid supply device 271 is defined as the first liquid.
  • the recovery device 272 is responsible for recovering the second liquid generated from the first liquid.
  • the implementation form of the movable device and the chemical composition of the first liquid and the second liquid are different.
  • the movable device may be a cleaning device
  • the first liquid may be a clean liquid, such as clean water and/or liquid doped with detergent, etc., but is not limited thereto.
  • the second liquid may be a dirty liquid generated after the first liquid is sprayed on the target object (the cleaning object and/or the cleaning brush) and is cleaned by the cleaning component of the cleaning device.
  • the first liquid is released on the target object for cleaning.
  • the movable device may be a chemical reaction device
  • the first liquid may be a chemical reagent to be reacted
  • the second liquid may be formed after the first liquid undergoes a chemical reaction on the target object. Liquid; etc., but not limited to this.
  • FIG. 27a only the movable device is used as the cleaning device as an example, and the implementation form of the movable device is not limited.
  • Movable equipment can use various components to perform related tasks during the movement.
  • Movable equipment refers to equipment that can be moved, which can be autonomous mobile equipment, such as sweeping robots, window cleaning robots, etc.; it can also be equipment that needs to be moved with the help of external forces, such as hand-held washing machines, hand-held vacuum cleaners, and hand-held cleaners. Mite instrument and so on, but not limited to this.
  • the control system 273 can control the fluid supply device 271 to spray the first liquid on the target object, and control the recovery device 272 to recover the second liquid on the target object.
  • the mobile device receives an instruction to stop the operation of the device, it controls the fluid supply device 271 and the recovery device 272 to stop the operation at the same time, so that a large amount of liquid remains on the target object.
  • the control system 273 can control the fluid supply device 271 to stop spraying the first liquid to the target object in response to the instruction instructing the movable device to stop the operation.
  • control system 273 can immediately control the fluid supply device 271 to no longer operate, or can control the fluid supply device 271 to gradually reduce the spray amount until the operation is stopped.
  • control system 273 may control the recovery device 272 to continue recovering the second liquid on the target object, and control the recovery device 272 to stop recovering the second liquid on the target object when the set conditions are met.
  • the setting conditions may be different.
  • the set condition may be that the recovery device 272 continues to recover the second liquid on the target object for a set duration after the control system 273 can respond to an instruction instructing the movable device to stop operation.
  • the control system 273 controls the recovery device 272 to stop the operation when the duration of the recovery device 272 continuing to recover the second liquid on the target object reaches the set duration.
  • the set condition may be that the humidity of the target object is less than or equal to the set humidity threshold; accordingly, the control system 273 controls the recovery device 272 to stop when the humidity of the target object is less than or equal to the set humidity threshold. operation.
  • the set condition may be that the recovery device 272 continues to recover the second liquid on the target object for a set period of time, and the humidity of the target object is less than or equal to the set humidity threshold; accordingly, the control system 273
  • the recovery device 272 continues to recover the second liquid on the target object for a set period of time, and the humidity of the target object is less than or equal to the set humidity threshold, the recovery device 272 is controlled to stop the operation.
  • control system 273 uses electrical signals to control a certain component to perform operations
  • controlling a certain component on the movable device to stop working can mean that the control system 273 no longer reports to the The component outputs electrical signals, excluding the component's use of inertia to continue working.
  • the mobile device provided in this embodiment can respond to instructions instructing it to stop operations, control the fluid supply device to stop spraying liquid to the target object, and control the recovery device to continue to recover the liquid on the target object, which helps to reduce the amount of liquid on the target object. Liquid remains, which in turn helps improve the user experience.
  • the instruction to instruct the movable device to stop operation may be an instruction to instruct the movable device to shut down, or it may be an instruction to instruct the movable device to suspend operations.
  • a button for stopping a job is provided on the movable device, where the button for stopping a job can be a shutdown button or a pause button.
  • the control system 273 can detect the state of the button for stopping the job on the movable device, and when it detects that the button for stopping the job is pressed, it determines that a designation instructing the movable device to stop the job is received.
  • FIG. 27b a button for stopping a job is provided on the movable device, where the button for stopping a job can be a shutdown button or a pause button.
  • the control system 273 can detect the state of the button for stopping the job on the movable device, and when it detects that the button for stopping the job is pressed, it determines that a designation instructing the movable device to stop the job is received.
  • the button for stopping the operation may be electrically connected to the power source, wherein other circuits may be provided between the button and the power source. It is not limited in the embodiments of the present application.
  • the power source can be an external power source or a built-in battery module.
  • the mobile device further includes a button detection circuit 274.
  • the key detection circuit 274 cooperates with the control system 273 to detect whether the key for stopping the operation is pressed. That is, the control system 273 can detect whether the operation stop button is pressed by detecting the change in the level of the interface that the button detection circuit 274 is electrically connected to the control system 273.
  • the control system 273 detects that the level of the interface electrically connected between the key detection circuit 274 and the control system 273 changes from a high level to a low level, it is determined that the key for stopping the operation is pressed.
  • control system 273 detects that the level of the interface electrically connected between the key detection circuit 274 and the control system 273 changes from a low level to a high level, it is determined that the key for stopping the operation is pressed.
  • the specific level change mode of the interface that the key detection circuit 274 is electrically connected to the control system 273 is determined by the specific circuit connection mode.
  • the circuit connection structure shown in FIG. 27b is only an exemplary description and does not constitute a limitation.
  • buttons detection circuit 274 and the control system 273 may be integrated on the same PCB board, or may be separately integrated on another PCB board different from the PCB board where the control system 273 is located.
  • the movable device has a voice interaction function, and the movable device can realize voice interaction with the user through an audio component (not shown in FIG. 27a and FIG. 27b) on the movable device.
  • the user can control the movable device to stop the operation by issuing a voice command to the movable device.
  • the control system 273 can monitor the voice instruction received by the movable device; and when listening to the movable device receiving the voice instruction instructing the movable device to stop the operation, determine that the instruction instructing the movable device to stop the operation is received. After receiving the voice instruction instructing the movable device to stop the operation, the control system 273 controls the movable device to stop the operation.
  • the realization form of the target object includes at least one of the following: a cleaning brush, a cleaning object, and the cleaning object can be any of the following multiple realization modes: ground, glass window, glass wall, wall, Automobiles, pipelines, etc.
  • the structure of the movable device is different from the cleaning scene, and the shape of the target object is also different, so there is no restriction here.
  • the target object is the floor and the cleaning brush. In other embodiments, the target object is the ground.
  • the fluid supply device 271 may include: a water pump 271a, a water pipe 271b, and a nozzle (not shown in Fig. 27a).
  • the mobile device may further include a solution tank 275 in which the first liquid is stored.
  • the water pump 271a can pump the first liquid from the solution tank 275 and flow to the nozzle through the water pipe 271b, and then spray the first liquid onto the target object by the nozzle.
  • control system 273 can send a drive signal to the water pump 271a, and the water pump 271a rotates under the drive of the drive signal to pump the first liquid in the solution tank 275 to the water delivery pipe 271b.
  • the driving signal output by the control system 273 to the water pump 271a is defined as the first driving signal.
  • the control system 273 can stop sending the first driving signal to the water pump 271a, and thereby stop the operation of the fluid supply device 271.
  • the implementation form of the water pump 271a is different, and the form of the first driving signal is also different.
  • the first driving signal is a PWM signal, and its parameter value can be the duty cycle of the PWM signal;
  • the water pump 271a is an AC water pump, where the AC water pump can be controlled by a thyristor, the first driving signal It is a pulse signal, and its parameter value can be the delay time ⁇ t between the pulse signal and the zero crossing of the sine signal.
  • the sine signal can be a 220V mains signal.
  • the control system 273 can control the conduction angle of the thyristor by controlling the length of the delay time of the pulse signal compared to the zero-crossing point of the sinusoidal signal, thereby controlling the power of the water pump 271a.
  • the longer the delay time of the pulse signal compared to the zero-crossing point of the sine signal the smaller the conduction angle of the thyristor, and the lower the power of the water pump 271a; accordingly, the longer the delay time of the pulse signal compared to the zero-crossing point of the sine signal is.
  • the greater the conduction angle of the thyristor the greater the power of the water pump 271a.
  • the delay time of the pulse signal compared to the zero-crossing point of the sinusoidal signal may be: the time interval between the rising or falling edge of the first pulse and the zero-crossing point of the sinusoidal signal.
  • the pulse signal can be one pulse or multiple pulses.
  • Fig. 27c only uses three pulse signals, and the delay time of the pulse signal compared to the zero-crossing point of the sinusoidal signal is the time interval ⁇ t between the falling edges of the first pulse.
  • the fluid supply device 271 can have different spraying volume levels.
  • the parameter value of the first driving signal can determine the power of the water pump 271a.
  • the greater the duty cycle of the PWM signal the higher the power of the water pump 271a;
  • AC water pumps controlled by thyristors the shorter the delay time between the pulse signal and the zero crossing of the sine signal, the shorter the thyristor’s conduction
  • the larger the through angle the higher the power of the water pump 271a.
  • the control system 273 may also gradually change the parameter value of the first driving signal, so that the water pump 271a gradually stops rotating.
  • the water pump 271a is a DC water pump
  • the gradient can be reduced according to the set duty ratio, and a PWM signal with a gradually decreasing duty ratio can be output to the water pump 271a until the duty ratio decreases to zero.
  • the water pump 271a is an AC water pump, it can output the pulse signal to the water pump 271a according to the set time delay gradient with the increase of the delay time between the zero crossing points of the sine signal, until the half cycle of the sine signal No pulse signal is output inside, that is, until the conduction angle of the thyristor is 0°.
  • no pulse signal is output during the half period of the sinusoidal signal means that the first driving signal is always a high level signal during the half period of the sinusoidal signal.
  • the fluid supply device 271 is provided with a corresponding valve, and the control system 273 can control the closing degree of the valve and control the fluid supply device 271 to stop spraying the first liquid.
  • the control system 273 can control the action of the brake mechanism corresponding to the valve, partially close the valve or fully close the valve, etc., but it is not limited thereto.
  • the control system 273 can control the fluid supply device 271 to turn on or stop spraying the first liquid through the valve braking mechanism, and accordingly, can also control the flow rate of the first liquid to be gradually increased, or to gradually decrease the flow rate of the first liquid.
  • the fluid supply device 271 supplies the first liquid by the weight of the air pump or the first liquid
  • the control system 273 can control the fluid supply device 271 to turn on or stop spraying the first liquid.
  • it can also control the gradual increase.
  • the flow rate of the first liquid or gradually decrease the flow rate of the first liquid.
  • the control system 273 can also output a driving signal to control its working state.
  • the drive signal output by the control system 273 to the recovery device 272 is defined as the second drive signal. That is, the control system 273 may respond to the instruction instructing the movable equipment to stop the operation and output the second driving signal to the motor of the recovery device 272 to control the recovery device 272 to continue to recover the second liquid on the target object.
  • the parameter value of the second driving signal may be the same as or different from the parameter value of the driving signal output by the control system 273 to the recovery device 272 before responding to the instruction instructing the movable equipment to stop the operation.
  • the recovery device 272 continues to recover the second drive signal on the target object with the original power.
  • the parameter value of the second driving signal is different from the parameter value of the driving signal that the control system 273 outputs to the recovery device 272 before responding to the instruction to stop the operation of the movable equipment, and the recovery device 272 continues to recover the target with the adjusted power.
  • the adjusted power can be greater than the original power or less than the original power; it can also be greater than the original power first, and then the power is reduced stepwise after a predetermined time, or the power is reduced linearly or non-linearly.
  • the recovery device 272 may include a suction nozzle 272a and a corresponding motor 272b.
  • the motor 272b corresponding to the recovery device 272 may be the main motor of the movable device.
  • the removable device may also include: a recycling bin 276.
  • the main motor operates to generate suction, and the second liquid on the target object is absorbed into the recovery bucket 276 by the suction nozzle 272a.
  • the control system 273 outputs the second drive signal to the recovery device 272, specifically, outputs the second drive signal to the motor 272b of the recovery device 272.
  • the parameter value of the second driving signal is different, and the working power of the motor 272b is different.
  • the second driving signal is a PWM signal, and its parameter can be the duty cycle of the PWM signal.
  • the greater the duty cycle of the PWM signal the greater the power of the motor 272d;
  • the motor 272b is AC Motor, AC motor is controlled by thyristor, the second driving signal is a pulse signal, and its parameter can be the delay time of the pulse signal compared to the zero crossing of the sine signal. Among them, the shorter the delay time, the conduction angle of the thyristor The larger the motor 272c, the greater the power.
  • the parameter value of the second driving signal may be the same as the parameter value of the driving signal output by the control system 273 to the recovery device 272 before responding to the instruction instructing the movable equipment to stop operation; it may also be different from the control system 273.
  • the parameter values of the drive signal output to the recovery device 272 before responding to the instruction instructing the movable equipment to stop the operation are different.
  • the specific value of the parameter of the second driving signal may be preset in the movable device, or may be determined according to actual conditions.
  • the fluid supply device 271 has different spray volume levels, and different spray volume levels correspond to different spray volumes.
  • the control system 273 can determine the first target parameter value required by the second driving signal according to the spray amount of the fluid supply device 271 before responding to the instruction instructing the movable equipment to stop operation; and according to the first target parameter value, The recovery device 272 outputs the second driving signal.
  • the second driving signal has the first target parameter value.
  • the control system 273 may determine the spray volume level of the fluid supply device 271 before responding to the instruction instructing the movable equipment to stop operation, and set the spray volume level to correspond to the preset spray volume level and the parameter value. Then, the first target parameter value that is adapted to the spray volume level of the fluid supply device 271 before responding to the instruction instructing the movable equipment to stop operation is obtained.
  • the second target parameter value required by the second driving signal can also be determined according to the humidity of the target object; and the second driving signal is output to the recovery device 272 according to the second target parameter value.
  • the second driving signal has a second target parameter value.
  • a humidity sensor may be provided at a position where the movable device contacts the target object, and the humidity sensor is electrically connected to the control system 273 to collect the humidity of the target object.
  • the humidity sensor can be arranged at a position close to the body and the target object, for example, the bottom of the body, the bottom of the cleaning brush, etc., but it is not limited thereto.
  • control system 273 may determine the corresponding humidity level according to the humidity of the target object; and match the humidity level corresponding to the target object in the corresponding relationship between the preset humidity level and the parameter value to obtain the corresponding humidity level of the target object.
  • the second target parameter value adapted to the humidity level.
  • the target parameter value required by the second driving signal can be determined according to the spray amount of the fluid supply device 271 before responding to the instruction instructing the movable equipment to stop operation and the humidity of the target object, and send it to the recovery device 272 outputs the second driving signal having the target parameter value.
  • the specific value of the parameter of the second driving signal can be preset in the movable device.
  • the preset parameter value of the second driving signal is defined as the third The target parameter value.
  • the third target parameter value is different from the parameter value of the drive signal output to the recovery device 272 before responding to the instruction to stop the operation of the movable equipment; accordingly, the control system 273 according to the preset third target parameter value, Generate a second drive signal; according to the third target parameter value, output the second drive signal to the motor 272d of the recovery device 272.
  • the second driving signal has a third target parameter value.
  • the movable device further includes: a cleaning component 277.
  • the cleaning component 277 includes a cleaning brush and a motor that drives the cleaning brush operation.
  • the control system 273 can control the cleaning component 277 to stop the operation in response to the instruction instructing the movable equipment to stop the operation; it can also control the cleaning component 277 to continue in response to the instruction instructing the movable equipment to stop the operation. And control the cleaning module 277 to stop the operation after meeting the above-mentioned set conditions.
  • control system 273 sends a third drive signal to the motor of the cleaning assembly 277 to control the cleaning assembly 277 to continue its operation; wherein, the parameter value of the third drive signal can be instructed by the control system 273 in response to the movable device
  • the parameter values of the driving signals output to the motor of the cleaning assembly 277 before the instruction to stop the operation are the same.
  • the cleaning assembly 277 can perform the cleaning work with the original power.
  • the parameter value of the third driving signal may be different from the parameter value of the driving signal output to the motor of the cleaning assembly 277 before the control system 273 responds to the instruction instructing the movable device to stop working. In this way, the cleaning assembly 277 The adjusted power can continue to perform cleaning work.
  • the cleaning component 277 may continue to perform the cleaning work with the reduced power, or may continue to perform the cleaning work with the increased power.
  • Different powers correspond to different parameter values, that is, the control system 273 can output different parameter values to the motor of the cleaning component 277 to adjust the working power of the cleaning component 277.
  • the parameter value of the third driving signal can be preset in the movable device, or can be determined according to the spray amount and/or the humidity of the target object before the control system 273 responds to the instruction to stop the operation of the movable device by the fluid supply device 271
  • the related content of the target parameter value of the second driving signal please refer to the related content of the target parameter value of the second driving signal, which will not be repeated here.
  • the structure and implementation form of the movable device, as well as the form and location of each component of the movable device, provided in Figs. 27a and 27b in the foregoing embodiment are only exemplary, but not restrictive.
  • the mobile device may also include communication components, rollers, driving components, etc. according to application requirements, which are not shown in FIGS. 27a and 27b.
  • Figures 27a and 27b show only some of the components schematically, which does not mean that the mobile device must include all the components shown in Figures 27a and 27b, nor does it mean that the mobile device can only include those shown in Figures 27a and 27b. Components.
  • the embodiment of the present application also provides an operation method, which is suitable for the above-mentioned control system, which will be exemplified below.
  • FIG. 28 is a schematic flowchart of an operation method provided by an embodiment of this application. As shown in Figure 28, the method includes:
  • control the fluid supply device In response to the instruction instructing the movable equipment to stop the operation, control the fluid supply device to stop spraying the first liquid to the target object.
  • the fluid supply device is responsible for spraying liquid outward.
  • the liquid sprayed outward by the fluid supply device is defined as the first liquid.
  • the recovery device is responsible for recovering the second liquid produced by the first liquid.
  • the implementation form of the movable device and the chemical composition of the first liquid and the second liquid are different.
  • the movable device may be a cleaning device
  • the first liquid may be a clean liquid, such as clean water or a liquid doped with a cleaning agent, etc., but is not limited thereto.
  • the second liquid may be a dirty liquid generated after the first liquid is sprayed on the target object (the cleaning object and/or the cleaning brush) and is cleaned by the cleaning component of the cleaning device.
  • the movable device may be a chemical reaction device
  • the first liquid may be a chemical reagent to be reacted
  • the second liquid may be formed after the first liquid undergoes a chemical reaction on the target object. Liquid; etc., but not limited to this.
  • Movable equipment can use various components to perform related tasks during the movement.
  • Movable equipment refers to equipment that can be moved, which can be autonomous mobile equipment, such as sweeping robots, window cleaning robots, etc.; it can also be equipment that needs to be moved with the help of external forces, such as hand-held washing machines, hand-held vacuum cleaners, and hand-held cleaners. Mite instrument and so on, but not limited to this.
  • the fluid supply device when the movable device is working, can spray the first liquid on the target object, and the recovery device can recover the second liquid on the target object.
  • the fluid supply device and the recovery device stop the operation at the same time, so that a large amount of liquid remains on the target object.
  • the fluid supply device in response to an instruction instructing the movable device to stop the operation, can be controlled to stop spraying the first liquid to the target object.
  • the fluid supply device can be immediately controlled to no longer operate, or the fluid supply device can be controlled to gradually reduce the spray amount until the operation is stopped.
  • the recovery device in step 2802, can be controlled to continue to recover the second liquid on the target object, and in step 2803, the recovery device can be controlled to stop recovering the second liquid on the target object when the set conditions are met. .
  • the setting conditions may be different.
  • the set condition may be that the recovery device continues to recover the second liquid on the target object for a set period of time after responding to an instruction instructing the movable device to stop operation.
  • the set condition may be that the humidity of the target object is less than or equal to the set humidity threshold; accordingly, when the humidity of the target object is less than or equal to the set humidity threshold, the recovery device is controlled to stop the operation.
  • the set condition may be that the recovery device continues to recover the second liquid on the target object for a set duration, and the humidity of the target object is less than or equal to the set humidity threshold; accordingly, the recovery device continues to recover the second liquid on the target object.
  • the duration of recovering the second liquid on the target object reaches the set duration, and the humidity of the target object is less than or equal to the set humidity threshold, the recovery device is controlled to stop the operation.
  • controlling a certain component on the movable device to stop working can mean that no electrical signal is output to the component, not including This component uses inertia to continue working.
  • the mobile device can respond to the instruction instructing it to stop the operation, control the fluid supply device to stop spraying liquid to the target object, and control the recovery device to continue to recover the liquid on the target object, which helps to reduce the liquid on the target object Residual, which in turn helps to improve the user experience.
  • the instruction to instruct the movable device to stop operation may be an instruction to instruct the movable device to shut down, or it may be an instruction to instruct the movable device to suspend operations.
  • the state of the button for stopping the job on the portable device may be detected, and when it is detected that the button for stopping the job is pressed, it is determined that a designation instructing the portable device to stop the job is received.
  • the key to stop the job can be a shutdown key or a pause key.
  • the mobile device has a voice interaction function.
  • the user can control the movable device to stop the operation by issuing a voice command to the movable device.
  • the voice instruction received by the movable device may be monitored; and when the voice instruction instructing the movable device to stop the operation is received by the movable device, it is determined that an instruction instructing the movable device to stop the operation is received.
  • the implementation form of the fluid supply device is different, and the way of controlling the stop operation of the fluid supply device is also different.
  • the fluid supply device may include: a water pump, a water pipe, and a nozzle.
  • the drive signal can be sent to the water pump, and the water pump rotates under the drive of the drive signal to pump out the first liquid in the solution tank to the water delivery pipe.
  • the drive signal output to the water pump is defined as the first drive signal.
  • step 2801 is to stop sending the first driving signal to the water pump, so as to stop the operation of the fluid supply device.
  • the implementation form of the motor of the water pump, the first drive signal, and the implementation of stopping the delivery of the first drive signal to the water pump please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the fluid supply device is provided with a corresponding valve.
  • Another implementation of step 2801 is to control the degree of closure of the valve and control the fluid supply device to stop spraying the first liquid.
  • it can control the action of the brake mechanism corresponding to the valve, close the valve, etc., but it is not limited to this.
  • the control system can control the fluid supply device to open or stop spraying the first liquid through the valve brake mechanism, and accordingly, it can also control to gradually increase the flow rate of the first liquid, or gradually reduce the flow rate of the first liquid.
  • the fluid supply device supplies the first liquid by the weight of the air pump or the first liquid
  • the control system can control the fluid supply device to turn on or stop spraying the first liquid. Accordingly, it can also control the gradual increase of the first liquid. , Or gradually reduce the flow rate of the first liquid.
  • step 2802 in response to an instruction instructing the movable device to stop operation, output a second driving signal to the motor of the recovery device to control the recovery device to continue to recover the second liquid on the target object.
  • the parameter value of the second driving signal may be the same as or different from the parameter value of the driving signal output to the recovery device before responding to the instruction instructing the movable equipment to stop the operation.
  • the recovery device may include: a vacuum pump, a suction nozzle, a recovery barrel, and a corresponding motor.
  • the motor corresponding to the recovery device may be the main motor of the movable equipment.
  • the second drive signal is output to the recovery device, specifically, the second drive signal is output to the motor of the recovery device.
  • the parameter value of the second drive signal is different, and the working power of the motor is different.
  • the realization form of the second driving signal and the corresponding relationship between the parameter value of the second driving signal and the working power of the motor please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the parameter value of the second driving signal may be the same as the parameter value of the driving signal output to the recovery device before responding to the instruction instructing the movable equipment to stop operation; it may also be different from the parameter value of the driving signal output to the recovery device in response to the instruction instructing the movable equipment to stop.
  • the parameter value of the drive signal output to the recovery device before the operation command is different.
  • the specific value of the parameter of the second driving signal may be preset in the movable device, or may be determined according to actual conditions.
  • the fluid supply device has different spray volume levels, and different spray volume levels correspond to different spray volumes.
  • the first target parameter value required by the second driving signal can be determined according to the spray amount of the fluid supply device before responding to the instruction instructing the movable equipment to stop operation; and according to the first target parameter value, the first target parameter value is output to the recovery device Two drive signal.
  • the second driving signal has the first target parameter value.
  • the second target parameter value required by the second driving signal can also be determined according to the humidity of the target object; and the second driving signal is output to the recovery device according to the second target parameter value.
  • the second driving signal has a second target parameter value.
  • the specific implementation for determining the humidity of the target object and determining the second target parameter value can refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the target parameter value required by the second driving signal may be determined according to the spray amount of the fluid supply device before responding to the instruction instructing the movable equipment to stop operation and the humidity of the target object, and output to the recovery device A second drive signal with the target parameter value.
  • the specific value of the parameter of the second driving signal can be preset in the movable device.
  • the preset parameter value of the second driving signal is defined as the third target The parameter value.
  • the third target parameter value is different from the parameter value of the drive signal output to the recovery device before responding to the instruction to stop the operation of the movable equipment; accordingly, the second target parameter value can be generated according to the preset third target parameter value.
  • Drive signal according to the third target parameter value, output a second drive signal to the motor of the recovery device.
  • the second driving signal has a third target parameter value.
  • the movable device further includes: a cleaning component.
  • the cleaning component includes: a cleaning brush and a motor that drives the cleaning brush operation.
  • the cleaning component can be controlled to stop the operation in response to the instruction instructing the movable equipment to stop operation; it can also be controlled to continue the operation in response to the instruction instructing the movable equipment to stop the operation, and meet the above requirements. After setting the conditions, the cleaning unit is controlled to stop the operation.
  • a third drive signal can be sent to the motor of the cleaning assembly to control the cleaning assembly to continue the operation; wherein, the parameter value of the third drive signal can be the same as that of the third drive signal before the control system responds to the instruction to stop the operation of the movable equipment.
  • the parameter values of the drive signals output by the motors of the components are the same, so that the cleaning components can perform cleaning work with the original power.
  • the parameter value of the third drive signal may be different from the parameter value of the drive signal output to the motor of the cleaning assembly before responding to the instruction instructing the movable device to stop the operation, so that the cleaning assembly can continue with the adjusted power Perform cleaning work.
  • the cleaning component can continue to perform the cleaning work with the reduced power, or can continue to perform the cleaning work with the increased power.
  • Different power corresponds to different parameter values, that is, the motor of the cleaning component can output different parameter values to adjust the working power of the cleaning component.
  • the parameter value of the third driving signal can be preset in the movable device, or can be determined according to the spray amount and/or the humidity of the target object before the fluid supply device responds to the instruction instructing the movable device to stop operation, and its specific implementation For the manner, please refer to the related content of the target parameter value of the second driving signal mentioned above, which will not be repeated here.
  • an embodiment of the present application also provides a computer-readable storage medium storing computer instructions.
  • the computer instructions are executed by one or more processors, the one or more processors are caused to perform the operations in the above-mentioned operation method. step.
  • FIG. 29 is a schematic structural diagram of another movable device provided by an embodiment of this application.
  • the movable equipment includes: a fluid supply device 291, a recovery device 292, and a control system 293.
  • the control system 293 is electrically connected to the fluid supply device 291 and the recovery device 292, and can control the working state of the fluid supply device 291 and the recovery device 292.
  • the fluid supply device 291 is responsible for spraying liquid outward.
  • the liquid sprayed by the fluid supply device 291 is defined as the first liquid.
  • the recovery device 292 is responsible for recovering the second liquid generated from the first liquid.
  • the first liquid, and the second liquid please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the control system 293 can respond to the instruction instructing the movable equipment to stop operation, control the fluid supply device to continue to spray the first liquid to the target object with a reduced spray volume, and control the recovery device 292 to continue to recover The second liquid on the target object, and when the set conditions are met, the fluid supply device and the recovery device are controlled to stop the operation at the same time.
  • the instruction to instruct the movable device to stop the operation how to determine whether the instruction is received, and the setting conditions, please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • control system 293 uses electrical signals to control a certain component to perform operations, then controlling a certain component on the movable device to stop working can mean that the control system 293 no longer reports to the The component outputs electrical signals, excluding the component's use of inertia to continue working.
  • the mobile device provided in this embodiment can respond to an instruction instructing it to stop operation, control the fluid supply device to spray liquid to the target object with a reduced spray volume, and control the recovery device to continue to recover the liquid on the target object, and to meet the design requirements. Control the fluid supply device and the recovery device to stop operations at the same time under certain conditions, which helps to reduce the liquid residue on the target object, thereby helping to improve the user experience.
  • the implementation form of the fluid supply device is different, and the way of controlling the stop operation of the fluid supply device is also different.
  • the fluid supply device 291 may include: a water pump 291a, a water pipe 291b, and a nozzle (not shown in FIG. 29).
  • the movable device may further include: a solution tank 294.
  • the first liquid is stored in the solution tank 294.
  • the working principle of the fluid supply device 291 please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the control system 293 can send a driving signal to the water pump 291a, and the water pump 291a rotates under the driving of the driving signal to pump the first liquid in the solution tank 294 to the water delivery pipe 291b.
  • the driving signal output by the control system 293 to the water pump 291a is defined as the first driving signal.
  • the control system 293 can reduce the spray amount of the fluid supply device 291 by adjusting the parameter value of the first driving signal. That is, when the control system 293 is responding to an instruction instructing the movable equipment to stop operation, the power corresponding to the first driving signal output to the water pump is less than the power corresponding to the first driving signal output to the water pump. Power.
  • the first driving signal is a PWM signal
  • its parameter value may be the duty ratio of the PWM signal.
  • the duty ratio of the PWM signal can be reduced to reduce the working power of the water pump 291a, and thereby reduce the spray volume of the fluid supply device 291.
  • the first driving signal is a pulse signal
  • its parameter value may be the delay time of the pulse signal compared to the zero crossing of the sine signal.
  • the delay time between the rising or falling edge of the pulse signal and the zero-crossing point of the sine signal can be prolonged, thereby reducing the conduction angle of the thyristor to reduce the working power of the water pump 291a, thereby reducing the fluid supply device 291 The amount of spraying.
  • the sine signal is a 220V mains power supply for portable equipment.
  • the parameter value of the first driving signal output to the water pump may be preset in the movable device.
  • the fluid supply device 291 is provided with a corresponding valve
  • the control system 293 can control the degree of closing of the valve and adjust the spray amount of the fluid supply device 291.
  • the control system 293 can control the action of the brake mechanism corresponding to the valve, reduce the opening of the valve, thereby reducing the spray amount of the fluid supply device 291, etc., but it is not limited to this.
  • the control system 293 can also output a driving signal to control its working state.
  • the drive signal output by the control system 293 to the recovery device 292 is defined as the second drive signal. That is, the control system 293 can respond to the instruction instructing the movable equipment to stop the operation and output the second driving signal to the motor of the recovery device 292 to control the recovery device 292 to continue to recover the second liquid on the target object.
  • the parameter value of the second driving signal may be the same as or different from the parameter value of the driving signal output by the control system 293 to the recovery device 292 before responding to the instruction instructing the movable equipment to stop the operation.
  • the recovery device 292 continues to recover the first power on the target object with the original power.
  • the parameter value of the second driving signal is different from the parameter value of the driving signal that the control system 293 outputs to the recovery device 292 before responding to the instruction to stop the operation of the movable equipment, and the recovery device 292 continues to recover the target with the adjusted power.
  • the adjusted power can be greater than the original power or less than the original power.
  • the unit recovery volume when the recovery device 292 operates at the reduced power is greater than the unit spray volume when the fluid supply device 291 operates at the reduced power.
  • the unit recovery volume refers to the volume of liquid that can be recovered by the recovery device 292 per unit time, but in actual operations, the liquid on the target object may be less than the unit recovery volume of the recovery device 292.
  • the unit spray amount refers to the amount of liquid that can be sprayed by the fluid supply device 291 per unit time.
  • the specific value of the parameter of the second driving signal may be preset in the movable device, or may be determined according to actual conditions.
  • the fluid supply device 291 has different spray volume levels, and different spray volume levels correspond to different spray volumes.
  • the control system 293 responds to the instruction instructing the movable equipment to stop operation, if the fluid supply device 291 is working at a different spray volume level, the amount of the second liquid produced on the target object will also be different; similarly, the control system 293 responds After the instruction to stop the operation of the movable equipment, if the fluid supply device 291 operates at a different spray amount level, the amount of the second liquid produced on the target object is also different.
  • control system 293 can determine the first target parameter value required by the second driving signal according to the spray amount of the fluid supply device 291 before or after responding to the instruction instructing the movable equipment to stop operation; and according to the first target parameter value , Output the second drive signal to the recovery device 292.
  • the second driving signal has the first target parameter value.
  • the second target parameter value required by the second driving signal can also be determined according to the humidity of the target object; and the second driving signal is output to the recovery device 292 according to the second target parameter value.
  • the second driving signal has a second target parameter value.
  • the target parameter value required by the second driving signal may be determined according to the spray amount of the fluid supply device 291 before or after the instruction instructing the movable equipment to stop operation and the humidity of the target object, and then The recovery device 292 outputs a second drive signal having the target parameter value.
  • the specific value of the parameter of the second driving signal can be preset in the movable device.
  • the preset parameter value of the second driving signal is defined as the third target The parameter value.
  • the third target parameter value is different from the parameter value of the drive signal output to the recovery device 292 before responding to the instruction instructing the movable equipment to stop the operation; accordingly, the control system 293 generates the third target parameter value according to the preset third target parameter value.
  • Two driving signals; according to the third target parameter value, the second driving signal is output to the motor of the recovery device 292.
  • the second driving signal has a third target parameter value.
  • the recovery device 292 may include: a suction nozzle 292a and a corresponding motor 292b.
  • the motor 292b corresponding to the recovery device 292 may be the main motor of the movable equipment.
  • the movable device may further include: a recycling bin 295. The recovery device 292 can recover the second liquid on the target object into the recovery barrel 295.
  • the movable device further includes: a cleaning component 296.
  • the cleaning component 296 includes a cleaning brush and a motor that drives the cleaning brush operation.
  • the control system 293 can control the cleaning component 296 to stop the operation in response to an instruction instructing the movable device to stop the operation; it can also control the cleaning component 296 to continue in response to the instruction instructing the movable device to stop the operation. After satisfying the above set conditions, the cleaning module 296 is controlled to stop the operation.
  • the continuing operation of the cleaning component includes any one of the following: the cleaning brush keeps the original power and continues to run, the cleaning brush runs at reduced power, the cleaning brush runs at increased power, and runs at the original power for a predetermined time (for example, 5 seconds) ) And then linearly or non-linearly reduce the power operation, increase the power for a predetermined time (for example, 5 seconds) and then linearly reduce the power operation.
  • the operating parameters of the cleaning brush to continue working can be replaced from power to rotation speed, the cleaning brush continues to run at the original rotation speed, the cleaning brush runs at a reduced rotation speed, and the cleaning brush runs at an increased rotation speed, and runs at the original rotation speed for a predetermined time ( For example, after 5 seconds), the speed is reduced linearly or non-linearly, and the speed is increased for a predetermined time (for example, 5 seconds), and then the speed is reduced linearly.
  • the operating parameters of the cleaning brush continue to work can be replaced from power to steering, and the cleaning brush continues to operate includes any one of the following: the cleaning brush maintains the original steering operation, and the cleaning brush is switched to be opposite to the original steering After turning, the cleaning brush switches to reverse operation after maintaining the original turning operation for a predetermined time (for example, 5 seconds), and the cleaning brush switches to the original turning operation after a predetermined time (for example, 5 seconds) of reverse operation.
  • a predetermined time for example, 5 seconds
  • a predetermined time for example, 5 seconds
  • the structure and implementation form of the movable device, as well as the form and location of each component of the movable device provided in FIG. 29 of the above embodiment are only exemplary, but not restrictive.
  • the mobile device may also include communication components, rollers, driving components, etc. according to application requirements, which are not shown in FIG. 29. Only some of the components are schematically shown in FIG. 29, which does not mean that the movable device must include all the components shown in FIG. 29, nor does it mean that the movable device can only include the components shown in FIG. 29.
  • the embodiment of the present application also provides another operation method, which is suitable for the above-mentioned control system, which will be exemplified below.
  • FIG. 30 is a schematic flowchart of another operation method provided by an embodiment of the application. As shown in Figure 4, the method includes:
  • control the fluid supply device In response to an instruction instructing the movable equipment to stop operation, control the fluid supply device to continue spraying the first liquid to the target object with a reduced spray amount.
  • the fluid supply device is responsible for spraying liquid outward.
  • the liquid sprayed outward by the fluid supply device is defined as the first liquid.
  • the recovery device is responsible for recovering the second liquid produced by the first liquid.
  • Movable equipment can use various components to perform related tasks during the movement.
  • Movable equipment refers to equipment that can be moved, which can be autonomous mobile equipment, such as sweeping robots, window cleaning robots, etc.; it can also be equipment that needs to be moved with the help of external forces, such as handheld vacuum cleaners, handheld mite removal instruments, etc., But it is not limited to this.
  • the fluid supply device when the movable device is working, can spray the first liquid on the target object, and the recovery device can recover the second liquid on the target object.
  • the movable device when the movable device receives an instruction to stop the operation of the device, the fluid supply device and the recovery device stop the operation at the same time, so that a large amount of liquid remains on the target object.
  • step 3001 in response to the instruction instructing the movable equipment to stop the operation, the fluid supply device is controlled to continue to spray the first liquid to the target object with the reduced spray amount, and in step 3002, the recovery device is controlled to continue to recover The second liquid on the target object; then, in step 3003, when the set conditions are met, the fluid supply device and the recovery device are controlled to stop the operation at the same time.
  • the instruction to instruct the movable device to stop the operation how to determine whether the instruction is received, and the setting conditions, please refer to the relevant content of the above-mentioned embodiment, which will not be repeated here.
  • the mobile device can respond to the instruction instructing it to stop the operation, control the fluid supply device to spray liquid on the target object with a reduced spray volume, and control the recovery device to continue to recover the liquid on the target object, and to meet the design requirements. Control the fluid supply device and the recovery device to stop operations at the same time under certain conditions, which helps to reduce the liquid residue on the target object, thereby helping to improve the user experience.
  • the implementation form of the fluid supply device is different, and the way of controlling the stop operation of the fluid supply device is also different.
  • the fluid supply device may include: a water pump, a water pipe, and a nozzle.
  • a drive signal can be sent to the water pump, and the water pump rotates under the drive of the drive signal to pump out the first liquid in the solution tank to the water delivery pipe.
  • the drive signal output to the water pump is defined as the first drive signal.
  • the spray amount of the fluid supply device can be reduced by adjusting the parameter value of the first driving signal. That is, in response to an instruction instructing the movable equipment to stop operation, the power corresponding to the first driving signal output to the water pump is less than the power corresponding to the driving signal output to the water pump if the response of the water pump instructs the movable equipment to stop operation.
  • the first driving signal is a PWM signal
  • its parameter value may be the duty ratio of the PWM signal.
  • the duty cycle of the PWM signal can be reduced to reduce the working power of the water pump, thereby reducing the spray volume of the fluid supply device.
  • the first driving signal is a pulse signal
  • its parameter value can be the delay time between the zero crossing of the pulse signal compared to the sine signal, specifically: the rising edge of the pulse signal Or the delay time between the zero crossings of the falling edge compared to the sinusoidal signal.
  • the delay time of the rising or falling edge of the pulse signal compared to the zero-crossing point of the sine signal can be extended, thereby reducing the conduction angle of the thyristor to reduce the working power of the water pump, thereby reducing the spraying of the fluid supply device the amount.
  • the parameter value of the first driving signal output to the water pump may be preset in the movable device.
  • the fluid supply device is provided with a corresponding valve, which can control the degree of closure of the valve and adjust the spray volume of the fluid supply device.
  • a corresponding valve which can control the degree of closure of the valve and adjust the spray volume of the fluid supply device.
  • the recovery device can also output a drive signal to control its working state.
  • the drive signal output to the recycling device is defined as the second drive signal. That is, in response to the instruction instructing the movable equipment to stop the operation, the second driving signal is output to the motor of the recovery device to control the recovery device to continue to recover the second liquid on the target object.
  • the parameter value of the second driving signal may be the same or different from the parameter value of the driving signal output by the control system to the recovery device before responding to the instruction instructing the movable equipment to stop the operation.
  • the recovery device continues to recover the second liquid on the target object with the original power.
  • the parameter value of the second drive signal is different from the parameter value of the drive signal that the control system outputs to the recovery device before responding to the instruction instructing the movable equipment to stop operation, and the recovery device continues to recover the power on the target object with the adjusted power.
  • the adjusted power can be greater than the original power or less than the original power.
  • the unit recovery volume when the recovery device is operating at the reduced power is greater than the unit spray volume when the fluid supply device is operating at the reduced power.
  • the unit recovery volume refers to the amount of liquid that the recovery device can recover in a unit time, but in actual operations, the liquid on the target object may be less than the unit recovery volume of the recovery device.
  • the unit spray volume refers to the amount of liquid that the fluid supply device can spray per unit time.
  • the specific value of the parameter of the second driving signal may be preset in the movable device, or may be determined according to actual conditions.
  • the first target parameter value required by the second driving signal may be determined according to the spray amount of the fluid supply device before or after the instruction instructing the movable equipment to stop operation; and according to the first target parameter value , Output the second drive signal to the recovery device.
  • the second driving signal has the first target parameter value.
  • the second target parameter value required by the second driving signal can also be determined according to the humidity of the target object; and the second driving signal is output to the recovery device according to the second target parameter value.
  • the second driving signal has a second target parameter value.
  • the target parameter value required by the second driving signal may be determined according to the spray amount of the fluid supply device before or after the instruction instructing the movable equipment to stop operation and the humidity of the target object, and the target parameter value required by the second driving signal may be determined and sent to the recovery unit.
  • the device outputs a second drive signal having the target parameter value.
  • the specific value of the parameter of the second driving signal can be preset in the movable device.
  • the preset parameter value of the second driving signal is defined as the third target The parameter value.
  • the third target parameter value is different from the parameter value of the drive signal output to the recovery device before responding to the instruction to stop the operation of the movable equipment; accordingly, the control system generates the second drive signal according to the preset third target parameter value.
  • the second driving signal has a third target parameter value.
  • the movable device further includes: a cleaning component.
  • the cleaning component includes: a cleaning brush and a motor that drives the cleaning brush operation.
  • the cleaning component can be controlled to stop the operation in response to the instruction instructing the movable equipment to stop operation; it can also be controlled to continue the operation in response to the instruction instructing the movable equipment to stop the operation, and meet the above requirements.
  • the cleaning unit is controlled to stop the operation.
  • an embodiment of the present application also provides a computer-readable storage medium storing computer instructions.
  • the computer instructions are executed by one or more processors, the one or more processors are caused to perform the operations in the above-mentioned operation method. step.
  • the execution subject of each step of the method provided in the foregoing embodiment may be the same device, or different devices may also be the execution subject of the method.
  • the execution subject of steps 3001 and 3002 may be device A; for another example, the execution subject of step 3001 may be device A, and the execution subject of step 3002 may be device B; and so on.
  • the operation method provided in the embodiment of the present application is applicable to a variety of movable devices.
  • the movable device may be a cleaning device, such as a sweeping robot, a hand-held vacuum cleaner, a window cleaning robot, etc.; it may also be a chemical reaction device; etc., but not limited thereto.
  • cleaning equipment is taken as an example, and combined with related operation scenarios, the operation methods provided in the embodiments of the present application will be exemplified.
  • the embodiment of the present application provides a cleaning device including: a fluid supply device, a recovery device, and a control system.
  • the control system is electrically connected with the fluid supply device and the recovery device, and can control the working state of the fluid supply device and the recovery device.
  • the fluid supply device is responsible for spraying clean liquid, such as clean water or liquid doped with detergent, etc., but it is not limited to this.
  • the second liquid may be a dirty liquid generated after the first liquid is sprayed on the target object (the cleaning object and/or the cleaning brush) and is cleaned by the cleaning component of the cleaning device.
  • control system may respond to the instruction instructing the cleaning equipment to stop the operation, and control the fluid supply device to stop spraying clean liquid to the target object.
  • control system can immediately control the fluid supply device to no longer work, or control the fluid supply device to gradually reduce the amount of spraying until the operation is stopped.
  • control system may control the recovery device to continue recovering the dirty liquid on the target object, and control the recovery device to stop recovering the dirty liquid on the target object when the set conditions are met. This helps to reduce the residue of dirty liquid on the target object, which in turn helps to improve the user experience.
  • the embodiment of the present application provides a cleaning device including: a fluid supply device, a recovery device, and a control system.
  • the control system is electrically connected with the fluid supply device and the recovery device, and can control the working state of the fluid supply device and the recovery device.
  • the fluid supply device is responsible for spraying clean liquid, such as clean water or liquid doped with detergent, etc., but it is not limited to this.
  • the second liquid may be a dirty liquid generated after the first liquid is sprayed on the target object (the cleaning object and/or the cleaning brush) and is cleaned by the cleaning component of the cleaning device.
  • control system can respond to instructions instructing the movable equipment to stop operations, control the fluid supply device to continue to spray clean liquid to the target object with a reduced spray volume, and control the recovery device to continue to recover the dirty liquid on the target object, and When the set conditions are met, the fluid supply device and the recovery device are controlled to stop operations at the same time. This helps to reduce the residue of dirty liquid on the target object, which in turn helps to improve the user experience.
  • the cleaning equipment is a washing machine.
  • the cleaning machine includes a solution tank, a recycling tank, a main motor, a control system, and a floor brush.
  • the control system is electrically connected to the main motor, solution tank, recycling tank, and floor brush, which can control the main motor.
  • the control system responds to the user’s power-on signal to control the main motor to start vacuuming, and the floor brush motor to start running.
  • the solution tank responds to the control system’s signal to turn on the water pump to spray water, and the recycling bucket collects the dust sucked from the floor by the floor brush. , Water, etc.
  • the washing machine is shut down by the user, the control system responds to the shutdown signal, the timer starts timing, and the water pump of the solution tank is controlled to stop spraying water, the floor brush motor keeps the original power and continues to run, the main motor keeps the original power and continues to run, and continues to suck the ground
  • the shutdown signal reaches a predetermined time (for example, 3 seconds)
  • the floor brush motor and main motor stop running and the machine is cleaned in response to the control signal of the control system. Since the water pump stops spraying water after the machine is cleaned, and the main motor continues to run, it can suck the dirt on the ground in time, reduce the residual liquid on the ground, and improve the user experience.
  • the cleaning equipment is a washing machine.
  • the cleaning machine includes a solution tank, a recycling tank, a main motor, a control system, and a floor brush.
  • the control system is electrically connected to the main motor, solution tank, recycling tank, and floor brush, which can control the main motor.
  • the control system responds to the user’s power-on signal to control the main motor to start vacuuming, and the floor brush motor to start running.
  • the solution tank responds to the control system’s signal to turn on the water pump to spray water, and the recycling bucket collects the dust sucked from the floor by the floor brush. , Water, etc.
  • the washing machine is shut down by the user, the control system responds to the shutdown signal, the timer starts timing, and the water pump of the solution tank is controlled to stop spraying water, the floor brush motor continues to run with reduced power, and the main motor continues to run with reduced power to continue to suck dust on the ground
  • the shutdown signal reaches a predetermined time (for example, 5 seconds)
  • the floor brush motor and the main motor stop running, and the machine is shut down in response to the control signal of the control system after the shutdown signal reaches a predetermined time (for example, 5 seconds). Since the water pump stops spraying water after the machine is cleaned, and the main motor continues to run, it can suck the dirt on the ground in time, reduce the residual liquid on the ground, and improve the user experience.
  • the cleaning equipment is a washing machine.
  • the cleaning machine includes a solution bucket, a recycling bucket, a main motor, a control system, a voice module, and a floor brush.
  • the control system and main motor, a solution bucket, a recycling bucket, a floor brush, and a voice module Electrical connection can control the working status of the main motor, solution tank, recovery tank, floor brush, and voice module.
  • the user outputs a voice start signal to the washing machine, and the voice module of the washing machine receives the user's voice message and sends it to the control system.
  • the control system responds to the user's start signal and controls the main motor to start vacuuming, controls the floor brush motor to start running, and the solution tank
  • the water pump is turned on to spray water, and the recycling bucket collects the dust, water and other dirt sucked from the ground by the floor brush.
  • the user outputs a voice shutdown signal to the washing machine, the voice module of the washing machine receives the user's voice message and sends it to the control system.
  • the control system responds to the shutdown signal, the timer starts timing, and the water pump of the solution tank is controlled to stop spraying water and the floor brush motor Reduce the power and continue to run, the main motor will continue to run at reduced power, continue to suck dirt, water and other dirt on the ground, after the shutdown signal reaches a predetermined time (for example, 5 seconds), respond to the control signal of the control system, the ground brush motor and the main The motor stops running, and the cleaning machine shuts down. Since the water pump stops spraying water after the machine is cleaned, and the main motor continues to run, it can suck the dirt on the ground in time, reduce the residual liquid on the ground, and improve the user experience.
  • a predetermined time for example, 5 seconds
  • the cleaning equipment is a washing machine.
  • the cleaning machine includes a solution tank, a recycling tank, a main motor, a control system, and a floor brush.
  • the control system is electrically connected to the main motor, solution tank, recycling tank, and floor brush, which can control the main motor.
  • the bottom of the floor brush is equipped with a humidity sensor that detects the humidity of the ground.
  • the solution tank responds to the control system’s signal to turn on the water pump to spray water, and the recycling bucket collects the dust sucked from the floor by the floor brush. , Water, etc.
  • the washing machine is shut down by the user, the control system responds to the shutdown signal, and receives the humidity of the ground detected by the humidity sensor in real time.
  • the control system controls the water pump of the solution tank to stop spraying water, and the floor brush motor maintains the original power Continue to run, increase the power of the main motor to continue to run, continue to suck dust, water and other dirt on the ground.
  • the humidity sensor When the humidity sensor detects that the humidity on the ground reaches a predetermined humidity value, it responds to the control signal of the control system to brush the motor and the main motor. Stop running and clean the machine. Since the water pump stops spraying water after the machine is cleaned, and the main motor continues to run, it can suck the dirt on the ground in time, reduce the residual liquid on the ground, and improve the user experience.
  • the cleaning equipment is a sweeping robot.
  • the sweeping robot includes a clean water tank, a dust box, a main motor, a control system, and a roller brush.
  • the control system is electrically connected to the main motor, clean water tank, dust box, and roller brush, and can control the main The working status of the motor, clean water tank, dust box and roller brush.
  • the control system responds to the power-on signal, controls the main motor to start vacuuming, and controls the roller brush to start running.
  • the clean water tank responds to the control system's signal to start spraying water.
  • the dust box collects the dust, water and other dirt sucked by the sweeping robot from the ground. Sewage.
  • the sweeping robot is shut down, the control system responds to the shutdown signal, the timer starts timing, and controls the clean water tank to stop spraying water, the roller brush reduces the power and continues to run, the main motor reduces the power and continues to run, and continues to suck dust and water from the ground
  • the shutdown signal reaches a predetermined time (for example, 5 seconds)
  • the roller brush and the main motor stop running, and the sweeping robot shuts down. Since the clean water tank stops spraying water after the sweeping robot shuts down, and the main motor continues to run, it can suck dirt on the ground in time, reduce liquid residue on the ground, and improve user experience.
  • the cleaning equipment is a sweeping robot.
  • the sweeping robot includes a clean water tank, dust box, main motor, control system, voice module and roller brush, and control system and main motor, clean water tank, dust box, roller brush, and voice module. Electrical connection can control the working status of the main motor, clean water tank, dust box, roller brush, and voice module.
  • the user outputs a voice start signal to the sweeping robot, and the voice module of the sweeping robot receives the user's voice message and sends it to the control system.
  • the control system responds to the start signal, controls the main motor to start dust collection, controls the roller brush to start running, and the clean water tank responds to the control system
  • the signal turns on the water spray, and the dust box collects the dust, water and other dirt sucked by the sweeping robot from the ground.
  • the user outputs a voice shutdown signal to the washing machine, and the voice module of the washing machine receives the user's voice message and sends it to the control system.
  • the control system responds to the shutdown signal, the timer starts timing, and the clean water tank is controlled to stop spraying water, and the brush to reduce the power
  • the control signal reaches a predetermined time (for example, 5 seconds)
  • the roller brush and the main motor stop running,
  • the sweeping robot shuts down. Since the clean water tank stops spraying water after the sweeping robot shuts down, and the main motor continues to run, it can suck dirt on the ground in time, reduce liquid residue on the ground, and improve user experience.
  • the cleaning equipment is a sweeping robot.
  • the sweeping robot includes a clean water tank, a dust box, a main motor, a control system, and a roller brush.
  • the control system is electrically connected to the main motor, clean water tank, dust box, and roller brush, and can control the main The working status of the motor, clean water tank, dust box, and roller brush.
  • the bottom of the sweeping robot is equipped with a humidity sensor that detects the humidity on the ground. After the sweeping robot is turned on, the control system responds to the power-on signal, controls the main motor to start vacuuming, and controls the roller brush to start running.
  • the clean water tank responds to the control system's signal to start spraying water.
  • the dust box collects the dust, water and other dirt sucked by the sweeping robot from the ground. Sewage.
  • the control system responds to the shutdown signal and receives the humidity of the ground detected by the humidity sensor in real time.
  • the ground humidity exceeds the predetermined humidity value, it controls the clean water tank to stop spraying water, the roller brush reduces the power and continues to run, and the main motor reduces Continue to run at low power and continue to suck dirt, water and other dirt on the ground.
  • the humidity sensor detects that the humidity on the ground reaches a predetermined humidity value, it responds to the control signal of the control system, the roller brush and the main motor stop running, and the sweeping robot shuts down. Since the clean water tank stops spraying water after the sweeping robot shuts down, and the main motor continues to run, it can suck dirt on the ground in time, reduce liquid residue on the ground, and improve user experience.
  • the memory is used to store a computer program, and can be configured to store various other data to support operations on a removable device.
  • the processor can execute the computer program stored in the memory to realize the corresponding control logic.
  • the memory can be implemented by any type of volatile or non-volatile storage devices or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and programmable Read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable and programmable Read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disk or optical disk.
  • the control system may include a processor and its peripheral circuits.
  • the processor may be any hardware processing device that can execute the above method logic.
  • the processor may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or a Microcontroller Unit (MCU); it may also be a Field Programmable Gate Array (Field Programmable Gate Array).
  • FPGA -Programmable Gate Array
  • PAL Programmable Array Logic
  • GAL General Array Logic
  • CPLD Complex Programmable Logic Device
  • RISC Advanced Reduced Instruction Set
  • ARM Advanced RISC Machines
  • SOC System on Chip
  • the communication component is configured to facilitate wired or wireless communication between the movable device and other devices.
  • Mobile devices can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G, 5G or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may also be based on near field communication (NFC) technology, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology Or other technologies to achieve.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the power supply component is configured to provide power to various components of the movable device.
  • the power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device where the power supply component is located.
  • the audio component may be configured to output and/or input audio signals.
  • the audio component includes a microphone (MIC).
  • MIC microphone
  • the microphone is configured to receive external audio signals.
  • the received audio signal can be further stored in a memory or sent via a communication component.
  • the audio component further includes a speaker for outputting audio signals.
  • audio components can be used to achieve voice interaction with users.
  • the cleaning equipment generates a lot of noise when it is working.
  • the noise of the main motor of the cleaning equipment when negative pressure is generated the sound of the rolling brush motor, the sound of pumping water, the noise of the dust suction channel, the rolling noise of the action wheel of the cleaning equipment, and so on.
  • These noises cause great interference to the voice interaction function of the cleaning equipment.
  • the voice prompts made by the cleaning equipment cannot be clearly heard by the user, and the voice commands issued by the user cannot be accurately obtained by the cleaning equipment. .
  • some exemplary embodiments of the present application provide a cleaning device and a voice interaction method for the cleaning device.
  • the technical solutions provided by each embodiment of the present application will be described in detail below with reference to the accompanying drawings.
  • FIG. 31 is a schematic structural diagram of a cleaning device provided by an exemplary embodiment of the application. As shown in FIG. 31, the cleaning device includes a main body 311, a load 312 installed on the main body 311, a controller 313, and an audio component 314.
  • the cleaning device can be implemented as various cleaning devices such as washing machines, wet vacuum cleaners, hand-held vacuum cleaners, and sweeping robots that clean the ground, walls, ceilings, glass, motor vehicles, etc., but it is not limited thereto.
  • the load 312 refers to a component installed on the cleaning device and used for the cleaning device to achieve a cleaning function.
  • the implementation of the load 312 is different.
  • the load 312 may be implemented as a main motor, a roller brush motor, a water pump, etc., of a vacuum source for generating negative pressure on the washing machine.
  • the load 312 may be implemented as a cyclone, a main motor, a roller brush motor, etc. on the vacuum cleaner.
  • the different types of loads listed above are used to exemplify the loads in combination with different cleaning equipment, and do not constitute any limitation on the implementation form of the load 312.
  • the controller 313 is used to implement a central control function in the cleaning equipment, and can control the working state of the load on the cleaning equipment according to preset control logic or user control instructions.
  • the controller 313 can use various application-specific integrated circuits (ASICs), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), microcomputers It is implemented by a control element, a microprocessor, a micro control unit (MCU) or other electronic elements, and this embodiment does not limit it.
  • ASICs application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • microcomputers It is implemented by a control element, a microprocessor, a micro control unit (MCU) or other electronic elements, and this embodiment does not limit it.
  • the controller 313 can obtain a voice interaction trigger event for the cleaning device, respond to the voice interaction trigger event, control the working noise of the load 312 on the cleaning device within a set range, and send it to the audio component 314 Voice interactive instructions.
  • the voice interaction trigger event refers to an event that can trigger the voice interaction function of the cleaning device. It may be a user event or a system event of the cleaning device, which is not limited in this embodiment.
  • the audio component 314 is used to output and/or input audio signals in a voice interaction mode. After the audio component 314 receives the voice interaction instruction sent by the controller 313, it can perform a voice interaction operation corresponding to the voice interaction trigger event.
  • the voice interaction operation may include: at least one of a voice message playback operation and a voice instruction recording operation.
  • the audio component 314 may include a voice chip 3141, a storage unit 3142, a driving unit 3143, a microphone (MIC) 3144, and a speaker 3145.
  • the voice chip 3141 can drive the microphone 3144 through the driving unit 3143 to record audio signals from the outside.
  • the microphone 3144 receives the external audio signal, it can send it to the voice chip 3141.
  • the voice chip 3141 can perform voice recognition according to the audio signal to obtain the interactive information contained in the external audio signal.
  • the voice chip 3141 can determine the audio signal that needs to be played, and the driver unit 3143 drives the speaker 3145 to output the audio signal.
  • the controller 313 when the controller 313 obtains the voice interaction trigger event for the cleaning device, it controls the working noise of the load 312 on the cleaning device within a set range, and then controls the audio component 314 on the cleaning device to perform the same
  • the voice interaction triggers the voice interaction operation corresponding to the event, and in turn, can reduce the interference of the working noise of the load on the voice interaction operation of the audio component, which is beneficial to improve the voice interaction performance of the cleaning equipment.
  • the controller 313 can control the working noise of the load 312 on the cleaning equipment within a set range. This may include: controlling the working circuit of the load 312 to be in a disconnected state; or, The power of the control load 312 is less than the set power threshold.
  • the loads 312 installed on different types of cleaning equipment are different, and further, the way in which the controller 313 controls the load 312 is also different.
  • the main motor, roller brush motor, water pump, and action wheel are relatively common loads. The following will combine these common loads for exemplary description.
  • the main motor is used to generate negative pressure to form a relatively large vacuum suction force to suck dust and/or sewage into the recycling bin, thereby generating relatively large noise.
  • the rolling brush motor, the water pump and the action wheel are less noisy.
  • the working circuit of the control load 312 when the working circuit of the control load 312 is in the disconnected state, the working circuit of the main motor can be mainly controlled to be in the disconnected state, and the operation of other loads such as roller brush motors, water pumps, and action wheels can be controlled.
  • the loop is normally connected to reduce the main noise.
  • the working circuits that can control the main motor, roller brush motor, water pump, and action wheel are all in a disconnected state to further reduce noise.
  • the noise generated by the load 312 has a positive correlation with its power.
  • the power of the main motor is relatively high (usually between 150-450W), and the power of the roller brush motor is relatively small (usually between 20-50W).
  • the power of the main motor when the power of the control load 312 is less than the set power threshold, the power of the main motor can be controlled to be less than a set power threshold, but the roller brush motor, water pump, and The power of the action wheel to reduce the main noise.
  • the power of the roller brush motor, the water pump, and the action wheel while controlling the power of the main motor to be less than a certain set threshold, the power of the roller brush motor, the water pump, and the action wheel can be controlled to be correspondingly less than their respective power thresholds.
  • the working circuit of the control load 312 is in a disconnected state, which may include the following optional implementation manners:
  • Embodiment C If the load 312 is in a working state, the working circuit of the load 312 is cut off, so that the load 312 enters a non-working state. When the working circuit of the load 312 is cut off, the load 312 gradually stops operating, and the working noise will be reduced accordingly.
  • controlling the audio component 314 on the cleaning device to perform the voice interaction operation corresponding to the voice interaction trigger event may include:
  • the controller 313 may send a voice interaction instruction corresponding to the voice interaction trigger event to the audio component 314 to control the audio component 314 to execute the voice interaction trigger event corresponding to the voice interaction trigger event.
  • Voice interactive operation Generally, after the working circuit of the load 312 is cut off, due to the inertia, the load 312 will continue to move, thereby continuously generating noise. Therefore, by waiting for the load 312 to stop and perform the voice interactive operation, the interference of the noise generated by the inertial motion of the load 312 can be avoided.
  • the controller 313 may send a voice interaction instruction corresponding to the voice interaction trigger event to the audio component 314 to control the audio component 314 to execute the voice interaction
  • the voice interactive operation corresponding to the interactive trigger event After the working circuit is cut off, the amplitude and speed of the load 312 continue to move due to inertia will slowly decrease over time. After a certain period of time, the noise generated by the inertial motion will decrease to a certain value, which will interfere with the voice interactive operation of the cleaning equipment. Small, at this time, voice interactive operations can be performed.
  • the setting duration may be 2 seconds, 3 seconds, or 4 seconds, depending on the specific cleaning equipment to be set, which is not limited in this embodiment.
  • Embodiment D If the load 312 is in the non-working state after being turned on, the working circuit of the load 312 on the cleaning device can be delayed to be turned on, so as to control the load to temporarily remain in the non-working state. After the cleaning equipment is turned on, if the load 312 is in a non-working state and the working circuit of the load 312 is not connected, the load 312 will not move or generate operating noise, so it will not interfere with the voice interaction operation of the cleaning equipment .
  • the controller 313 may send a voice interaction instruction corresponding to the voice interaction trigger event to the audio component 314.
  • the power of the control load 312 is less than the set power threshold, which may include the following optional implementation manners:
  • Embodiment E If the load 312 is in a working state, the power of the load 312 is reduced. Based on the foregoing, controlling the audio component 314 on the cleaning device to perform the voice interaction operation corresponding to the voice interaction trigger event may include: after the power of the load 312 is reduced to the first power threshold, the controller 313 sends the voice interaction to the audio component 314 The voice interaction command corresponding to the trigger event.
  • the first power threshold can be calculated according to the actual corresponding relationship between power and noise, which is not limited in this embodiment. It should be understood that the selected value of the first power threshold can meet the following requirements, that is, when the power of the load 312 is less than the first power threshold, the working noise generated by the load 312 has a small impact on the voice interaction operation of the cleaning device, which is beneficial to voice The interactive content is delivered clearly and without error.
  • Embodiment F If the load 312 is in a non-working state after being turned on, the controller 313 can connect the loop of the load 312 and increase the power of the load 312 according to the set power rising speed. Among them, the set power rising speed can make the power of the load 312 rise to the value required for its operation at a controllable speed. During the power increase of the load 312, the operating noise of the load 312 gradually increases.
  • controlling the audio component 314 on the cleaning device to perform the voice interaction operation corresponding to the voice interaction trigger event may include: before the power of the load 312 rises to the second power threshold, the controller 313 may send the data to the audio component 314 The voice interaction triggers the voice interaction instruction corresponding to the event.
  • the second power threshold can be calculated according to the actual corresponding relationship between power and noise, which is not limited in this embodiment. It should be understood that the selected value of the second power threshold can meet the following requirements, that is, before the power of the load 312 does not rise to the second power threshold, the working noise generated by the load 312 has a small impact on the voice interaction operation of the cleaning device, and Conducive to the clear and error-free delivery of voice interactive content.
  • the voice interaction trigger event may include: a power-on event of the cleaning device, a shutdown event of the cleaning device, a failure event of the cleaning device, and a component status update event of the cleaning device And at least one of the wake-up events of the voice recording function of the cleaning device.
  • the implementations D and F recorded in the foregoing embodiment are applicable to an application scenario in which a voice interaction trigger event is implemented as a boot event of a cleaning device.
  • the startup event of the cleaning device can be triggered by the user through a switch component (for example, a physical button or touch key) on the cleaning device, or by a startup voice command issued by the user to the cleaning device, or by a terminal device (such as a smart phone).
  • a switch component for example, a physical button or touch key
  • a startup voice command issued by the user to the cleaning device or by a terminal device (such as a smart phone).
  • a terminal device such as a smart phone
  • the smart speaker is triggered by a start-up voice instruction, or triggered by a wireless communication signal sent by the terminal device to the cleaning device.
  • This embodiment includes but is not limited to this.
  • the controller 313 can execute Embodiment D, respond to the power-on event, delay the connection of the working circuit of the load 312, and send a voice interaction instruction to broadcast the power-on prompt message to the audio component 314 .
  • the audio component 314 is used to perform the startup voice prompt operation first, and then the load 312 is powered on, which effectively prevents the working noise of the load 312 from causing interference to the startup voice prompt operation.
  • the controller 313 can execute implementation F, connect the working circuit of the load 312, and increase the power of the load 312 according to the set power rising speed; at the same time, The controller 313 may control the audio component 314 to perform a boot-up voice prompt operation before the power of the load 312 rises to the second threshold. Furthermore, the load can be started quickly while ensuring a good voice interaction effect.
  • the implementation manners C and E recorded in the above-mentioned embodiments are applicable to the voice interaction trigger event being realized as the shutdown event of the cleaning device, the failure event of the cleaning device, the IoT event of the cleaning device, the component status update event of the cleaning device, and the voice of the cleaning device Contains the application scenarios of function wake-up events.
  • the following will further exemplify the implementation manners C and E in combination with the foregoing events.
  • the voice interaction trigger event implements the shutdown event of the cleaning device.
  • the shutdown event of the cleaning device can be triggered by the user through a switch component (for example, a physical button or touch key) on the cleaning device, or by the user's shutdown voice command to the cleaning device, or by a terminal device (such as a smart phone).
  • the smart speaker is triggered by a voice command to shut down, or triggered by a wireless communication signal sent by the terminal device to the cleaning device. This embodiment includes but is not limited to this.
  • the controller 313 can execute implementation C, cut off the working circuit of the load 312, and send a voice interaction instruction to the audio component 314 to broadcast the shutdown prompt message when the load 312 stops action; or, the controller 313 can execute implementation Mode C, after the working circuit of the load 312 is cut off for a set time period (for example, 2 seconds), send a voice interaction instruction to broadcast the shutdown prompt message to the audio component 314; or, the controller 313 can execute the embodiment E to reduce The working power of the load 312, and when the power of the load 312 is reduced to the first power threshold, a voice interaction instruction for broadcasting a shutdown prompt message is sent to the audio component 314. After the audio component 314 receives the voice interaction instruction, it can play a voice message similar to "Shutdown, shut down, please put it back to the base".
  • the voice interaction trigger event is implemented as a failure event of the cleaning device, and the failure event includes at least one of the following: a main motor failure, a roller brush motor failure, a charger failure, and a dust sensor failure.
  • the main motor of the cleaning device is a vacuum source that generates negative pressure
  • the controller 313 detects the working status of the main motor in real time.
  • the controller 313 can obtain the working status information of the main motor on the cleaning device in real time when the cleaning device is turned on, and when the main motor fails, execute the implementation mode C, cut off the working circuit of the load 312, and stop the load 312 During the action, send and broadcast the voice interactive instruction of the main motor failure to the audio component 314; or execute the implementation C, cut off the working circuit of the load 312, and when the working circuit of the load 312 is cut off for the set duration (for example, 2 Seconds), send and broadcast a voice interaction instruction to the audio component 314 to report the failure of the main motor; or, the controller 313 can perform implementation E to reduce the working power of the load 312, and after the power of the load 312 is reduced to the first power threshold At that time, a voice interactive instruction for reporting the failure of the main motor is sent to the audio component 314.
  • the audio component 314 can broadcast a voice message similar to "main motor failure".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of the main motor failure warning by means of voice prompts under the condition of low noise interference, so as to avoid improper use.
  • the roller brush motor of the cleaning device is the power source for the roller brush cleaning action
  • the controller 313 detects the working status of the roller brush motor in real time.
  • the controller 313 can obtain the working status information of the roller brush motor on the cleaning device in real time when the cleaning device is turned on, and when the roller brush motor fails, execute the implementation mode C to cut off the working circuit of the load 312, and When 312 stops its action, it sends and broadcasts a voice interactive instruction to the audio component 314 about the failure of the brush motor; or executes implementation C, cuts off the working circuit of the load 312, and the time when the working circuit of the load 312 is cut off reaches the set duration (For example, 2 seconds), send and broadcast a voice interactive instruction to the audio component 314 for the failure of the brush motor; or, the controller 313 can execute Embodiment E to reduce the working power of the load 312, and reduce the power of the load 312 to the first After a power threshold, a voice interaction instruction to announce the failure of the brush motor is sent to the audio component 314.
  • the audio component 314 can broadcast a voice message similar to "rolling brush motor failure".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and a moving wheel.
  • the cleaning device can remind the user of the roller brush motor failure warning by means of voice prompts under the condition of low noise interference, so as to avoid improper use.
  • the cleaning equipment has two modes: wired and wireless.
  • the wired cleaning equipment can only work when it is directly connected to the power supply.
  • the wireless cleaning equipment needs to be equipped with a rechargeable battery, which is charged by a charger.
  • the external charger of the cleaning device is cleaned, and the controller 313 detects fault events of the charger in real time, including whether the model of the charger matches, and the charger body fails.
  • the controller 313 can obtain the working status information of the charger connected to the cleaning device in real time when the cleaning device is turned on, and when the charger fails, execute embodiment C, cut off the working circuit of the load 312, and stop the load 312 During the action, send and broadcast a voice interaction command of the charger failure to the audio component 314; or execute implementation C to cut off the working circuit of the load 312, and the time when the working circuit of the load 312 is cut off reaches the set duration (for example, 2 Seconds), send and broadcast a voice interaction instruction of the charger failure to the audio component 314; alternatively, the controller 313 can execute Embodiment E to reduce the working power of the load 312, and after the power of the load 312 is reduced to the first power threshold At that time, a voice interactive instruction for reporting the charger failure is sent to the audio component 314.
  • Embodiment E to reduce the working power of the load 312, and after the power of the load 312 is reduced to the first power threshold At that time, a voice interactive instruction for reporting the charger failure is sent to the
  • the audio component 314 can broadcast a voice message similar to "charger failure".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of the charger failure warning by way of voice prompts under the condition of low noise interference, so as to avoid improper use.
  • the cleaning device is also equipped with a sensor, and the dirtiness and/or cleanliness that the sensor can detect includes at least one of the following: surface to be cleaned, dust suction port, dust suction channel, recycling bucket, usually the sensor has a photoelectric type Density or density, contact or non-contact, collectively referred to as dust sensors.
  • the controller 313 can obtain the working status information of the dust sensor on the cleaning equipment in real time when the cleaning equipment is turned on, and when the dust sensor fails, execute implementation C, cut off the working circuit of the load 312, and stop at the load 312 During the action, send and broadcast the voice interaction instruction of the dust sensor failure to the audio component 314; or execute the implementation C to cut off the working circuit of the load 312, and the time when the working circuit of the load 312 is cut reaches the set duration (for example, 2 Seconds), send and broadcast a voice interaction instruction for the dust sensor failure to the audio component 314; alternatively, the controller 313 can perform implementation E to reduce the working power of the load 312, and after the power of the load 312 is reduced to the first power threshold At that time, a voice interaction instruction for reporting the fault of the dust sensor is sent to the audio component 314.
  • the set duration for example, 2 Seconds
  • the audio component 314 can broadcast a voice message similar to "dust sensor failure".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of the dust sensor failure warning by means of voice prompts under the condition of low noise interference, so as to avoid improper use.
  • the voice interaction trigger event is implemented as a network distribution event of the cleaning device.
  • the main body 311 of the cleaning device is provided with a communication component, which can be connected to an external wireless network device through wireless communication methods such as WIFI, Bluetooth, etc., to realize the network distribution of the cleaning device.
  • the controller 313 can obtain the network connection status information of the communication component on the cleaning equipment in real time when the cleaning equipment is turned on, and when the communication component is successfully networked, execute implementation C to cut off the working circuit of the load 312, and When the 312 stops its action, it sends and broadcasts the voice interaction instruction of the successful network distribution to the audio component 314; or executes the implementation C, cuts off the working circuit of the load 312, and the time when the working circuit of the load 312 is cut reaches the set duration ( For example, after 2 seconds), send and broadcast the voice interaction instruction of successful network distribution to the audio component 314; or, the controller 313 can execute implementation E to reduce the working power of the load 312, and reduce the power of the load 312 to the first power When the threshold is exceeded, a voice interaction instruction for broadcasting a successful network allocation is sent to the audio component 314.
  • the audio component 314 can broadcast a voice message similar to "Network configuration succeeded".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of the success of the network configuration by means of voice prompts under the condition of low noise interference, so as to facilitate the user to perform other operations.
  • the voice interaction trigger event is implemented as an IoT event of the cleaning device.
  • the main body 311 of the cleaning device is provided with a communication component, which can be connected to an external wireless network device through wireless communication methods such as WIFI, Bluetooth, etc., so as to realize the network distribution of the cleaning device.
  • the cleaning equipment is connected to the server or other terminal equipment through the wireless network.
  • the terminal equipment includes but not limited to smart phones, smart bracelets, smart speakers, smart watches, smart homes, refrigerators, TVs, routers, sweeping robots, smart boxes Wait.
  • the cleaning equipment network is connected to other intelligent terminal equipment, which can realize the interconnection and intercommunication of household intelligent equipment.
  • the controller 313 can obtain the IOT status information on the cleaning device in real time when the cleaning device is turned on, and when the cleaning device is successfully connected with other smart devices in the home, it executes the implementation method C to cut off the working circuit of the load 312, and When the load 312 stops, it sends and broadcasts the voice interaction instruction of the success of the IoT to the audio component 314; or executes implementation C, cuts off the working circuit of the load 312, and reaches the set time when the working circuit of the load 312 is cut off After a period of time (for example, 2 seconds), it sends and broadcasts a voice interaction instruction for successful IoT to the audio component 314; or, the controller 313 can execute Embodiment E to reduce the working power of the load 312, and reduce the power of the load 312 to the first After a power threshold, a voice interaction instruction to announce the success of the Internet of Things is sent to the audio component 314.
  • Embodiment E to reduce the working power of the load 312, and reduce the power of the load 312 to the
  • the audio component 314 can broadcast a voice message similar to "Internet of Things Success".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of the success of the IOT by way of voice prompts under the condition of low noise interference, so as to facilitate the user to perform other operations.
  • the voice interaction trigger event is implemented as a battery remaining update event.
  • the battery components on the cleaning equipment are used to power various loads on the cleaning equipment.
  • the cleaning device can prompt the user of the battery remaining amount through voice prompts every time the battery remaining amount is updated to the set threshold; in other scenarios, the cleaning device can remind the user of the battery remaining amount when the battery remaining amount reaches the lower limit of the remaining amount When the time, the user is prompted to replace the battery or charge it through voice prompts. The latter will be exemplified below.
  • the controller 313 can obtain the battery remaining amount of the battery assembly on the cleaning device in real time when the cleaning device is turned on, and when the battery remaining amount is less than the set power threshold value, execute the embodiment C to cut off the working circuit of the load 312, And when the load 312 stops, it sends and broadcasts the voice interactive command of the power warning to the audio component 314; or executes the implementation C, cuts off the working circuit of the load 312, and reaches the set time when the working circuit of the load 312 is cut off After a period of time (for example, 2 seconds), it sends and broadcasts a voice interactive command for warning of electric power to the audio component 314; alternatively, the controller 313 can execute Embodiment E to reduce the working power of the load 312, and reduce the power of the load 312 to the first After the power threshold, a voice interaction instruction for broadcasting a power warning is sent to the audio component 314.
  • the audio component 314 can broadcast a voice message similar to "low battery".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of a low battery warning by way of voice prompts under the condition of low noise interference, so as to remind the user to charge in time.
  • a solution tank is installed on the body 311 of the cleaning device.
  • the solution tank is a container for storing clean water or detergent on the cleaning equipment.
  • a first liquid level detection device can be installed in the solution tank or outside the solution tank to detect the liquid level in the solution tank.
  • the voice interaction trigger event is an update event of the remaining water volume of the solution tank.
  • the first liquid level detecting device may send the detected liquid level value to the controller 313.
  • the controller 313 After the controller 313 receives the liquid level value sent by the first liquid level detection device, it can determine whether the remaining water volume of the solution tank is less than the set water volume threshold value according to the liquid level value.
  • implement implementation C cut off the working circuit of the load 312, and send a voice interactive instruction to the audio component 314 to announce the remaining water volume of the solution tank when the load 312 stops operating, or implement implementation C to cut off the load
  • the audio component 314 sends a voice interactive instruction to announce the remaining water volume of the solution tank; or the controller 313 can perform the implementation Method E: reduce the working power of the load 312, and send a voice interactive instruction to the audio component 314 to announce the remaining water volume of the solution tank when the power of the load 312 is reduced to the first power threshold.
  • the audio component 314 can broadcast a voice message similar to "the amount of water in the solution tank is insufficient".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can remind the user of insufficient water volume warning by way of voice prompts under the condition of low noise interference to remind the user to add liquid to the solution tank.
  • a recycling bucket is installed on the body 311 of the cleaning device.
  • the recycling bin is a container on the cleaning equipment used to store the sewage recovered during the cleaning process.
  • the negative pressure generated by the main motor can suck the dirty water on the ground into the recovery bucket during the use of the washing machine.
  • a second liquid level detection device is installed inside or outside the recovery barrel to detect the liquid level in the recovery barrel.
  • the voice interaction trigger event can be an update event for the available capacity of the recycle bin.
  • the second liquid level detection device may send the detected liquid level value to the controller 313.
  • the controller 313 can determine whether the available capacity of the recovery bucket is greater than a set capacity threshold according to the solution value sent by the second liquid level detection device. If yes, implement implementation C, cut off the working loop of load 312, and send a voice interactive instruction to the audio component 314 to announce the available capacity of the recycle bin when the load 312 stops operating; or implement implementation C to cut off the load After the working circuit of the load 312 is cut off for a set period of time (for example, 2 seconds), it sends a voice interaction instruction to the audio component 314 to announce the available capacity of the recycling bin; or, the controller 313 can perform the implementation Manner E: Reduce the working power of the load 312, and when the power of the load 312 is reduced to the first power threshold, send a voice interaction instruction to the audio component 314 to announce the available capacity of the recycle bin.
  • the audio component 314 can broadcast a voice message similar to "the recycling bin is full".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning equipment can remind the user that the recycling bin will be full by way of voice prompts under the condition of low noise interference, so as to remind the user to clean up the sewage in the recycling bin, thereby avoiding sewage overflow.
  • the voice interaction trigger event is implemented as a ground brush status update event.
  • the floor brush includes a water pump and a rolling brush.
  • the roller brush motor is used to drive the roller brush to rotate to achieve cleaning.
  • the water pump can draw liquid from the solution tank, pressurize, and spray the pressurized liquid to the roller brush.
  • the bristles of the roller brush can spray the water pump out. The liquid is brought to the ground and wets the ground. With the continuous rotation of the roller brush, the bristles can wipe the wet bottom surface.
  • the floor brush includes a roller brush motor.
  • the roller brush motor includes a built-in motor and an external motor.
  • the controller 313 can obtain the rotation status of the roller brush motor in real time when the cleaning device is turned on, and then When the brush motor is blocked (for example, the roller brush entangles the hair), implement the embodiment C to cut off the working circuit of the load 312, and when the load 312 stops moving, send a voice interactive instruction to announce the brush motor is blocked to the audio component 314;
  • implement implementation C cut off the working circuit of the load 312, and send a voice interaction to the audio component 314 to announce that the roller brush motor is blocked after the time when the working circuit of the load 312 is cut off reaches the set time period (for example, 2 seconds) Instruction; or, the controller 313 can execute implementation E to reduce the working power of the load 312, and when the power of the load 312 is reduced to the first power threshold, send a voice interactive instruction to the audio component 314 to announce that the roller brush motor is blocked .
  • the audio component 314 can broadcast a voice message similar to "rolling brush blocking".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the cleaning device can play a voice prompt message that the roller brush motor is blocked while the noise interference is low, so as to avoid improper use.
  • the roller brush on the floor brush is detachable.
  • the cleaning device can be turned on.
  • the controller 313 can obtain the installation status of the roller brush in real time when the cleaning device is turned on, and when the roller brush is not installed, execute embodiment C, cut off the working circuit of the load 312, and send the audio component to the audio component when the load 312 stops.
  • the 314 sends a voice interactive instruction to announce that the scroll brush is not installed; or execute implementation C to cut off the working circuit of the load 312, and after the working circuit of the load 312 is cut off for the set time period (for example, 2 seconds), send an audio
  • the component 314 sends a voice interaction instruction to announce that the scrolling brush is not installed; or, the controller 313 can execute Embodiment E to reduce the working power of the load 312, and send to the audio component 314 when the power of the load 312 is reduced to the first power threshold.
  • the audio component 314 can broadcast a voice message similar to "rolling brush not installed".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel. Furthermore, when the roller brush is not installed during the cleaning process of the cleaning device, the cleaning device can play a voice prompt message that the roller brush is not installed under the condition of low noise interference to avoid improper use.
  • the floor brush includes a water pump, and the water pump is used to pressurize the liquid in the solution tank and spray it to the roller brush or the surface to be cleaned.
  • the controller 313 can obtain the working status of the water pump in real time when the cleaning equipment is turned on, and when the water pump fails, execute the embodiment C, cut off the working circuit of the load 312, and stop the action at the load 312 Send a voice interactive instruction to the audio component 314 to announce the failure of the water pump; or execute implementation C, cut off the working circuit of the load 312, and after the time that the working circuit of the load 312 is cut off reaches the set duration (for example, 2 seconds) , Send a voice interactive instruction to the audio component 314 to announce the failure of the roller brush water pump; or, the controller 313 can execute implementation E to reduce the working power of the load 312, and send a message to the audio component 314 when the power of the load 312 drops to the first power threshold.
  • the audio component 314 sends a voice interactive instruction to announce the failure of the water pump. After receiving the instruction, the audio component 314 can broadcast a voice message similar to "water pump failure".
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel. Furthermore, when a water pump failure occurs during the cleaning of the roller brush, the cleaning device can play a voice prompt message of the water pump failure under the condition of low noise interference to avoid improper use.
  • the voice interaction trigger event is implemented as a voice recording function wake-up event of the cleaning device, and the voice recording function wake-up event is used to wake up the function of the audio component 314 to record external audio signals.
  • the user when the user has a voice interaction requirement with the cleaning device, the user can perform operations on the physical buttons or touch keys on the cleaning device to wake up the voice interaction function of the cleaning device. After the physical button or touch key detects the user's operation, it can send a voice recording function wake-up event to the controller 313.
  • the controller 313 can execute implementation C when the cleaning device is turned on, cut off the working circuit of the load 312, and send a voice interaction recording an external audio signal to the audio component 314 when the load 312 stops moving Instruction; or, execute implementation C, cut off the working circuit of the load 312, and send a voice interaction recording an external audio signal to the audio component 314 after the time that the working circuit of the load 312 is cut off reaches a set time period (for example, 2 seconds) Instruction; or, the controller 313 can execute implementation E to reduce the working power of the load 312, and send a voice interaction instruction to the audio component 314 to record an external audio signal when the power of the load 312 is reduced to the first power threshold.
  • a set time period for example, 2 seconds
  • the audio component 314 can enter a state of recording an external audio signal according to the instruction, and play voice messages such as "please speak” and “please speak your needs” to prompt the user to start outputting voice instructions.
  • the load 312 is at least one of a main motor, a roller brush motor, a water pump, and an action wheel.
  • the user may output a voice message containing specific information (such as the name of the cleaning device or specific characters) to the cleaning device to wake up the voice interaction function of the cleaning device.
  • specific information such as the name of the cleaning device or specific characters
  • the audio component 314 can send a voice recording function wake-up event to the controller 313 if it recognizes that the voice message contains the above-mentioned specific information.
  • the controller 313 can execute Embodiment C or Embodiment E to control the operating noise of the load 312 within a set range, and send a control instruction to the audio component 314 to enter the voice recording state.
  • the audio component 314 can play a voice message similar to "I did not hear clearly, please say it again” according to the instruction.
  • the voice interaction function of the cleaning device can be awakened through the terminal device.
  • the terminal device may send a wireless communication signal corresponding to the wake-up event of the voice recording function to the controller 313 according to the user's operation.
  • terminal devices can be implemented as smart phones, smart bracelets, smart speakers, smart watches, and so on.
  • the user can send voice commands to a smart speaker or smart phone connected to the Bluetooth headset through the Bluetooth headset that is worn.
  • the smart speaker or smart phone can send a wireless communication signal corresponding to the wake-up event of the voice recording function to the controller 313 through a wireless communication method according to the voice command.
  • the controller 313 After the controller 313 receives the wireless communication signal, it can execute Embodiment C or Embodiment E, and send a voice interaction instruction for recording an external audio signal to the audio component 314.
  • the audio component 314 can enter a state of recording an external audio signal according to the instruction, and play voice messages such as "please speak” and “please speak your needs” to prompt the user to start outputting voice instructions.
  • the voice interaction trigger event can be implemented as other events on the cleaning device, such as the action wheel status update event (the action wheel is stuck or idling), the cleaning device startup failure event, and the startup timeout Events, load temperature overheating events, cleaning equipment tipping or overturning, load humidity events, etc., will not be listed one by one in this embodiment.
  • the controller 313 may also receive an end message of the voice interaction operation.
  • the end message may be an audio component 314 that performs a voice interactive operation.
  • the controller 313 can determine whether the voice and voice interaction trigger event is a shutdown event. If it is not a shutdown event, it can control the working circuit of the load 312 to be in the on state, or control the power of the load 312 to be greater than or equal to the set value. Power threshold. The description will be given below in conjunction with the above-listed embodiments.
  • the controller 313 when the controller 313 receives the end message of the voice interaction operation and the voice interaction trigger event is not a shutdown event, the controller 313 can reconnect the load 312 according to the working state of the load 312 before the voice interaction operation.
  • Working circuit when the controller 313 receives the end message of the voice interaction operation and the voice interaction trigger event is not a shutdown event, the controller 313 can reconnect the load 312 according to the working state of the load 312 before the voice interaction operation.
  • the controller 313 when the controller 313 receives the end message of the voice interaction operation and the voice interaction trigger event is not a shutdown event, the controller 313 can switch on the work of the load 312 according to the working state that the cleaning device should have when it is started. Loop.
  • Embodiment E when the controller 313 receives the end message of the voice interaction operation and the voice interaction trigger event is not a shutdown event, the controller 313 can re-increasing the load 312 according to the working state of the load 312 before the voice interaction operation. power.
  • the controller 313 when the controller 313 receives the end message of the voice interaction operation and the voice interaction trigger event is not a shutdown event, the controller 313 can increase the load 312 according to the startup requirements of the plot device. power.
  • the working noise of the load on the cleaning device can be flexibly controlled, noise interference during the voice interaction process is reduced, and the voice message sent by the cleaning device is effectively perceived by the user. It can also ensure that the cleaning device accurately obtains the voice message sent by the user, which is conducive to the realization of a good human-computer interaction process.
  • the embodiments of the present application also provide a voice interaction method for cleaning equipment, which will be described in detail below.
  • FIG. 33 is a schematic flowchart of a voice interaction method for cleaning equipment according to an exemplary embodiment of the application. As shown in FIG. 33, the method includes:
  • Step 3301 Obtain a voice interaction trigger event for a cleaning device.
  • Step 3302 control the operating noise of the load on the cleaning equipment within a set range.
  • Step 3303 Control the audio component on the cleaning device to perform a voice interaction operation corresponding to the voice interaction trigger event.
  • the voice interaction operation includes at least one of a voice message playback operation and a voice command recording operation.
  • one way of controlling the working noise of the load on the cleaning device within a set range includes: controlling the working circuit of the load to be in a disconnected state, so that the working noise of the load is disconnected. Control within the set range; or, control the power of the load to be less than the set power threshold, so as to control the operating noise of the load within the set range.
  • one way of controlling the working loop of the load to be in the disconnected state includes: if the load is in working state, cutting off the working loop of the load; if the load is in a non-working state after being turned on Status, the work loop of the load is delayed.
  • a way of controlling the audio component on the cleaning device to perform a voice interaction operation corresponding to the voice interaction trigger event includes: after the working circuit is cut off , If the load stops moving, send the voice interaction instruction corresponding to the voice interaction trigger event to the audio component; or, after the working loop is cut off for the set time, send the voice interaction instruction to the audio component The voice interaction command corresponding to the trigger event.
  • a way of controlling the audio component on the cleaning device to perform a voice interaction operation corresponding to the voice interaction trigger event includes: In the process of passing through the working loop of the load, a voice interaction instruction corresponding to the voice interaction trigger event is sent to the audio component.
  • one way of controlling the power of the load to be less than the set power threshold includes: if the load is in working state, reducing the power of the load; accordingly, controlling the power on the cleaning device
  • a way for an audio component to perform a voice interaction operation corresponding to the voice interaction trigger event includes: after the power of the load is reduced to a first power threshold, sending a voice interaction instruction corresponding to the voice interaction trigger event to the audio component .
  • one way of controlling the power of the load to be less than the set power threshold includes: if the load is in a non-working state after being turned on, turning on the loop of the load and setting it The power rising speed of the power increases the power of the load; accordingly, a way of controlling the audio component on the cleaning device to perform the voice interaction operation corresponding to the voice interaction trigger event includes: when the power of the load is increased to the first Before the second power threshold, send a voice interaction instruction corresponding to the voice interaction trigger event to the audio component.
  • the method further includes: receiving an end message of the voice interaction operation; determining the voice and voice interaction Whether the triggering event is a shutdown event; if it is not, the working loop that controls the load is in the on state, or the power of the load is controlled to be greater than or equal to the set power threshold.
  • the load includes: at least one of a main motor, a roller brush motor, a water pump, and an action wheel on the cleaning device.

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  • Engineering & Computer Science (AREA)
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Abstract

一种清洗机、清洁设备及其信息显示方法及存储介质，在清洗机的机身（12）上增设显示器（15），来显示清洗机上至少一个部件的工作状态信息，从而可直观地显示清洗机的工作状态。用户可直观地了解清洗机上的部件的工作状态，有助于提高用户体验。

Description

清洗机、清洁设备及其控制、信息显示方法及存储介质
交叉引用
本申请引用于2019年9月4日递交的名称为“清洁设备及其控制方法与存储介质”的第2019108318104号中国专利申请、2019年9月11日递交的名称为“清洁度检测方法、清洁设备及存储介质”的第2019108599273号中国专利申请、2019年10月9日递交的名称为“清洗机、清洁设备及其信息显示方法及存储介质”的第2019109556985号中国专利申请、2019年11月29日递交的名称为“清洁设备的语音交互方法及清洁设备”的第2019112053375号中国专利申请、2019年12月18日递交的名称为“清洁设备、清洁设备控制方法和存储介质”的第2019113104196号中国专利申请、以及2019年12月24日递交的名称为“作业方法和可移动设备”的第2019113481040号中国专利申请，上述专利通过引用被全部并入本申请。
技术领域
本申请涉及清洗机技术领域，尤其涉及一种清洗机、清洁设备及其控制、信息显示方法及存储介质
背景技术
目前，清洁设备已被人们广泛应用于日常生活中。人们可以利用不同功能的清洁设备完成相应的清洗作业，例如利用扫地机器人清洁地面、擦窗机器人清洁墙面、利用地面清洗机清洗地面等。
但是，现有的清洁设备的状态无法直观体现，用户体验较差。
发明内容
本申请的多个方面提供一种清洗机、清洁设备及其信息显示方法及存储 介质，用以实现直观地显示清洁设备的工作状态，进而有助于提高用户体验。
本申请实施例提供一种清洗机，包括：手柄组件、机身、清洁组件、处理系统以及设置于所述机身上的显示器；所述显示器与所述处理系统电连接，用于显示所述清洗机上至少一个部件的工作状态信息。
本申请实施例还提供一种清洁设备，包括：机身以及设置于机身上的显示器；所述显示器与处理系统电连接，用于显示所述清洁设备在使用过程中的相关状态信息；所述清洁设备在使用过程中的相关状态信息包括如下的至少一种：
(1)回收桶的容量信息；
(2)溶液桶的液位信息；
(3)清洁组件对清洁对象的清洁程度信息；
(4)供电单元的电量信息；
(5)清洁设备的自清洁信息；
(6)主电机功率信息；
(7)清洁组件的堵转信息；
(8)通信组件的工作状态信息。
本申请实施例还提供一种信息显示方法，包括：
获取清洁设备上的至少一个部件的工作状态信息；
在显示器上显示所述至少一个部件的工作状态信息；
所述至少一个部件的工作状态信息包括如下的至少一种：
(1)回收桶的容量信息；
(2)溶液桶的液位信息；
(3)清洁组件对清洁对象的清洁程度信息；
(4)供电单元的电量信息；
(5)清洁设备的自清洁信息；
(6)主电机功率信息；
(7)清洁组件的堵转信息；
(8)通信组件的工作状态信息。
本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，所述计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行上述方法中的步骤。
在本申请实施例中，在清洗机的机身上增设显示器，来显示清洗机上至少一个部件的工作状态信息，从而可直观地显示清洗机的工作状态。用户可直观地了解清洗机上的部件的工作状态，有助于提高用户体验。
目前，清洁设备已被人们广泛应用于日常生活中。人们可以利用不同功能的清洁设备完成不同的清洗作业，例如利用地面清洗机清洗地面，利用玻璃清洗设备清洗玻璃等。
通常，清洁设备上设有一储水桶，例如溶液桶或者回收桶。在清洁设备的使用过程中，可通过监测储水桶的液位情况，来检测清洁设备的使用状态。
现有技术中，通常基于液体对机械式浮子的浮力来监测储水桶内的液位。但是这种采用机械式浮子的方案极易受到液面稳定性的影响，导致液位检测结果的可靠性较差。
本申请从多个方面提供一种清洁设备及其控制方法与存储介质，用以提高液位检测的可靠性。
本申请实施例提供一种清洁设备，包括：液体存储装置、非接触式液体检测装置以控制装置；其中，所述非接触式液体检测装置设置于所述液体存储装置的外侧，用于检测所述液体存储装置中的液体的液位信息；所述控制装置与所述非接触式液体检测装置电连接，用于根据所述液位信息计算所述液体存储装置的液体存储状态，并输出与所述液体存储状态对应的控制指令。
本申请实施例还提供一种清洁设备控制方法，包括：通过设置在液体存储装置外侧的非接触式液体检测装置，检测所述液体存储装置中的液体的液位信息；根据所述液位信息，计算所述液体存储装置的液体存储状态；输出与所述液体存储状态对应的控制指令。
本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，所 述计算机程序被执行时能够实现本申请实施例提供的清洁设备控制方法中的步骤。
在本申请实施例中，在清洁设备的液体存储装置外侧设置非接触式液体检测装置，利用非接触式液体检测装置检测液体存储装置中的液位信息，非接触式液体检测装置无需与液体进行接触即可实现液位检测，有效降低了液面的不稳定性对对液位检测结果的影响，有利于提升液位检测结果的可靠性。
目前，清洁设备已被人们广泛应用于日常生活中。人们可以利用不同功能的清洁设备完成不同的清洗作业，例如利用地面清洗机清洗地面，利用玻璃清洗设备清洗玻璃等。
通常，清洁设备上设有一储水桶，例如清水桶、清洁剂桶或者两者混合桶。在清洁设备的使用过程中，可通过监测储水桶的液位情况，来监测清洁设备的使用状态，例如储水桶有水或无水状态。
发明人经过创造性的劳动发现，相关技术中，是将检测模块放置于储水桶的桶底或者桶壁上，通过直接监控测储水桶里的水量来达到无水检测的目的，但是因为检测模块的大小及设置位置有限，而储水桶体积较大，仅凭一个检测模块有可能误传递信息。例如，当机器工作时，机器不是处于直立状态，液面发生较大的波动，液面不平稳，可能导致检测模块的检测范围内无水，但实际储水桶里有水，造成无水检测装置的误识别。
鉴于上述问题，提出了本发明以解决上述问题或至少部分地解决上述问题的清洁设备、清洁设备控制方法和存储介质。
本发明实施例第一方面提供一种清洁设备，包括：
储液装置；
喷液装置；
液流通道，连接于所述储液装置与所述喷液装置之间；
检测模块，设于所述液流通道，用于对所述液流通道内液体进行检测， 以确定所述液流通道处于有水状态或无水状态。
进一步的，所述液流通道上具有检测腔体，所述检测模块设于所述检测腔体。
进一步的，所述检测腔体的横截面积小于所述液流通道上其他位置处的横截面积。
进一步的，所述检测模块设于所述检测腔体的侧壁或底壁。
进一步的，所述检测腔体包括直形腔；和/或，所述检测腔体包括沿液流方向弯曲的弯形腔。
进一步的，所述检测腔体的厚度为1mm～1.5mm，所述检测腔体的长度为15mm～25mm，所述检测腔体的宽度为5mm～15mm。
进一步的，所述储液装置与所述喷液装置之间设有水管，所述水管的内腔以及所述检测腔体的内腔连通形成所述液流通道。
进一步的，所述检测腔体包括进水端、主部和出水端；
所述进水端的横截面积由远离所述主部的方向向靠近所述主部的方向逐渐减小，所述出水端的横截面积由靠近所述主部的方向向远离所述主部的方向逐渐增大。
进一步的，所述储液装置的底部具有第一出水口、第二出水口和第三出水口，所述第二出水口位于所述储液装置的底部中间，所述第一出水口和所述第三出水口分别位于所述第二出水口的前后两侧。
进一步的，所述清洁设备还包括控制元件，所述检测模块与所述控制元件电连接；
其中，所述控制元件用于根据所述检测模块所检测到的状态信息对所述清洁设备进行相应控制；其中，所述状态信息包括有水状态和无水状态。
进一步的，所述控制元件包括线路板，所述检测腔体的侧部具有开口，所述开口处设有侧盖，所述侧盖的一侧与所述检测腔体的开口端密封可拆卸地连接，所述侧盖的另一侧形成容纳所述线路板的容纳空间。
进一步的，所述清洁设备还包括：报警装置；所述报警装置与所述控制 元件电连接；
当所述液流通道处于无水状态时，所述控制元件控制所述报警装置发出报警信号。
进一步的，所述检测模块包括：液位检测传感器。
进一步的，所述检测模块为接触式液位检测传感器，所述接触式液位检测传感器包括感测电极，所述感测电极伸入所述液流通道内，并用于与所述液流通道内的液体接触。
可选的，所述检测模块为非接触式液位传感器，所述非接触式液位传感器设于所述液流通道外壁。
本发明实施例第二方面提供一种清洁设备控制方法，所述清洁设备包括储液装置，喷液装置，连接于所述储液装置和所述喷液装置之间的液流通道，检测模块，以及控制元件，所述方法包括：
所述控制元件获取设置在液流通道的无水检测模块所检测到的液流通道的状态信息，其中，所述状态信息包括有水状态和无水状态；
所述控制元件根据所述状态信息对所述清洁设备进行相应控制。
进一步的，所述控制元件根据所述状态信息对所述清洁设备进行相应控制，包括：
当所述状态信息为无水状态时，控制元件控制报警装置报警；
和/或，当所述状态信息为无水状态时，控制清洁设备关机。
本发明实施例第三方面提供一种存储有计算机程序的计算机可读存储介质，所述计算机程序被执行时能够实现如上所述方法中的步骤。
本发明实施例所提供的技术方案，通过在储液装置与喷液装置之间的液流通道设置检测模块，通过检测模块检测液流通道内是否有水，进而判断储液装置内的水量是否还能满足喷洒要求，液流通道相较于储液装置其横截面积较小，液流通道内的液体不会由于机器的倾斜或倾倒而覆盖不到检测模块的检测范围，能可靠反映储液装置内液体是否还能够供喷液装置喷洒出液体，使得用户能够可靠地判断清洁设备的储液装置是否需要添加液体。
在实际应用中，用户需要靠肉眼查看清洁工具的洁净程度，来判断被清洁对象是否清洗干净；或者用户肉眼查看被清洁对象的洁净程度。无论哪种方式进行观察，都比较耗时耗力。
本申请的多个方面提供一种清洁度检测方法、清洁设备及存储介质，用以自动检测清洁对象的清洁程度，有助于提高用户体验。
本申请实施例提供一种清洁设备，包括：依次连接的地刷、抽吸通道和回收桶；清洁对象上的污浊液体由所述地刷上的吸嘴抽吸并经所述抽吸通道送入所述回收桶内；
所述清洁设备还包括：处理系统和第一检测器件；所述第一检测器件部分或全部设置于所述污浊液体的流通路径上，用于检测所述污浊液体的物理属性值并提供给所述处理系统；所述处理系统，用于根据所述物理属性值确定所述清洁对象的清洁程度。
本申请实施例还提供一种清洁度检测方法，适用于清洁设备，包括：
接收第一检测器件提供的清洁对象上的污浊液体的物理属性值；
根据所述污浊液体的物理属性值确定所述清洁对象的清洁程度；
其中，所述污浊液体由所述清洁设备的地刷上的吸嘴抽吸并经所述清洁设备上的抽吸通道送入所述清洁设备的回收桶内，所述第一检测器件部分或全部设置于所述污浊液体的流通路径上。
本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，当所述计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行上述清洁度检测方法中的步骤。
在本申请实施例中，在清洁设备上增设可检测清洁对象上的污浊液体的物理属性值的检测器件，即将该检测器件的部分或全部设置于污浊液体的流通路径上。这样，处理系统可根据检测器件检测到的污浊液体的物理属性值，确定清洁对象的清洁程度，实现了对清洁对象的清洁程度的自主检测，无需再人工确定清洁对象是否干净，从而有利于提高用户体验。
本申请的多个方面提供一种作业方法和可移动设备，用以降低目标对象 上的液体残留，进而有助于提高用户体验。
本申请实施例提供一种作业方法，适用于可移动设备，所述可移动设备包括对外喷洒第一液体的流体供应装置和负责回收由第一液体产生的第二液体的回收装置；所述方法包括：
响应指示所述可移动设备停止作业的指令，控制所述流体供应装置停止向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的所述第二液体，并在满足设定条件时控制所述回收装置停止回收所述目标对象上的第二液体。
本申请实施例还提供一种作业方法，适用于可移动设备，所述可移动设备包括对外喷洒第一液体的流体供应装置和负责回收由第一液体产生的第二液体的回收装置，所述方法包括：
响应指示所述可移动设备停止作业的指令，控制所述流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的第二液体，并在满足设定条件时控制所述流体供应装置和所述回收装置同时停止作业。
本申请实施例还提供一种可移动设备，包括：对外喷洒第一液体的流体供应装置、负责回收由第一液体产生的第二液体的回收装置以及控制系统；控制系统与所述流体供应装置和所述回收装置电连接；
所述控制系统，用于响应指示所述可移动设备停止作业的指令，控制所述流体供应装置停止向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的所述第二液体，并在满足设定条件时控制所述回收装置停止回收所述目标对象上的第二液体。
本申请实施例还提供一种可移动设备，包括：对外喷洒第一液体的流体供应装置、负责回收由第一液体产生的第二液体的回收装置以及控制系统；控制系统与所述流体供应装置和所述回收装置电连接；
所述控制系统，用于响应指示所述可移动设备停止作业的指令，控制所述流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并控制所 述回收装置继续回收所述目标对象上的第二液体，并在满足设定条件时控制所述流体供应装置和所述回收装置同时停止作业。
在本申请实施例中，可移动设备可响应指示其停止作业的指令，控制流体供应装置停止向目标对象喷洒液体或控制流体供应装置降低喷洒量，并控制回收装置继续回收目标对象上的液体，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
随着科技的发展，清洁设备越来越智能化，为人们日常生活中的清洁工作提供了更多的便利。在一些典型的场景中，清洁设备可输出语音消息与用户进行交互。
对于一部分清洁设备而言，其处于工作状态时，清洁设备上的负载会产生较大的噪音，例如电机噪音、水泵噪音、吸尘通道噪音等等。这些噪音的存在对清洁设备输出的语音消息造成了干扰。因此，有待提出一种解决方案。
本申请从多个方面提供一种清洁设备的语音交互方法及清洁设备，用以降低清洁设备的工作噪声对清洁设备的语音交互过程的干扰，提升清洁设备的语音交互性能。
本申请实施例提供一种清洁设备的语音交互方法，包括：获取针对所述清洁设备的语音交互触发事件；将所述清洁设备上的负载的工作噪声控制在设定范围内；控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作。
本申请实施例还提供一种清洁设备，包括：本体，所述本体上安装有负载、控制器和音频组件；所述控制器，用于：响应针对所述清洁设备的语音交互触发事件，将所述清洁设备上的负载的工作噪声控制在设定范围内，并向所述音频组件发送语音交互指令；所述音频组件，用于：根据所述语音交互指令，执行与所述语音交互触发事件对应的语音交互操作。
在本申请实施例中，获取到针对清洁设备的语音交互触发事件时，将清洁设备上的负载的工作噪声控制在设定范围内，再控制清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作，进而，可降低负载的工 作噪声对音频组件的语音交互操作产生的干扰，有利于提升清洁设备的语音交互性能。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1a为本申请实施例提供的一种清洗机的结构示意图；
图1b和图1c分别为本申请实施例提供的显示器的结构示意图；
图2a为本申请实施例提供的另一种清洗机的结构示意图；
图2b为本申请实施例提供的一种清洁度检测器件的结构示意图；
图2c-图2f为本申请实施例提供的清洁度检测器件的设置方式示意图；
图2g为本申请实施例提供的另一种清洁度检测器件的结构示意图；
图2h-图2k为本申请实施例提供的第一导电体组的设置方式示意图；
图2l为本申请实施例提供的第一检测电路的结构示意图；
图2m为本申请实施例提供的第一检测电路的工作原理示意图；
图2n为本申请实施例提供的又一种清洗机的结构示意图；
图2o为本申请实施例提供的另一种检测电路的工作原理示意图；
图2p为本申请实施例提供的处理系统的工作原理示意图；
图2q为本申请实施例提供的一种压力检测电路的工作原理图；
图2r为本申请实施例提供的一种压力传感器的尺寸图；
图2s为本申请实施例提供的一种压力传感器的阻值与压力之间的对应关系的曲线示意图；
图3a和图3b为本申请实施例提供的水泵工作原理示意图；
图3c为本申请实施例提供的一种水泵驱动电路的工作原理图；
图4a为本申请实施例提供的再一种清洗机的结构示意图；
图4b为本申请实施例提供的一种液位检测电路的结构示意图；
图4c-图4g为本申请实施例提供的导电体的设置方式示意图；
图5a为本申请实施例提供的其它清洗机的结构示意图。
图5b和图5c为本申请实施例提供的非接触式液位检测器件的设置方式示意图；
图6a为本申请实施例提供的一种主电机工作示意图；
图6b为本申请实施例提供的一种主电机电流检测电路的结构示意图；
图6c为本申请实施例提供的一种供电单元电压检测示意图；
图6d为本申请实施例提供的一种液位状态检测方法的流程示意图；
图7为本申请实施例提供的一种供电单元的电量显示示意图；
图8为本申请实施例提供的一种信息显示方法的流程示意图；
图9a-图9c为本申请实施例提供的一种清洁设备的结构示意图；
图9d-图9f为本申请实施例提供的清洁设备的方向的示意图；
图10a-图10f为本申请实施例提供的液位检测传感器组在液体存储装置上的设置位置的示意图；
图11a-图11b为本申请实施例提供的电容传感器沿液体存储装置的高度方向设置的示意图；
图12a-图12e为本申请实施例提供的液位检测结果的示意图；
图12f为本申请另一实施例提供的另一种清洁设备的结构示意图；
图13为本申请实施例提供的清洁设备控制方法的流程示意图；
图14为本发明实施例提供的清洁设备的原理图；
图15a为本发明实施例的清洁设备在直立状态下的状态示意图；
图15b为本发明实施例的清洁设备的机身向后倾斜的状态示意图；
图15c为本发明实施例的清洁设备的机身向前倾斜的状态示意图；
图15d为本发明实施例的清洁设备的结构示意图；
图16为本发明实施例提供的一种检测腔体的结构示意图；
图17为图16的检测腔体的侧视图；
图18为图16的检测腔体的纵剖视图；
图19为本发明实施例提供的检测腔体的另一种结构示意图；
图20为图19的检测腔体的纵剖视图；
图21为本发明实施例提供的检测腔体的又一种结构示意图；
图22为本发明实施例提供的接触式的检测模块的安装示意图；
图23为本发明实施例提供的非接触式的检测模块的安装示意图；
图24为本发明一示例性实施例提供的清洁设备控制方法的流程示意图；
图25a为本申请实施例提供的一种清洁设备的结构示意图；
图25b为本申请实施例提供的一种第一检测器件的结构示意图；
图25c-图25f为本申请实施例提供的第一检测器件的设置方式示意图；
图25g为本申请实施例提供的另一种第一检测器件的结构示意图；
图25h-图25k为本申请实施例提供的第一导电体组的设置方式示意图；
图25l为本申请实施例提供的第一检测电路的结构示意图；
图25m为本申请实施例提供的第一检测电路的工作原理示意图；
图25n为本申请实施例提供的另一种清洁设备的结构示意图；
图25o为本申请实施例提供的另一种检测电路的工作原理示意图；
图25p为本申请实施例提供的处理系统的工作原理示意图；
图25q为本申请实施例提供的电源管理电路的工作原理示意图；
图26为本申请实施例提供的一种清洁度检测方法的流程示意图；
图27a为本申请实施例提供的一种可移动设备的结构示意图；
图27b为本申请实施例提供的一种可移动设备内部电路结构示意图；
图27c为本申请实施例提供的交流水泵的驱动信号的时序图；
图28为本申请实施例提供的一种作业方法的流程示意图；
图29为本申请实施例提供的另一种可移动设备的结构示意图；
图30为本申请实施例提供的另一种作业方法的流程示意图；
图31为本申请一示例性实施例提供的清洁设备的结构示意图；
图32为本申请一示例性实施例提供的清洁设备的控制电路的结构示意 图；
图33为本申请一示例性实施例提供的清洁设备的语音交互方法的流程示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
针对现有的清洁设备的状态无法直观体现的技术问题，本申请实施例提供一种解决方案，基本思路是：在清洗机的机身上增设显示器来显示清洗机上至少一个部件的工作状态信息，从而可直观地显示清洗机的工作状态。用户可直观地了解清洗机上的部件的工作状态，有助于提高用户体验。
以下结合附图，详细说明本申请各实施例提供的技术方案。
应注意到：相同的标号在下面的附图以及实施例中表示同一物体，因此，一旦某一物体在一个附图或实施例中被定义，则在随后的附图和实施例中不需要对其进行进一步讨论。
图1a为本申请实施例提供的一种清洗机的结构示意图。如图1a所示，该清洗机包括：手柄组件11、机身11、清洁组件13、处理系统14以及设置于机身上的显示器15。图1a中所示的清洗机的实现形态和结构均为示例性说明，并不对其进行限定。
应注意到：在本申请实施例中，为了便于描述和区分，将清洗机正立工作(图1a所示的工作状态)时，各部件的重心方向所指向的部位，定义为该部件的下端或底部；并将其相反方向指向的部位定义为该部件的上端或顶部。进一步，将清洗机正立工作时，各部件中清洗机的前进方向所指向的部位， 定义为该组件的前面；相应地，将各组件中与清洗机的前进方向相反的一面，定义为该部件的背面；进而也就定义了各部件的左面和右面。
在本实施例中，手柄组件11可设置于机身11的上端，也可设置于机身11的侧面(背面、左面或右面)。可选地，若手柄组件11设置于机身11的上端，其轴线方向(重心所指方向)与机身11的轴线方向平行。
可选地，如图1a所示，手柄组件11可包括：手柄11a和延长杆11b。进一步，延长杆11b的长度可以是固定的，也可为可调节的。可选地，若延长杆11b的长度为可调节的，其结构为可伸缩结构。相应地，用户可根据自身需求，灵活调整延长杆11b的长度。
在本实施例中，处理系统14可设置于机身内，也可设置于机身表面。图1a中所示的处理系统14的实现形态和设置位置均为示例性说明，并不对其进行限定。在本实施例中，处理系统14为清洗机的控制系统，其可控制与其连接的其它部件的使用状态和工作状态。
在本实施例中，显示器15与处理系统14电连接，用于显示清洗机上至少一个部件的工作状态信息。在本申请实施例中，不限定显示器15的具体形状。可选地，显示器15可以为圆形、方形、椭圆形、梯形或多边形等规则形状，也可为任意不规则形状，在此不再一一列举。
可选地，显示器15可设置在机身的顶部，也可设置于机身的前面、左面或右面。可选地，若显示器15设置于机身11的顶部，显示器15所在平面可与机身11的轴线垂直或成一定角度。机身包括主电机和液体存储装置，可选的，显示器15设置在液体存储装置上方，即显示器15设置于溶液桶或回收桶上方，优选的，设置于溶液桶上方。进一步，为了满足用户的观看视角，显示器15可设置于手柄组件11的前面。
可选地，显示器15可固定设置于机身11的表面，或者可伸缩地设置于机身11的上。例如，显示器15可以可伸缩地设置于机身11的顶部、前面、左面或右面。
可选地，机身11包括一腔体(图1a中未示出)，用以容纳显示器15。进 一步，显示器15的背面与腔体底部之间设置有连接杆，该连接杆为可伸缩结构。
相应地，连接杆与处理系统14电连接。处理系统14可在清洗机开机过程中，控制连接杆伸长，以带动显示器15伸出至机身11的表面。可选地，处理系统14可在清洗机关机过程中，控制连接杆缩短，以带动显示器15回收至腔体内。
可选地，腔体顶部还可设置保护盖。其中，在显示器15伸出至机身11的表面时，保护盖处于打开状态；在显示器15回收至机身11内时，保护盖处于关合状态。
进一步，保护盖可为机械式的开合结构，即用户可手动打开保护盖，以使显示器15可伸出至机身11的表面。相应地，在显示器15回收至腔体内时，用户还可手动关合该保护盖。
或者，保护盖还可为电动式开合。相应地，清洗机还可包含：传动结构，该传动结构和处理系统14电连接，用于带动保护盖开合。
可选地，保护盖可包括：N个可折叠的隔板；其中，N≥2，且为整数。这N个可折叠的隔板通过转轴与腔体的内壁或外壁铰连接。相应地，传动机构可与N个可折叠的隔板连接。该传动机构用于带动N个可折叠的隔板展开或折叠。
在本实施例中，在清洗机的机身上增设显示器，来显示清洗机上至少一个部件的工作状态信息，从而可直观地显示清洗机的工作状态。用户可直观地了解清洗机上的部件的工作状态，有助于提高用户体验。
进一步，显示器15可包括至少一个显示区域，用于显示不同部件的工作状态信息。可选地，至少一个部件的工作状态信息包括如下的至少一种：(1)液体存储装置的液位信息；(2)清洁组件对清洁对象的清洁程度信息；(3)供电单元的电量信息；(4)清洗机的自清洁信息；(5)主电机功率信息；(6)清洁组件的堵转信息；(7)通信组件的工作状态信息。其中，液体存储装置可为该清洗机的溶液桶，也可为清洗机的回收桶。下面对显示器的实现形态 和结构进行示例性说明。
图1b和图1c为本申请实施例提供的一种显示器的结构示意图。如图1b和图1c所示，显示器15包括至少一个显示区域，用于显示不同部件的工作状态信息。进一步，如图1b所示，至少一个显示区域包括：由多个第一显示管形成的第一显示区域15a。其中，第一显示管可以为LED、OLED或薄膜LED等等，但不限于此。
其中，多个第一显示管可以任意形式分布在显示器15中，从而形成第一显示区域15a。第一显示区域15a的形状与多个第一显示管的分布方式有关。例如，多个第一显示管可以阵列形式分布。多个第一显示管可以矩形、圆形、梯形或心形等方式分布在显示器15中，相应地，第一显示区域15a的形状可以是矩形、圆形、梯形或心形等，但不限于此。进一步，如图1b和图1c所示，多个第一显示管可沿显示器15的边缘分布，从而形成圆形或弧形的第一显示区域15a。其中，由多个第一显示管所形成的第一显示区域15a形状与显示器15的形状有一定关系。图1b和图1c仅以显示器15为圆形进行示例，并不对其形状构成限定。
在本实施例中，第一显示区域15a可在处理系统14的控制下显示清洁组件13对清洁对象的清洁程度信息。
可选地，多个第一显示管的颜色不同，则在处理系统14的控制下，多个第一显示管可以显示不同颜色、亮度和形状(或图案)的组合。这里由多个第一显示管显示出的形状也可以理解为图案。其中，不同颜色、亮度和形状的组合表征清洁组件13对清洁对象的不同清洁程度。在本申请实施例中，不同颜色、亮度和形状的组合包括：颜色不同，但形状相同；颜色相同，但形状不同；颜色相同，但亮度不同；形状相同，但亮度不同；或者颜色、亮度和形状均不相同。其中，多个第一显示管展示的形状主要取决于处于亮灯状态的第一显示管的数量和分布位置。当然，除了可以通过多个第一显示管显示出的颜色、亮度和形状的组合表征清洁组件13对清洁对象的清洁程度之外，也可以单纯采用处于亮灯状态的显示管的数量表示清洁组件对清洁对象的清 洁程度。在一可选实施例中，以处于亮灯状态的显示管的数量表示清洁组件对清洁对象的清洁程度。例如，多个第一显示管中处于亮灯状态的显示管的数量越多，表示清洁组件13对清洁对象的清洁程度越低，即多个第一显示管中处于亮灯状态的显示管的数量越多，清洁对象越脏。在另一个可选实施例中，以多个第一显示管显示出的颜色和形状的组合表征清洁组件13对清洁对象的清洁程度，且在颜色和形状组合中，颜色对清洁程度的表征作用大于形状对清洁程度的表征作用。例如，假设多个第一显示管包括红色、黄色和绿色，可以组合出“I”、“L”和“K”几个形状，且红色、黄色和绿色表征的清洁程度依次升高，在同一颜色下，形状组合越复杂，说明清洁程度越低，清洁对象越脏。将红色“I”形状与黄色“I”形状相比，红色“I”形状表示清洁程度更低，清洁对象更脏。将红色“K”与红色“I”形状相比，红色“K”形状表示清洁程度更低，清洁对象更脏。
可选地，多个第一显示管颜色相同，则在处理系统14的控制下，多个第一显示管可以显示出不同的形状、不同亮度或不同数量的显示管处于亮灯状态。其中，多个第一显示管显示出的形状、亮度或处于亮灯状态的显示管的数量，可以表征清洁组件对清洁对象的清洁程度。可选地，多个第一显示管显示的亮度不同，来表征清洁度的不同。以蓝色为例说明，多个蓝色显示管全亮显示，亮度越高，表征清洁度越高。可选地，还可以通过形状和亮度的组合表征清洁度，以蓝色为例说明，一部分的蓝色显示管全亮，一部分的蓝色显示管亮度按照预定规律递减，剩下的一部分蓝色显示管处于不亮状态，这种场景同样可以表征清洁度。可选地，多个第一显示管展示的形状主要取决于处于亮灯状态的第一显示管的数量和分布位置。在一可选实施例中，以处于亮灯状态的显示管的数量表示清洁组件对清洁对象的清洁程度。例如，多个第一显示管中处于亮灯状态的显示管的数量越多，表示清洁组件13对清洁对象的清洁程度越低，即多个第一显示管中处于亮灯状态的显示管的数量越多，清洁对象越脏，但不限于此。在另一可选实施例中，以多个第一显示管可以显示出的形状清洁组件对清洁对象的清洁程度。例如，多个第一显示 管可以显示出的形状越复杂，表示清洁组件13对清洁对象的清洁程度越低，即多个第一显示管可以显示出的形状越复杂，清洁对象越脏，但不限于此。假设多个第一显示管可以显示出“I”、“L”和“K”几个形状，形状“I”表示清洁对象最干净，“K”表示清洁对象最干脏。
可选的，在处理系统14的控制下，多个第一显示管的亮度不同。第一显示管的亮度、数量与清洁组件对清洁对象的清洁程度正相关；即清洁度越高，第一显示管的亮灯的数量越多，每个第一显示管的亮度越高。当清洁程度处于一个中间状态时，多个第一显示管部分显示蓝色，部分显示红色，从蓝色到红色的渐变部分，多个蓝色显示管的亮度依次递减，多个红色显示管的亮度依次递增，多个蓝色显示管和红色显示管相交叉重叠，这样就呈现了蓝色到红色的渐变效果。可选的，显示器上设置有导光板，所述导光板与显示器的形状相同，导光板通过胶粘或卡扣的方式固定在显示器的外表面，导光板一方面可以增强光学显示效果，包括但不限于渐变显示；另一方面还可以保护显示屏，起到保护盖的作用。
下面以显示器15为圆形，并结合几种可选实施方式对多个第一显示管显示与清洁对象的清洁程度适配的颜色、亮度和形状的组合进行示例性说明。
实施方式A1：可将清洁对象的清洁程度分为Y档，其中Y≥2，且为整数。其中，多个第一显示管具有红蓝两种颜色，可选地，红色显示管和蓝色显示管形成圆环。相应地，当清洁程度为最低档0档时，红色显示管全部处于亮灯状态；当清洁程度达到最高档Y时，蓝色显示管全部处于亮灯状态；当清洁对象的清洁程度在0～Y档之间时，相邻的部分红色显示管和部分蓝色显示管之间交叉重叠点亮，且亮度呈现逐渐递增或递减，以呈现渐变效果。此时的第一显示管一端显示红色，另一端显示蓝色，中间为红色到蓝色的渐变效果。或者，当清洁对象的清洁程度在0～Y档之间时，不相邻的红色显示管和蓝色显示管处于亮灯状态，不呈现渐变效果。
实施方式A2：可将清洁对象的清洁程度分为Y档，其中Y≥2，且为整数。其中，多个第一显示管具有一种颜色，假设为蓝色。可选地，蓝色显示管形 成圆环。相应地，当清洁程度为最低档0档时，蓝色显示管全部处于关闭状态；当清洁程度达到最高档Y时，蓝色显示管全部处于亮灯状态，以形成蓝色圆环；当清洁对象的清洁程度在0～Y档之间时，蓝色显示管部分处于亮灯状态，且亮度呈现逐渐递增或递减的渐变效果，以形成蓝色渐变圆弧。
实施方式A3:可将清洁对象的清洁程度分为Y档，其中Y≥2，且为整数。其中，多个第一显示管具有红蓝两种颜色。可选地，红色显示管和蓝色显示管形成圆环。相应地，当清洁程度为最低档0档时，红色显示管全部处于亮灯状态，以形成红色亮灯圆弧；当清洁程度达到最高档Y时，蓝色显示管全部处于亮灯状态，以形成蓝色亮灯圆弧；当清洁对象的清洁程度在0～Y档之间时，蓝色显示管和红色显示管全部处于亮灯状态，但蓝色显示管和红色显示管的亮度不同，亮度呈现逐渐递增或递减的趋势，以形成具有红蓝渐变效果的圆环。
实施方式A4：可将清洁对象的清洁程度分为100档。其中，多个第一显示管具有红蓝两种颜色。可选地，红色显示管和蓝色显示管各自组成一排连续的圆弧，两排圆弧形状相同且相紧邻，所述圆弧为非封闭的圆环。相应地，当清洁度为0时，红色显示管全部处于亮灯状态，蓝色显示管不亮灯，以形成红色圆弧；当清洁度为100时，蓝色显示管全部处于亮灯状态，红色显示管不亮灯，以形成蓝色圆弧。当清洁度为50时，蓝色显示管的从逆时针方向的第1到25个显示管显示100％亮度的蓝色，第26到第75个显示管显示的蓝色亮度依次递减：例如第26个显示98％的亮度，第27个显示96％的亮度……第74个显示2％的亮度，第75个显示的亮度为0；第76到第100个显示管显示的蓝色亮度为0，即显示管处于不点亮的状态。红色显示管从顺时针方向的的第1到第25个显示管显示100％亮度的红色，第26到第75个显示管显示的红色亮度依次递减：例如第26个显示98％的亮度，第27个显示96％的亮度……第74个显示2％的亮度，第75个显示的亮度为0；第76到第100个显示管显示的红色亮度为0，即显示管处于不点亮的状态。第一显示管通过形状、颜色、亮度、数量的组合，形成了显示清洁度的渐变圆弧效果：第一 部分为全蓝色显示，第二部分为蓝色到红色渐变的显示，第三部分为红色显示。以上只是示例性说明，第一显示管的形状、红蓝两色的颜色组成、处于亮灯的数量、亮度的百分比都可以根据实际调整，在此都不作限制。
值得说明的是，上述实施方式A1-A4中所述的第一显示管形成的形状、颜色、与清洁对象的清洁程度所适配的显示效果以及清洁程度的档位均为示例性说明。在实际应用中，可以灵活设置来实现清洁程度的显示，在此不再一一列举。
在本申请实施例中，可采用多种方式来检测清洁组件13对清洁对象的清洁程度。下面结合几种实施方式进行示例性说明。
图2a为本申请实施例提供的另一种清洗机的结构示意图。如图2a所示，该清洗机包括：与清洁组件13依次连接的抽吸通道16和回收桶17；清洁对象上的污浊液体由清洁刷13上的吸嘴13a抽吸并经抽吸通道16送入回收桶17内。其中，如图2a中虚线所示，污浊液体从清洁组件13上的吸嘴13a经抽吸通道16至回收桶17内，形成污浊液体的流通路径。
进一步，如图2a所示，清洗机还包括：清洁度检测器件18。其中，清洁度检测器件18部分或全部设置于污浊液体的流通路径上。清洁度检测器件18部分设置于污浊液体的流通路径上，是指：清洁度检测器件18的部分组件设置于污浊液体的流通路径上，其余组件设置于清洗机上除污浊液体的流通路径之外的其它部位。
可选地，清洁度检测器件18可设置于清洁组件13的腔体、清洁组件13的吸嘴13a、抽吸通道16或回收桶17中，也可设置于这些部位中的多个部位中。在本申请实施例中，多个指2个或2个以上。例如，可在清洁组件13的吸嘴13a和抽吸通道16中设置清洁度检测器件18，或者，清洁组件13的腔体和回收桶17中设置至少一个清洁度检测器件18，等等，但不限于此。图2a仅以清洁度检测器件18设置于抽吸通道16内进行示例，并不对其设置位置进行限定。
可选地，每个部位设置的清洁度检测器件18的数量可为1个或多个。
在本实施例中，清洁度检测器件18用于检测污浊液体的物理属性值，并将污浊液体的物理属性值提供给处理系统14。相应地，处理系统14可根据污浊液体的物理属性值确定清洁对象的清洁程度。
在本实施例中，在清洗机上增设可检测清洁对象上的污浊液体的物理属性值的检测器件，即将该检测器件的部分或全部设置于污浊液体的流通路径上。这样，处理系统可根据检测器件检测到的污浊液体的物理属性值，确定清洁对象的清洁程度，实现了对清洁对象的清洁程度的自主检测，无需再人工确定清洁对象是否干净，从而有利于提高用户体验。
在本实施例中，清洁度检测组件18的工作原理不同，可检测的污浊液体的物理属性不同。例如，一些光学检测器件可以检测污浊液体的光学属性值；又例如，一些电学检测器件可以检测污浊液体的电学属性值。在本申请实施例中，污浊液体的物理属性包括其光学属性和/或电学属性。其中，污浊液体的光学属性可以为污浊液体的颜色、浊度或透明度等；污浊液体的电学属性可以为污浊液体的电阻、电阻率、电流或电压等等。
下面分别以清洁度检测组件18检测污浊液体的光学属性值和电学属性值为例，对本申请实施例提供的清洁度检测组件18进行示例性说明。
图2b为本申请实施例提供的一种清洁度检测器件的结构示意图。如图2b所示，清洁度检测组件18包括：光源18a和光检测器18b。其中，光源18a发出的光信号可经污浊液体后到达光检测器18b。进一步，光检测器18b将到达的光信号转换成电信号并输出至处理系统14。其中，光检测器18b输出的电信号可反应污浊液体的光学属性。为了便于描述和区分，在本实施例中，将光检测器18b输出的电信号，定义为第一电信号。相应地，处理系统14可根据第一电信号计算污浊液体的光学属性值，并根据污浊液体的光学属性值确定清洁对象的清洁程度。
可选地，处理系统14可将污浊液体的光学属性值在已知的光学属性值与清洁等级的对应关系中进行匹配，并将与污浊液体的光学属性值对应的清洁等级，确定为清洁对象的清洁等级。其中，清洁对象的清洁等级，可反映其 清洁程度。
可选地，如图2b所示，光源18a与光检测器18b可相对设置。其中，光源18a与光检测器18b相对设置，是指：光检测器18b的光接收面通过污浊液体与光源18a相对，即光源18a发出的光经污浊液体透射到达光检测器18b。这样，光源18a发出的光信号可经污浊液体透射后到达光检测器18b。
或者，如图2c所示，光源18a与光检测器18b可同侧设置。其中，光源18a与光检测器18b相对设置，是指：光检测器18b的光接收面与光源18a位于污浊液体的同一侧，即光源18a发出的光经污浊液体反射到达光检测器18b。这样，光源18a发出的光信号可经污浊液体反射后到达光检测器18b。
对于抽吸通道16，光源18a和光检测器18b相对设置，可理解为光源18a和光检测器18b分别设置于抽吸通道的前面和背面；或者分别设置于抽吸通道的左面和右面。光源18a和光检测器18b同侧设置，可理解为光源18a和光检测器18b均设置于抽吸通道的前面、背面、左面或右面。
对于回收桶17，可分别将光源18a和光检测器18b设置于回收桶17的前面和背面(图2d所示)；或者将光源18a和光检测器18b分别设置于回收桶17的左面和右面(图2e所示)。光源18a和光检测器18b同侧设置，可理解为光源18a和光检测器18b均设置于回收桶17的前面、背面、左面或右面，图2f中仅以光源18a和光检测器18b均设置于回收桶17的左面进行示例。优选地，光源18a和光检测器18b均设置于回收桶17的底部，这样有助于提高对污浊液体的光学属性值的检测速率。其中，回收桶17的结构形式仅为示例性说明，并不对其进行限定。
值得说明的是，在本申请实施例中，光源18a发生的光的波长处于光检测器18b可检测的光波长范围内。其中，光源18a可为各种光波长的光源，相应地，光检测器18b可为可接收光源18a发出的光的光波长的光接收器。可选地，若光源18a为红外光源，则光检测器18b可为红外接收管；若光源18a为激光光源，则光检测器18b可为激光二极管；若光源18a为LED光源，则光检测器18b可为色彩传感器等等；但不限于此。下面以光源18a为LED 光源，光检测器18b为色彩传感器为例，对清洁度检测组件18的工作原理进行示例性说明。当LED光源发出的光经污浊液体到达色彩传感器时，色彩传感器可将接收到的光信号转换为RGB电压并输出至处理系统14。相应地，处理系统14可根据该RGB电压，计算污浊液体的颜色；并根据污浊液体的颜色确定清洁对象的清洁程度。
可选地，处理系统14中可预置液体颜色与清洁度等级之间的对应关系。相应地，处理系统14可将污浊液体的颜色与液体颜色与清洁等级之间的对应关系中进行匹配，并将污浊液体的颜色对应的清洁等级，作为清洁对象的清洁等级。其中，清洁对象的清洁等级可反映清洁对象的清洁程度。
在实际应用中，考虑到污浊液体的流通路径本身也会存在一定程度的脏污，而这种脏污在一定程度上影响光检测器接收的第一电信号，而导致后续对清洁对象的清洁程度的判定存在一定的误差。在本申请实施例中，为了降低污浊液体的流通路径本身存在的脏污对检测结果的影响，可在清洗机对清洁对象执行清洁任务之前，调整光源18a的亮度，直至光检测器18b输出的参考电信号满足设定要求。其中，光检测器18b输出的参考电信号满足设定要求是指：光检测器18b输出的参考电信号的强度与预设的基准强度之间的差异处于预设的差异范围之内。例如，假设光检测器18b输出的参考电信号为电压信号，则光检测器18b输出的电压信号满足设定要求是指：光检测器18b输出的电压值与预设的基准电压值之间的电压差处于预设的电压差范围之内。
进一步，若在光源的亮度被调至最大时，光检测器18b输出的参考电信号仍不满足设定要求，则处理系统14可输出第一提示信息，来提示用户清洁污浊液体的流通路径，即提示用户清洁污浊液体的流通路径所涉及的部位。
在本申请实施例中，不限定处理系统14输出第一提示信息的方式。在一些实施例中，清洗机包括音频组件，则处理系统14可通过音频组件播放第一提示信息。在另一些实施例中，处理系统14还可通过显示器15展示第一提示信息。在又一些实施例中，清洗机包括蜂鸣器，且蜂鸣器与处理系统14电 连接。相应地，若光源的亮度被调至最大时，光检测器18b输出的参考电信号仍不满足设定要求，处理系统14还可控制蜂鸣器发出蜂鸣声，以提示用户清洁污浊液体的流通路径。在再一些实施例中，清洗机还包括指示灯，且指示灯与处理系统14电连接。相应地，若光源的亮度被调至最大时，光检测器18b输出的参考电信号仍不满足设定要求，处理系统14还可控制清洁度指示灯(图1b和图1c中未示出)发出提示信号，以提示用户清洁污浊液体的流通路径。可选地，处理系统14还可控制清洁度指示灯闪烁或显示设定的颜色，等等，但不限于此。
或者，本申请实施例中，清洗机还可提供自清洁功能。其中，自清洁功能是指清洗机对其污浊液体的流通路径进行自主清洁。相应地，如图1b和图1c所示，至少一个显示区域还包括：第二显示区域15b。可选地，第二显示区域可由第一指示灯形成。其中，第一指示灯在清洗机使用自清洁功能期间处于点亮状态。
可选地，处理系统14还可在清洁度检测器件18检测到的污浊液体的流通路径的清洁程度不满足设定的要求的情况下，启动清洗机的自清洁功能，并控制第一指示灯点亮。其中，污浊液体的流通路径的清洁程度不满足设定的要求是指上述在光源的亮度被调至最大时，光检测器18b输出的参考电信号仍不满足设定要求。
或者，处理系统14还可在在清洗机对所述清洁对象执行清洁任务的时间达到预设的时长时，则启动所述清洗机的自清洁功能，并控制所述第一指示灯点亮。或者，处理系统14还可在在清洗机对所述清洁对象执行清洁任务的时间达到预设的时长时，提醒用户需要自清洁，如果用户触发自清洁按钮，则启动清洗机的自清洁功能，并控制第一指示灯点亮。
或者，用户也可触发相应的自清洁功能控制开关，来开启自清洁功能。相应地，处理系统14检测到自清洁功能控制开关被开启，启动清洗机的自清洁功能，并控制第一指示灯点亮。
除了上述光学检测器件之外，本申请实施例提供的清洁度检测器件还可 实现为电学检测器件，下面结合图2g进行示例性说明。
如图2g所示，清洁度检测器件18包括：第一导电体组181和第一检测电路182。其中，第一导电体组181设置于污浊液体的流通路径上。第一检测电路182电连接于第一导电体组181与处理系统14之间。其中，导电体组是指一组导电体，为便于描述和区分，在本申请实施例的一些地方，将一组导电体定义为一个导电体组。导电体为一体成型的结构，在液体中具有良好的导电属性，不仅不与液体发生化学反应，还具有一定的硬度，金属材质或非金属材质都可以实现。在一些优选的实施例中，导电体可优选为不锈钢丝。
进一步，第一检测电路182可在第一导电体组181与污浊液体接触时产生第二电信号并输出至处理系统14。其中，第二电信号可反应污浊液体的电学属性。第一导电体组181包括至少两个互不接触的导电体。图2g-图2l中仅以导电体的数量为2个进行示例。
进一步，第一导电体组181中的一部分导电体与清洗机的供电单元的正极电连接，以形成正极导电体；其余部分接地，形成接地导电体。这样，当正极导电体和接地导电体接触到污浊液体时，正极导电体和接地导电体形成通路。相应地，第一检测电路182便可在正极导电体和接地导电体之间形成通路时，产生第二电信号，并将第二电信号输出至处理系统14。
在本申请各实施例中，其中，供电单元被配置为清洗机或清洁设备的各种组件提供电力。供电单元可以包括电源管理系统，一个或多个电源，及其他与为供电单元所在设备生成、管理和分配电力相关联的组件。可选地，供电单元还可包括：电池包。其中电池包可为蓄电电池或可充电电池。
在本实施例中，导电体可为导电探针、导电贴片或导电触点等等，但不限于此。其中，导电体可为不锈钢材质。第一导电体组181中的各导电体可相对设置，也可位于同侧。如图2g和图2h所示，若第一导电体组181设置于抽吸通道内，则第一导电体组181中的各导电体可设置于抽吸通道的内侧壁上。若第一导电体组181设置于回收桶内，则第一导电体组181中的各导电体可设置于回收桶17的内壁上。可选地，如图2i所示，第一导电体组181 可设置于回收桶17的内侧壁上。优选地，第一导电体组181设置于内侧壁的底部。或者，如图2j所示，第一导电体组181设置于回收桶17的底部。进一步，若导电体为导电探针，如图2k所示，也可悬挂于回收桶17内。优选地，导电探针伸入回收桶17的底部，这样一旦有污浊液体被抽吸到回收桶17内，导电探针便可检测污浊液体的电学属性值。
进一步，若导电体为导电探针，可为刚性导电探针，这样可防止正极导电体和负极导电体直接接触，造成短路。
下面以第一导电体组181包括互不接触的导电体A和B为例，并结合图2l和图2m所示的电路原理图，对第一检测电路182的工作原理和结构进行示例性说明。
如图2l所示，第一检测电路182包括：电压检测电路182a。其中，电压检测电路182a的供电端P与导电体A电连接。其中，供电端P还与供电单元的正极电连接。进一步，电压检测电路182a的接地端和输出端Q分别与导电体B电连接，且电压检测电路182a的输出端Q电连接于处理系统14。其中，电压检测电路182a的接地端与地电连接。
可选地，如图2m所示，电压检测电路182a还包括：基准采样电阻R3。基准采样电阻R3的两端与导电体B以及地电连接。可选地，可将导电体B与基准采样电阻R3的连接点作为电压检测电路182a的输出端Q。其中，当导电体A和导电体B与污浊液体接触时，导电体A和导电体B形成通路，这样，处理系统14便可通过检测基准采样电阻R3两端的电压，进而得到导电体A和导电体B形成的通路的电压，即污浊液体的电压(第二电信号)。由于基准采样电阻R3的阻值已知，因此，可得到导电体A和导电体B形成的通路的电流，从而得到污浊液体的电阻值。
进一步，为了降低污浊液体的电阻值的变化而导致电压检测电路182a输出的电压值过大而对处理系统14造成危害，如图2m所示，可在电压检测电路182a的输出端接入缓冲电路182b。其中，缓冲电路的182b的输入端与电压检测电路182a的输出端Q电连接，且缓冲电路182b的输出端(DW-R)电 连接于处理系统14。
可选地，如图2m所示，缓冲电路182b可包括：运算放大器U1和RC滤波电路。其中，RC滤波器由电阻R1和电容C1串联形成。进一步，运算放大器U1的同相输入端1与电压检测电路182a的输出端Q电连接，且其反相输入端3与其输出端4电连接。进一步，RC滤波电路并联于运输放大器的输出端4与地之间，且RC滤波电路未接地的一端与处理系统14电连接。即RC滤波电路中电阻R1和电容C1的串接点与处理系统14电连接。
进一步，考虑到清洗机喷洒出的干净液体可能本身存在一定的杂质，若直接利用第一检测电路182输出的电信号确定清洁对象的清洁程度，则可能会存在一定的误差。因此，在实际应用中可事先测定清洗机喷洒出的干净液体的基准电信号。其中，干净液体可为清水、清洁液或消毒液等。为了便于描述和区分，在本实施例中，将测定清洗机喷洒出的干净液体的基准电信号的检测电路，定义为基准检测电路，并将基准检测电路的整体阻值定义为基准阻值。其中，基准检测电路的整体阻值为基准检测电路本身的整体阻值，不包含干净液体的阻值。基准检测电路可为第一检测电路，也可为其它检测电路，例如下述实施例中的第二检测电路。
进一步，为了简化后续处理系统14的计算，可在测量污浊液体的电学属性值时，将第一检测电路182的整体阻值设置为基准阻值。基于此，可在第一检测电路182中设置可变电阻电路182c。如图2m所示，第一检测电路182a还包括：可变电阻电路182c。进一步，可变电阻电路182c的第一端E1与电压检测电路中的基准采样电阻R3电连接，其第二端E2与处理系统14电连接，且其第三端E3接地。
相应地，处理系统14可调整可变电阻电路182c的阻值，以将第一检测电路182的整体阻值调整为基准阻值。
进一步，可变电阻电路182c可实现为可变电阻器，例如滑动变阻器、电位器等。其中，可变电阻器的可调节端为第二端E2与处理系统14电连接，其余不可调节的两个端口分别与基准采样电阻R3以及地电连接。其中，处理 系统14可通过调节可变电阻器的可调节端来调整可变电阻器的阻值，进而调整第一检测电路182的整体阻值。
或者，如图2m所示，可变电阻电路182c还可包括：多个串联的采样电阻。在本实施例中，多个指2个或2个以上。为了便于描述和区分，将可变电阻电路182c所包含的采样电阻，定义为可选采样电阻。多个可选采样电阻串接于基准采样电阻R3与地之间，并在每个电阻串接点处并联一个N-MOS管，每个N-MOS管的漏极D与串接点电连接。进一步，如图2m所示，每个N-MOS管的源极S作为可变电阻电路182c的第三端E3接地，且每个N-MOS管的栅极G作为可变电阻电路182c的第二端E2分别与处理系统14电连接。这样，处理系统14便可通过调节多个N-MOS管的状态，确定是否将可选采样电阻接入第一检测电路182以及确定将哪个或哪些可选采样电阻接入第一检测电路182，从而将第一检测电路182的整体阻值调整为基准阻值。例如，图2m中，若N-MOS管Q1导通，则可选采样电阻R4、R5和R6被短路，即可选采样电阻R4、R5和R6均不接入第一检测电路182。若N-MOS管Q1关断，N-MOS管Q2导通，则可将可选采样电阻R4接入第一检测电路182。若N-MOS管Q1、Q2和Q3均关断，则可将可选采样电阻R4、R5和R6均接入第一检测电路182；等等。
在本发明实施例中所提供的电路结构示意图中的各元器件可采用相同或相近功能的元器件进行替换。例如，N-MOS管也可替换为P-MOS管或三极管(NPN三极管或PNP三极管)，并可参照图2m所示的电路工作原理图适应性调整各器件之间的连接关系。
在本申请实施例中，基准电信号可在清洗机出厂之前进行测定，并将测定的基准电信号预置在清洗机中。或者，也可在清洗机中设置基准电信号的检测器件，并将该检测器件的部分设置于干净液体的流通路径上。这样，处理系统14便可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
进一步，在本申请实施例中，如图2n所示，清洗机还包括：与清洁组件 13的喷嘴19依次连接的出水管道110和溶液桶111。其中，溶液桶111内的干净液体经出水管道110送入喷嘴19以供喷嘴19喷洒至清洁对象上。相应地，如图2n所示，清洗机还包括：第二导电体组112和第二检测电路113。其中，第二导电体组112设置于干净液体的流通路径上。第二检测电路113电连接于第二导电体组112与处理系统14之间。
可选地，第二导电体组112可设置于溶液桶111、出水管道110和喷嘴19中的至少一个部位中。其设置方式可参见上述第一导电体组的相关内容，在此不再赘述。其中，每个部位可设置一个或多个第二导电体组。
可选地，还可在溶液桶111和喷嘴19之间设置一过渡溶液桶(图2n中未示出)，为了便于描述，在本申请实施例中，将过渡溶液桶简称为过渡桶；并将溶液桶111和过渡桶之间的出水管道定义为第一出水管道，将过渡桶与喷嘴之间的出水管道定义为第二出水管道。这样，溶液桶111内的干净液体经第一出水管道流入过渡桶，再经第二出水管道送入喷嘴19以供喷嘴19喷洒至清洁对象上。相应地，第二导电体组112设置于干净液体的流通路径上。进一步，还可将第二导电体组112设置于过渡桶内。
在本实施例中，第二导电体组112包括至少两个互不接触的导电体。图2n中仅以导电体的数量为2个进行示例。进一步，第二导电体组112中的一部分导电体与供电单元的正极电连接，以形成正极导电体；其余部分接地，形成接地导电体。这样，当正极导电体和接地导电体接触到干净液体时，正极导电体和接地导电体形成通路。相应地，第二检测电路113便可在正极导电体和接地导电体形成通路时，产生基准电信号，并将基准电信号输出至处理系统14。第二检测电路113可在第二导电体组112与干净液体接触时产生基准电信号并输出至处理系统14。
可选地，第二检测电路113的电路结构可实现为图2o所示的电路结构，关于第二检测电路113的电路结构的描述，可参见上述第一检测电路182的相关内容，在此不再赘述。
基于图2o所示的第二检测电路113，处理系统14可通过调节第二检测电 路113中多个N-MOS管的状态，使得第二检测电路113输出的基准电信号保持在一稳定的范围内。例如，处理系统14可通过调节第二检测电路113中多个N-MOS管的状态，使得第二检测电路113输出的基准电压为供电单元电压的中值电压，等等，但不限于此。相应地，处理系统14可通过调节第一检测电路182中多个N-MOS管的状态，使得第一检测电路182中多个N-MOS管的状态与第二检测电路182中多个N-MOS管的状态相同，这样可使得第一检测电路182的整体电阻与第二检测电路113的整体电阻相同，有助于减小后续处理系统14根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度的计算量。
在本申请实施例中，处理系统14可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
进一步，在本申请各实施例中，如图2p所示，处理系统14可包括处理器14a。其中，处理器14a可为：处理器14a可以为任意硬件处理设备。可选地，处理器可以为中央处理器(Central Processing Unit，CPU)、图形处理器(Graphics Processing Unit，GPU)或微控制单元(Microcontroller Unit，MCU)；也可以为现场可编程门阵列(Field-Programmable Gate Array，FPGA)可编程阵列逻辑器件(Programmable Array Logic，PAL)、通用阵列逻辑器件(General Array Logic，GAL)、复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)等可编程器件；或者为先进精简指令集(RISC)处理器(Advanced RISC Machines，ARM)或系统芯片(System on Chip，SOC)等等，但不限于此。
相应地，处理器14a可将第二电信号与基准电信号之间的差异，在已知的电信号差异与清洁度等级之间的对应关系中进行匹配，以确定清洁对象的清洁度等级，即将第二电信号与基准电信号之间的差异对应的清洁度等级作为清洁对象的清洁程度。
可选地，处理器14a可计算第二电信号与基准电信号之间的差异。或者，如图2p所示，处理系统14还可包括：差分运算电路14b。其中，差分运算电 路14b的第一输入端DW-R连接于第一检测电路182的输出端，用于接收第二电信号；差分运算电路14b的第二输入端PW-R接收基准电信号。进一步，差分运算电路14b的输出端DL与处理器14a电连接，用于将第二电信号与基准电信号之间的差值输出至处理器14a。相应地，处理器14a便可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
可选地，如图2p所示，差分运算电路14b可包括：运算放大器U3和RC滤波电路。其中，运算放大器U3的同相输入端1作为差分运算电路的第一输入端与第一检测电路182的输出端电连接，用于接收第二电信号。运算放大器U3的反向输入端3作为差分运算电路14b的第二输入端接收基准电信号。进一步，运算放大器U3的反向输入端3与其输出端4之间并联RC并联电路。RC并联电路由电阻R24和电容C10并联构成。进一步，RC滤波电路并联于运算放大器U3的输出端4与地之间，其中，RC滤波电路由电阻R23和电容C9串联构成，电阻R23和电容C9的串接点作为差分运算电路14b的输出端DL，并与处理系统14电连接。可选地，运算放大器U3还包括：正负供电单元供电端2和5；其中正供电单元供电端5与清洗机的供电单元的正极电连接，其负供电单元供电端5接地。
值得说明的是，在一些实施例中，为了提高清洁对象的清洁度检测的准确度，还可利用上述光学属性值和第二电信号，共同确定清洁对象的清洁程度，其具体实施方式，可参见上述实施例的相关内容，在此不再赘述。
值得说明的是，图2a-图2p所示的清洁度检测方式除了适用于清洗机，还适用于其它清洁设备，例如手持式吸尘器、擦窗机器人、墙壁清洗机或自主移动式吸尘器等等，但不限于此。还值得说明的是，在一些实施例中，对于图2a-图2p得到的清洁度检测结果，也可不进行可视化显示，即清洁设备可利用图2a-图2p所提供的方式对清洁对象进行清洁度检测，但不进行显示。在另一些实施例中，处理系统14除了可以根据图2a-图2p得到的清洁度检测结果，控制多个第一显示管显示不同颜色、亮度和形状的组合，还可进行其它操作。例如，处理系统14还可根据对清洁对象的清洁程度，调整清洗机的 工作状态等等。
在一些实施例中，对于本申请实施例提供的清洗机，考虑到用户在利用该清洗机执行清洁任务的过程中的行为特征，还可设置一些感知其行为特征的传感器。例如，在一些应用场景中，若清洁对象的脏污程度比较高，用户往往会增大力气对清洁对象进行清洁。基于此，可在清洗机的手柄11a上设置压力传感器，可选的，压力传感器设置于手柄11a的用户握持处；或者在清洁组件上设置压力传感器，可选的，压力传感器设置在地刷的底部，与待清洁对象抵触。其中，压力传感器使用的电阻应变片根据“应变效应”制作，即导体或半导体材料在外界力的作用下产生机械变形时，其电阻值也相应的发生变化。因此，压力传感器承受不同应力时，其电阻会发生变化。
本实施例还提供压力检测电路。如图2q所示，压力检测电路包括：RC滤波电路；其中，RC滤波电路并联于压力传感器的输出端与地之间，可对压力传感器输出的电压值进行滤波后提供给处理系统14。由于压力传感器承受的应力不同，其电阻会发生变化，相应地，处理系统14与压力传感器的接口的电压也会相应发生变化，所以处理系统14可根据压力传感器电阻的变化，从而得到用户使用过程中的用力程度变化。
可选地，可在处理系统14中预置的压力传感器的阻值与压力之间的对应关系。可选地，压力传感器的阻值与压力之间的对应关系可为表格、曲线图等形成。图2s中仅以压力传感器的阻值与压力之间的对应关系为曲线图的形式进行示出。
相应地，处理系统14在获取压力传感器的压力值时，可利用处理系统14的ADC功能，在10ms内采集100组电压值，经过排序，选取中间80个数据再取平均值的到ADC值，由于芯片ADC是12位采样，工作电压3.3V，所以计算电压V1＝ADC*3300/4095(1)。根据电路原理可得：R0/(R0+R32)＝V1/3300(2)，R32是固定电阻，V1可根据公式(1)计算得到，因此可得到压力传感器的阻值R0。进一步，处理系统14可将压力传感器的阻值R0在预置的压力传感器的阻值与压力之间的对应关系进行匹配，进而得 到压力传感器的阻值R0对应的压力值P1，并将压力值P1作为压力传感器对应的压力值。
可选地，压力传感器可以为柔性薄膜压力传感器，有助于降低用户紧握手柄时的异物感。可选地，柔性薄膜压力传感器的厚度可小于0.3mm。可选地，压力传感器的尺寸图可如图2r所示，在图2r中，φ10表示压力传感器的直径为10mm；φ7.5表示表示压力传感器感应面的直径为7.5mm；40表示表示压力传感器薄膜的长度为40mm；5.8表示压力传感器薄膜的宽度为5.8mm；2.54表示表示压力传感器的两个输出引脚间距为2.54mm。
在本实施例中，压力传感器可检测手柄承受的压力值，并提供给处理系统14。相应地，处理系统14可控制第一显示区域显示压力值；该压力值的大小表征清洁组件对清洁对象的清洁程度。其中，压力值越大，清洁对象的清洁程度越低。或者，处理系统14中预设有压力值与清洁程度之间的对应关系，基于此，处理系统14也可根据压力传感器检测到的手柄承受的压力值以及压力值与清洁程度之间的对应关系，确定清洁组件对清洁对象的清洁程度；并控制多个第一显示管显示与该清洁程度对应的颜色、亮度和形状的组合。
可选地，考虑到不同用户的使用习惯不同，其施加于手柄11a的力有所不同。为了提高对清洁对象的清洁程度的准确性，可采用相对压力值表征清洁对象的清洁程度。其中，相对压力值为实时测量的压力值与基准压力值之间的压力差ΔP。
基于此，在用户使用时，可首先对该用户对手柄11a的初始压力进行测量，并将测得的初始压力值作为基准压力值，之后在清洗机对清洁对象执行清洁任务的过程中，实时测量该用户对手柄11a施加的压力，并计算用户在使用过程中对手柄11a施加的压力与基准压力值之间的压力差ΔP。可选地，处理系统14可根据预设的压力差与清洁程度之间的对应关系，确定清洁对象的清洁程度。
进一步，处理系统14还可根据用户在使用过程中对手柄11a施加的压力与基准压力值之间的压力差ΔP，调整清洗机的工作状态。例如，处理系统14 可根据用户在使用过程中对手柄11a施加的压力与基准压力值之间的压力差ΔP，将清洗机的主电机120、水泵114的电机和清洁组件13的电机的功率调整至与该压力值ΔP适配的功率等等。
又例如，在另一些应用场景中，若清洁对象的脏污程度比较高，用户往往会对清洁对象进行来回清洁。在这种应用场景下，清洗机在用户的带动下不断改变作业方向。基于此，可在清洗机上设置加速度传感器。其中，加速度传感器可检测清洗机在使用过程中的加速度信息，并将检测到的加速度信息提供给处理系统14。相应地，处理系统14可根据加速度信息，确定清洗机的作业方向变化频率。进一步，处理系统14可控制多个第一显示管显示作业方向变化率。其中，作业方向变化频率表征清洁组件对清洁对象的清洁程度。其中，作业方向变化频率越高，清洁对象的清洁程度的越低。或者，处理系统14中预设有作业方向变化频率与清洁程度之间的对应关系，基于此，处理系统14也可根据清洗机的作业方向变化频率与清洁程度之间的对应关系，确定清洁组件对清洁对象的清洁程度；并控制多个第一显示管显示与该清洁程度对应的颜色、亮度和形状的组合。
进一步，处理系统14还可根据清洗机的作业方向变化频率，调整清洗机的工作状态。例如，处理系统14可根据清洗机的作业方向变化频率，将清洗机的主电机120、水泵114的电机和清洁组件13的电机的功率调整至与该清洗机的作业方向变化频率适配的功率等等。可选地，处理系统可在清洗机的作业方向变化频率小于或等于设定的第一频率时，不改变主电机120、水泵114的电机和清洁组件13的电机的功率；在处理系统可在清洗机的作业方向变化频率大于第一频率时，将将清洗机的主电机120、水泵114的电机和清洁组件13的电机的功率调整至与该清洗机的作业方向变化频率适配的功率等等。
可选地，加速度传感器可设置于清洗机的各部件上。例如，加速度传感器可设置于清洁组件的底部、机身或手柄组件上。
在本申请实施例中，无论采用上述哪种方式检测清洁组件对清洁对象的 清洁程度，处理系统14一方面可以通过显示器15显示清洁对象的清洁程度，另一方面还可以根据清洁对象的清洁程度，调整清洗机的工作状态。
例如，处理系统14可根据清洁对象的清洁程度，将清洗机的水泵114的功率调节至与清洁对象的清洁程度适配的功率。相应地，处理系统14可预设清洁度等级与水泵功率之间的对应关系，基于该对应关系，处理系统14可根据清洁对象的清洁度等级，确定水泵的功率。优选地，清洁等级越高，水泵的功率越小，清洁设备的出水量越小，说明清洁对象越干净。
又例如，处理系统14还可根据清洁对象的清洁程度，将清洁设备的主电机和/或清洁组件电机的功率调整至与清洁对象的清洁程度适配的功率。相应地，处理系统14可预设清洁度等级与主电机和/或清洁组件电机功率之间的对应关系，基于该对应关系，处理系统14可根据清洁对象的清洁度等级，确定主电机和/或清洁组件电机的功率。优选地，清洁等级越高，主电机和/或清洁组件电机的功率越小，清洁设备的吸水能力越小，说明清洁对象越干净。在本申请的实施例中，主电机将污浊液体由清洁设备的清洁组件上的吸嘴13a抽吸并经清洁设备上的抽吸通道送入清洁设备的回收桶内，清洁组件电机带动清洁组件对清洁对象进行清洁作业。
又例如，处理系统14还可根据清洁对象的清洁程度，将清洁设备的任务执行时间调整至与清洁对象的清洁程度适配的时间。相应地，处理系统14可预设清洁度等级与清洁时间之间的对应关系，基于该对应关系，处理系统14可根据清洁对象的清洁度等级，确定清洁时间。优选地，清洁等级越高，主电机和/或清洁组件电机的功率越小，清洁时间越短，说明清洁对象越干净。
可选地，若处理系统14确定清洁对象的清洁程度达标，则可控制清洗机停止工作。其中，清洁对象的清洁程度达标可为清洁对象的清洁度等级为最高清洁度等级。可选地，若清洁对象的清洁度等级为最高清洁度等级，处理系统14可控制水泵、主电机和/或清洁组件电机停转等等。
相应地，如图3a所示，清洗机还包括：水泵驱动电路115。该水泵驱动电路115电连接于水泵114和处理系统14之间。其中，处理系统14在调整 清洗机的工作状态时，可根据清洁对象的清洁程度，确定信号参数；并向水泵驱动电路115输入具有该信号参数的第一PWM信号，以控制水泵输出满足清洁需求的出水量。其中，信号参数包括：第一PWM信号的频率和占空比。可选地，对于不同性能的清洗机，供电单元的电压可能存在差异，因此，处理系统14还可根据供电单元的电压和清洁对象的清洁程度，确定信号参数。例如，供电单元的电压与第一PWM信号的信号参数对应关系可如下表1所示。
表1供电单元的电压与第一PWM信号的信号参数对应关系
Figure PCTCN2020100471-appb-000001
相应地，本申请实施例还提供一种水泵驱动电路。如图3b所示，水泵驱动电路115包括：主驱动电路115a、辅助驱动电路115b以及选择电路115c。其中，主驱动电路115a和辅助驱动电路115b均与处理系统14、选择电路以及水泵114电连接。可选地，主驱动电路115a可与水泵114直接电连接，也可通过辅助驱动电路115b与水泵电连接。
可选地，辅助驱动电路115b可与处理系统14直接电连接，也可通过主驱动电路115a与处理系统14电连接。
在本实施例中，主驱动电路115a可根据处理系统14发送的第一PWM信号驱动水泵114工作。选择电路115c可在主驱动电路115a故障时，切断辅助驱动电路115b，避免直流电压加到水泵114上后，导致水泵114损坏。
下面结合一种具体的电路结构对本实施例提供的水泵驱动电路的工作原理进行详细说明。图3c为本申请实施例提供的一种水泵驱动电路的工作原理图。如图3c所示，主驱动电路115a的输入端与处理系统14电连接，用于接收处理系统14发送的第一PWM信号；其输出端通过辅助驱动电路115b与水泵114电连接，其供电端与供电单元电连接。其中，主驱动电路115a可根据第一PWM信号驱动水泵114工作。
选择电路115c与主驱动电路115a的输出端和辅助驱动电路115b的输入端的连接点电连接，选择电路115c可在主驱动电路115a故障时，切断辅助驱动电路115b，避免直流电压加到水泵114上后，导致水泵114损坏。
其中，如图3c所示，主驱动电路115a可包括：NPN三极管Q10、NPN三极管Q9和P-MOS管Q8。其中，NPN三极管Q10的基极与处理系统14电连接，其集电极串联电阻R34和R35之后与供电单元的正极P+电连接；其发射极接地。NPN三极管Q9的基极与电阻R34和R35的串接点电连接，其集电极与供电单元的正极P+电连接，其发射极与P-MOS管Q8的栅极电连接。对于P-MOS管Q8，其源极S与供电单元的正极P+电连接，其漏极D与辅助驱动电路115b的输入端电连接。
进一步，如图3c所示，辅助驱动电路115b包括：P-MOS管Q7。其中，P-MOS管Q7的源极S与主驱动电路115a的输出端电连接，其栅极G串联电阻R50后与供电单元的正极P+电连接，其漏极D与水泵114的正极PM+电连接。
如图3c所示，选择电路包括：电容C23、二极管D11以及NPN三极管Q11。其中，电容C23的一端与主驱动电路115a的输出端和辅助驱动电路115b的输入端的连接点电连接，其另一端与二极管D11的阴极电连接；二极管D11的阳极接地。进一步，NPN三极管Q11的基极与电容C23和二极管D11的串 接点电连接，其的集电极与供电单元的正极P+电连接，其发射极接地。
可选地，选择电路115c还可包括：缓冲电路115c1。其中，缓冲电路电连接于电容C23和二极管D11的串接点与NPN三极管Q11的基极之间。
进一步，缓冲电路115c1包括：运算放大器U4和RC滤波电路。其中，运算放大器U4的同相输入端串联R44后与电容C23和二极管D11的串接点电连接，且其反相输入端与其输出端电连接。进一步，RC滤波电路并联于运输放大器U4的输出端与地之间，且由电阻R46和电容C25串联组成；其中，电阻R46和电容C25的串接点串联R47后与NPN三极管Q11的基极电连接。
进一步，水泵驱动电路115还可包括：水泵电流检测电路115d。其中，水泵电流检测电路115d电连接于水泵114的负极与处理系统14之间，用于检测流过水泵114的电流，并提供给处理系统14。如图3c所示，水泵电流检测电路115d的端口PMCS与处理系统14电连接。进一步，若流过水泵的电流大于或等于预设的电流阈值，则处理系统14停止向水泵驱动电路115输入第一PWM信号，以使水泵114停转。其中，预设的电流阈值可为水泵异常工作的电流值。
可选地，如图3c所示，水泵电流检测电路115d包括：并联的采样电阻R42和R43。进一步，如图3c所示，水泵电流检测电路115d的还可包括：电阻R40和电容C22组成的RC滤波电路，用于滤除水泵114输出电压的纹波。
下面结合图3c所示的电路原理图对水泵驱动电路115的工作原理进行示例性说明。
如图3c所示，处理系统14通过Pump-c端口向NPN三极管Q10输入第一PWM信号。其中，当处理系统14向NPN三极管Q10输出高电平时，NPN三极管Q10导通。这样，PMOS管Q8的栅极G的电压被拉低，其源极S电压为供电单元的电压，由于源极S的电压高于栅极G的电压，因此，PMOS管Q8导通。相应地，当处理系统14向NPN三极管Q10输出低电平时，P-MOS管Q8关断。因此，当处理系统14向NPN三极管Q10输入第一PWM信号时，电容C23两端接收交流信号，电容C23导通，其输出电压经运算放大器U4 跟随后，输入NPN三极管Q11，NPN三极管Q11导通，P-MOS管Q7的栅极被拉低，其源极S为供电单元的电压，因此，P-MOS管Q7导通。因此，供电单元开始向水泵114供电，水泵114工作。其中，电流从水泵的正极PM+流入水泵，再从水泵的负极PM-流出来，再经过采样电阻R42和R43接地。在PMCS端口就会有电压值U＝I*R，其中，电阻值R为采样电阻R42和R43的并联阻值，处理系统14检测到PMCS端口的电压值，就能计算出流过水泵114的电流值。
可选地，若主驱动电路115a短路时，P-MOS管Q8一直处于导通状态，则电容C23接收直流信号，电容C23处于充电状态，相当于断路，从而NPN三极管Q11关断，进而P-NOS管Q7的栅极G通过电阻R50与供电单元的正极P+电连接。由于主驱动电路115a短路，那么Q7的源极S的电压与栅极G的电压相等，所以Q7就不能导通，从而可以保护水泵不被烧毁。
值得说明的是，图3c中所示的水泵驱动电路的电路结构实现形式只是示例性说明，并不对其电路结构构成限定。
在一些实施例中，至少一个显示区域还包括：第三显示区域15c。其中，第三显示区域15用于显示清洗机的液体存储装置的液位信息。其中，液体存储装置为溶液桶和/或回收桶；可选地，如图1b和图1c所示，第三显示区域15c位于显示器15的中部区域。
在本实施例中，液体存储装置的液位信息可以为：液体存储装置的液位值，也可为液体存储装置中的液位状态。其中，液体存储装置中的液位状态是指：液体存储装置是处于满液位状态，还是处于缺液体状态。相应地，第三显示区域15c可包括由至少一个第二指示灯形成的第一子区域15c1。其中，至少一个第二指示灯在处理系统14的控制下显示液体存储装置的不同液位状态。
在一种实施例中，清洗机的液体存储装置包括溶液桶和回收桶，对于这种情况，至少一个第二指示灯可以包括：第一类指示灯和第二类指示灯。可选地，第一类指示灯和第二类指示灯可以同行分布，也可同列分布，或者错 位分布等等，但不限于此。在本实施例中，第一类指示灯用于在清洗机的溶液桶内的干净液体低于设定的第一液位阈值时点亮或闪烁，以提示用户溶液桶处于缺液体状态；第二类指示灯用于在清洗机的回收桶内的污浊液体超过设定的第二液位阈值时点亮或闪烁，以提示用户回收桶处于满液位状态。其中，第一液位阈值是指清洗机所允许的溶液桶内的干净液体的最低液位，若溶液桶内的干净液体低于第一液位阈值，则溶液桶处于缺液体状态；第二液位阈值是指回收桶可容纳的污浊液体的最高液位，若回收桶内的干净液体高于该液位，则说明回收桶处于满液位状态。可选地，第一液位阈值小于第二液位阈值。进一步，第二液体阈值小于或等于回收桶的高度。当然，第一类指示灯也可以在向溶液桶内注入干净液体的过程中，指示溶液桶处于满液位状态，以提示用户停止向溶液桶内注入干净液体。
在一些实施例中，第三显示区域还可包括：第二子区域(图1b和图1c中未示出)。第二子区域可由至少一个第一数码管形成，用于在处理系统14的控制下显示液体存储装置的液位值，例如1、2或3。可选地，至少一个第一数码管可位于第一类指示灯和第二类指示灯的中间位置，即第一类指示灯和第二类指示灯分别设置于至少一个第一数码管的两边。
值得说明的是，无论第三显示区域显示液体存储装置的液位状态，还是显示液体存储装置的液位值，清洗机均可包括：液位检测器件117。其中，液位检测器件117可设置于液体存储装置的内侧和/或外侧，用于检测液体存储装置中的液体的液位信息。该液位信息可反映液体存储装置的液位状态和/或液位值。
相应地，处理系统14与液位检测器件117电连接，可根据液位存储装置中的液体的液位信息计算液位存储装置的液位状态或液位值。除此之外，处理系统14也可以根据液位信息对液体存储装置进行相应控制。
在本申请实施例中，液位检测器件117可为接触式液位检测器件，也可为非接触式液位检测器件，下面分别进行示例性说明。图4a为本申请实施例提供的又一种清洗机的结构示意图。如图4a所示，液体存储装置内设有至少 一个第三导电体组117a(接触式液位检测器件)，且至少一个第三导电体组117a与处理系统14连接。至少一个第三导电体组117a，用于探测液体存储装置中液体的液位信息，并将探测到的液位信息上报给处理系统14。处理系统14一方面可在第三显示区域15c内显示液位信息，另一方面可根据液位信息对液体存储装置进行相应控制。
在本实施例中，利用导电体探测液体存储装置中液体的液位信息，无需利用液体的浮力便可实现液位检测，不仅可减小液体面的稳定性对液位检测结果的影响，还可提高液位检测的可靠性和及时性。
值得说明的是，在本实施例图4a中所提供的液体存储装置、处理系统以及导电体的形状、数量、实现形式以及设置位置均为示例性的，并不对这些进行限定。
在一可选实施例中，如图4a所示，清洗机还包括：至少一个液位检测电路118。至少一个第三导电体组117a通过至少一个液位检测电路118与处理系统14连接。且至少一个液位检测电路118，用于将至少一个第三导电体组117a检测到的液位信息转换为电信号后输出至处理系统14，以便处理系统14根据该电信号对液体存储装置进行相应的控制。图4a中液位检测电路118的设置位置及数量只是示例性说明，并不对其构成限定。
进一步，如图4a所示，每个液位检测电路118包括：供电端P+、接地端GND以及与处理系统14连接的信号输出端MCU-IN。如图4b所示，每个液位检测电路118还包括彼此绝缘的第一端子1和第二端子2，所述第一端子1和第二端子2用于连接用于检测同一液位的至少一个第三导电体组117a。每个第三导电体组117a包括互不接触的第一导电体和第二导电体。其中，至少一个第三导电体组117a中用于检测相同液位的若干组导电体中的第一导电体和第二导电体分别与同一检测电路的第一端子1和第二端子2电连接。其中，每个第三导电体组117a包括第一导电体的数量可以为一个或多个，第二导电体的数量也可以为一个或多个，且第一导电体的数量和第二导电体的数量可以相同，也可不同。图4b为本申请实施例提供的液位检测电路的电路原理图。 如图4b所示，液位检测电路除了包括上述供电端P+、接地端GND以及与处理系统14连接的信号输出端MCU-IN之外，还包括：位于供电端P+一侧的滤波电路118a。滤波电路118a与连接于其所属检测电路上的若干组导电体并联，用于过滤液体液面波动带来的噪声干扰。
其中，对于每个导电体组中的第一导电体，其可以与液位检测电路118的第一端子1电连接，也可以与液位检测电路118的第二端子2电连接。当第一导电体与液位检测电路118的第一端子1电连接时，第二导电体与液位检测电路118的第二端子2电连接。相应地，当第一导电体与液位检测电路118的第二端子2电连接时，第二导电体与液位检测电路118的第一端子1电连接。为了便于描述和区分，在下文中将与液位检测电路118的第二端子2电连接的导电体称为正极导电体，并将与液位检测电路118的第一端子1电连接的导电体称为接地导电体。可选地，如图4b所示，正极导电体与液位检测电路118的第二端子2电连接，接地导电体与液位检测电路118的第一端子1电连接。
可选地，如图4b所示，滤波电路118a可为RC电路，由电阻R51、电阻R52和电容C27构成一个滤波器。其中，为了提高对噪声的过滤效果，优先地，电容C27的容值可为μf或pf级别。
进一步，如图4b所示，为了提高液位检测电路118的稳定性，液位检测电路118还包括：第一稳压管D12。其中，第一稳压管D12的阴极和阳极分别与其所属检测电路的供电端P+和接地端GND电连接，且位于RC串并联回路与供电端P+之间。
为了进一步提高液位检测电路118的稳定性，液位检测电路118还包括：设置于信号输出端MCU-IN一侧的第二稳压管D13。第二稳压管D13的阴极和阳极分别与其所属检测电路的供电端P+和接地端GND电连接。
可选地，如图4b所示，因为第一端子1和第二端子2之间的导电体之间的部分的阻值可能变化，因此液位检测电路118中设置：串接于供电端P+和RC电路之间的限流电阻R53以及串接于信号输出端MCU-IN和正极导电体 之间的限流电阻R54。电阻R53和电阻R54都是限流电阻，主要起保护作用。其中，电阻R53保护第一稳压管D12，电阻R54保护处理系统14。进一步，第一稳压管D12和第二稳压管D13可以使信号输出更加平稳。
对于图4b所示的液位检测电路，使用该检测电路检测液体存储装置的预定的储满的液位。当液体存储装置内的液体到达液位检测电路118连接的第一导电体和第二导电体所探测的液位时，第一导电体和第二导电体在液体的作用下，第一导电体和第二导电体导通，信号输出端MCU-IN的电压产生变化，进而信号输出端MCU-IN向处理系统14输出第三电信号。之后，处理系统14根据该第三电信号对液体存储装置进行相应的控制。
相应地，还可以使用该液位检测电路检测液体存储装置的预定的剩余的液位。当液体存储装置内的液体低于液位检测电路118连接的第一导电体和第二导电体所探测的液位时，第一导电体和第二导电体不导通，信号输出端MCU-IN的电压产生变化，进而信号输出端MCU-IN向处理系统14输出第四电信号。之后，处理系统14根据该第二电信号可以获取液体存储装置的预定的剩余的液位低于该预定的液位(对于溶液桶，该预定的液位为上述第一液位阈值)，还可以根据第二信号对液体存储装置进行相应的控制。
在本申请实施例中，至少一个液位检测电路118的数量以及至少一个第三导电体组117a的数量可根据实际需求进行灵活设置。其中，液位检测电路118的数量可以与导电体组117a的数量相同，也可以不同，具体根据实际液位检测需求进行灵活设置。下面结合几种可选的液位检测方式，对液位检测电路118的数量和导电体组117a的数量的设置情况进行示例性说明。
方式1：如图4c所示，在同一液位部署一个导电体组117a对该液位进行探测，该导电体组与该液位对应的检测电路电连接。在这种方式下，检测电路的数量等于导电体组的数量。
方式2：如图4d所示，同一液位部署多个导电体组117a对该液位进行探测，这些导电体组可共同连接一个检测电路。在这种方式下，检测电路的数量可小于导电体组的数量。
方式3：如图4e所示，同一导电体组用于探测多个液位。一个导电体组中探测不同液位的导电体分别与不同的检测电路电连接。在这种方式下，检测电路的数量多于导电体组的数量。
在本申请实施例中，可通过连接于液位检测电路118的第一端子1和第二端子2之间的至少一个第三导电体组117a是否导通，来实现对液体存储装置的液体的液位探测。因此，可通过控制至少一个第三导电体组117a中第一导电体和/或第二导电体与液体存储装置的底部的距离，来实现对不同液位的探测。可选地，至少一个第三导电体组117a中用于检测相同液位的若干组导电体中的各导电体的末端与液体存储装置的底部之间的距离相同。或者，至少一个第三导电体组117a中用于检测相同液位的若干组导电体中的第一导电体和第二导电体的末端与液体存储装置的底部之间的距离不相同；但是，用于检测相同液位的若干组导电体中的所有第一导电体的末端与液体存储装置的底部之间的距离相同，而且用于检测相同液位的若干组导电体中的第二导电体的末端与液体存储装置的底部之间的距离相同。
对于检测不同液位的导电体来说，其与液体存储装置的底部之间的距离不相同。
进一步，在本申请实施例中，可将至少一个第三导电体组117a设置在液体存储装置的不同位置，来控制其与液体存储装置的底部的距离。下面结合几种可选的液位检测方式，对至少一个第三导电体组117a的设置位置进行示例性说明。
实施方式1：每个导电体组中的全部导电体可都设置在液体存储装置的内侧壁上。
实施方式2：每个导电体组中的部分导电体设置在液体存储装置的内侧壁上，另一部分导电体设置在液体存储装置的底部。
实施方式3：每个导电体组中的全部导电体均悬挂在液体存储装置的顶部内侧。
实施方式4：每个导电体组中的部分导电体悬挂在液体存储装置的顶部内 侧，另一部分导电体设置在液体存储装置的底部。
实施方式5：每个导电体组中的部分导电体悬挂在液体存储装置的顶部内侧，另一部分导电体设置在液体存储装置的内侧壁上。
实施方式6：每个导电体组中的全部导电体设置在液体存储装置的底部。
进一步，对于悬挂在液体存储装置的顶部内侧的导电体，可为刚性导电探针，且其一端固设在液体存储装置的顶部内侧，这样，当液体存储装置的液体流动时，可防止液体推动导电体摆动而导致导电体之间短路。对于设置在液体存储装置的内侧壁上的导电体，其可为柔性导电片、导电触点、导电端子等，但不限于此。进一步，当导电体为刚性导电探针时，可为一体成型的直线状结构。
进一步，根据上述实施方式1-6可得，在一种可选实施方式中，如图4f所示，每个导电体组可包括设置于液体存储装置中心的至少一个刚性导电探针和设置于液体存储装置内侧壁上的至少一个柔性导电片、导电触点或者导电端子等。在这种情况下，检测同一液位的导电体包括至少一个与检测电路的第一端子1连接的导电体和至少一个与检测电路的第二端子2连接的导电体。其中，至少一个刚性导电探针和设置于液体存储装置内侧壁上的至少一个柔性导电片、导电触点或者导电端子等可采用以下几种可实施方式进行设置。
实施方式a1：设置于液体存储装置中心的至少一个刚性导电探针可伸至液体存储装置的底部，设置于液体存储装置的内侧壁上的导电体(柔性导电片、导电触点或者导电端子)按照与液体存储装置的底部之间的距离从低到高的顺序，依次固设在液体存储装置的内侧壁上。
在实施方式a1中，当液体存储装置的液位到达设置于液体存储装置的内侧壁上的导电体所探测的液位时，至少一个刚性导电探针与该设置于液体存储装置的内侧壁上的导电体导通。且与该设置于液体存储装置的内侧壁上的导电体连接的检测电路的信号输出端MCU-IN向处理系统14输出第三电信号。之后，处理系统14根据该第一电信号对液体存储装置进行相应的控制。
相应地，当液体存储装置的液位低于设置于液体存储装置的内侧壁上的导电体所探测的液位时，至少一个刚性导电探针与该设置于液体存储装置的内侧壁上的导电体不导通。且与该设置于液体存储装置的内侧壁上的导电体连接的检测电路的信号输出端MCU-IN向处理系统14输出第四电信号。之后，处理系统14根据该第二电信号对液体存储装置进行相应的控制。
实施方式a2：至少一个刚性导电探针按照其末端与液体存储装置的底部之间的距离从低到高的顺序悬挂在液体存储装置的顶部内侧，且设置于液体存储装置的内侧壁上的导电体(柔性导电片、导电触点或者导电端子)按照与液体存储装置的底部之间的距离从低到高的顺序，依次固设在液体存储装置的内侧壁上，且探测同一液位的各导电体与液体存储装置的底部之间的距离相同。
在实施方式a2中，当液体存储装置的液位到达设置于液体存储装置的内侧壁上的导电体和至少一个刚性导电探针所探测的液位时，用于探测该液位的刚性导电探针与设置于液体存储装置的内侧壁上的导电体导通。且与探测该液位的刚性导电探针与设置于液体存储装置的内侧壁上的导电体连接的检测电路的信号输出端MCU-IN向处理系统14输出第三电信号。之后，处理系统14根据该第三电信号对液体存储装置进行相应的控制。
相应地，当液体存储装置的液位低于设置于液体存储装置的内侧壁上的导电体和至少一个刚性导电探针所探测的液位时，用于探测该液位的刚性导电探针与设置于液体存储装置的内侧壁上的导电体不导通。且与探测该液位的刚性导电探针与设置于液体存储装置的内侧壁上的导电体连接的检测电路的信号输出端MCU-IN向处理系统14输出第四电信号。之后，处理系统14根据该第四电信号对液体存储装置进行相应的控制。
值得说明的是，在实施方式a1和a2中，不限定导电体在液体存储装置的内侧壁上具体设置的相对位置，即设置于液体存储装置的内侧壁上的导电体，可沿液体存储装置的内侧壁上的任一条直线进行设置，也可沿液体存储装置的内侧壁上的任一条螺旋线或曲线进行设置，等等，但不限于此。
在另一种可选实施方式中，如图4g所示，每个导电体组包括悬挂在液体存储装置的顶部内侧的多个刚性导电探针，且多个刚性导电探针中的一个导电探针位于液体存储装置的中心，其余刚性导电探针环绕位于该中心的导电体。其中，每个导电体组可采用以下几种可实施方式进行设置。
实施方式b1：每个导电体组中的刚性导电探针的末端与液体存储装置的底部之间的距离相同。在这种实施方式下，每组刚性导电探针可用于探测一个液位。
实施方式b2：每个导电体组中的第一导电探针的末端与液体存储装置的底部接触或其末端伸至与液体存储装置的底部相距第一距离的位置，该位置可为液体存储装置的最低液位。当液体存储装置中液体的液位低于该液位时，即最低液位不存在液体时，液体存储装置处于缺液体状态。进一步，每个导电体组中除中心导电探针之外的其他导电探针与液体存储装置的底部之间的距离相同。在这种实施方式下，每组刚性导电探针可用于探测一个液位。
值得说明的是，由于实施方式b1和实施方式b2中的除第一导电探针之外的其他导电探针环绕中心导电探针设置，这样，无论液体存储装置往哪个方向倾斜，都可以探测到该组导电体所能探测到的液位，可防止液体存储装置倾斜而导致探测不到液位，提高了导电体对液体存储装置的探测精度。
实施方式b3：每个导电体组中的第一导电探针的末端与液体存储装置的底部接触或其末端伸至与液体存储装置的底部相距第一距离的位置，每个导电体组中除第一导电探针之外的其他导电探针与液体存储装置的底部之间的距离不同。其中，每个导电体组中除第一导电探针之外的其他导电探针与液体存储装置的底部之间的距离，可根据液体存储装置的不同倾斜程度进行设定，以使无论液体存储装置倾斜角度多大，都能够探测到其内部液体的液位，进而提高液体存储装置倾斜时对其液位测量的准确度。
实施方式b4：每个导电体组中的第一导电探针的末端与液体存储装置的底部接触或其末端伸至与液体存储装置的底部相距第一距离的位置，每个导电体组中除第一导电探针之外的其他导电探针与液体存储装置的底部之间的 距离不同。其中，每个导电体组中除第一导电探针之外的其他导电探针与液体存储装置的底部之间的距离，按照由高到底的顺序进行设置，最小距离为上述第一距离。在这种实施方式下，每组刚性导电探针可用于探测多个液位。
在又一种可选实施方式中，每个导电体组包括悬挂在液体存储装置的顶部内侧的多个刚性导电探针，且多个刚性导电探针环绕液体存储装置的顶部的中心设置。其中，刚性导电探针可以为3个、4个、5个、6个、8个等，但不限于此。
在又一种可选实施方式中，本实施例的具体实施方式与上述实施例相同，其区别在于，每个导电体组包括设置于液体存储装置底部的多个导电探针，这些导电探针从液体存储装置的底部向顶部延伸，每组导电探针的顶端部导电，其本体被绝缘材料隔绝而不导电。这种导电体设置于液体存储装置底部的实施例中，在所述每组的多个导电探针延伸相同的第一长度时，可以用以探测液体存储装置预设的最低液位；在所述每组的多个导电探针延伸不同的第二长度时，可以用以探测液体存储装置中间的液面高度，即中间液位。所述每组的多个导电探针延伸相同的第三长度时，可以用以探测液体存储装置预设的最高液位。在上述实施方式中，第一长度小于第二长度，第二长度小于第三长度。
图5a为本申请实施例提供的另一种清洗机的结构示意图。如图5a所示，该清洗机还包括：设置在液体存储装置外侧的液位检测器件117。其中，液位检测器件117包括：至少一个液位检测传感器117b。液位检测传感器117b包括一部件(例如电容)，随着液体远离或靠近(非接触)，该部件(如电容)的物理属性会有变化。液位检测传感器117b可利用液体远离或靠近时该部件的物理属性会有变化的原理来检测液位的变化。每个液位检测传感器117b可以感知液体存储装置中的液位的高低变化，并将感知到的液位的高低变化转化为电信号后输出至处理系统14，以便于处理系统14根据电信号计算液体存储装置的液位信息。
在一可选实施例中，上述至少一个液位检测传感器117b设置在液体存储 装置的外壁上，以感知液体存储装置中的液位变化。
在另一可选实施例中，机身11通常包裹着液体存储装置的底面以及部分或全部的侧面，用于固定或者支撑液体存储装置。可选地，机身11的内侧壁可以紧贴液体存储装置，也可与液体存储装置保持微小的空气隙，本实施例不做限制。在该可选实施例中，至少一个液位检测传感器117b可设置在清洁设备的机身11的侧壁(内侧壁或外侧壁)上。当然，至少一个液位检测传感器117b也可以设置在液体存储装置的外壁上。或者，部分液位检测传感器设置在清洁设备的机身11的侧壁(内侧壁或外侧壁)上，部分液位检测传感器设置在液体存储装置的外壁上。
应当理解，图5a对至少一个液位检测传感器117b的设置位置的示意用于示例性说明，并不对其他可选的设置位置构成限制。在本申请的其他可选实施例中，可根据实际需求，对至少一个液位检测传感器117b的设置位置进行灵活设置。
在一些示例性的实施例中，为进一步提升液位检测结果的可靠性，可对至少一个液位检测传感器117b进行分组，并以分组为单位将各液位检测传感器组分散设置在液位存储装置的外壁或机身11的侧壁上，以从多个方向综合检测液体存储装置中的液位信息。
可选地，该至少一个液位检测传感器117b可被划分为至少一个液位检测传感器组。其中，该至少一个液位检测传感器组可分散设置在液体存储装置的至少一个方向上的外壁上，或者，分散设置在清洁设备的机身11的至少一个方向上的侧壁上。其中，该至少一个方向包括：前面、背面、左面以及右面中的至少一种。
应当理解，液体存储装置中，液面高度通常沿着液体存储装置的高度方向上升或者下降。因此，为便于每个液位检测传感器组感知液面高度沿着液体存储装置的高度方向的升降变化，每个液位检测传感器组可沿着液体存储装置的高度方向排列设置在液体存储装置的外壁或清洁设备的机身11的侧壁上。例如，如图5b以及图5c所示，液体存储装置实现为圆柱状的装置时， 至少一个液位检测传感器组可沿着液体存储装置的母线方向排列设置在液体存储装置的外壁上。不同的液位检测传感器组之间的排列高度可以相同也可以不同，本实施例不做限制。可选地，在上述各实施例中，每个液位检测传感器117b可实现为电容式、电阻式、光电式或者电磁式传感器，本实施例包含但不限于此。
可选地，每个电容传感器可实现为由金属箔片构成的自电容，该金属箔片可贴在液位存装置的外壁上或者清洁设备的机体的侧壁上，结构简单且成本较低。在无液体靠近时，金属箔片和地之间存在较小的寄生电容。当液体靠近该引脚时，该寄生电容会发生改变，根据寄生电容的变化可对液面高度进行检测。当然，在其他可选的实施方式中，还可采用其他类型的电容传感器，本实施例对此不作限制。
在又一些实施例中，对于回收桶，液位检测器件117包括：浮阀和电机电流检测电路117c。其中，浮阀设置于回收桶内，用于在回收桶的液位超过预设的第二液位阈值时起跳。
如图6a所示，电机电流检测电路117c连接于清洗机的主电机120与处理系统14之间，用于检测流过主电机120的电流，并将流过主电机120的电流提供给处理系统14。相应地，处理系统14可根据主电机的电流确定回收桶内的液位状态。
可选地，如图6b所示，电机电流检测电路117c包括：电流采样电路117c1。其中，电流采样电路117c1电连接于主电机120和处理系统14之间。可选地，如图6a所示，电流采样电路117c1包括：采样电阻R60以及与采样电阻R60并联的RC滤波电路；RC滤波电路中的电阻R59与电容C29的串接点与所述处理系统电连接；其中，采样电阻R60连接于主电机120的负极M-与地之间。处理系统14可采集采样电阻R60两端的电压，并根据采样电阻R60的两端的电压，确定回收桶内的液位状态。
可选地，处理系统可根据采样电阻R60的两端的电压，计算流过主电机120的电流；并根据流过主电机120的电流，确定回收桶内的液位状态。或者， 处理系统14也可根据采样电阻R60的电压的变化频率，计算主电机的转速；并根据主电机120的转速以及主电机120的当前功率，确定回收桶内的液位状态。
进一步，若供电单元的电压为恒定的，则处理系统14可设定固定电流阈值，即当采样电阻R60的电流小于设定电流阈值，即确定浮阀起跳，即确定回收桶为满液位状态。
可选地，若供电单元为锂电池等充电电池，电池包电压会随着放电时间加长逐渐降低，马达电流对应降低。所以处理系统仅设置一个电压限制，无法对浮阀的起跳状况进行有效判断。例如：若电流阈值设置偏高，当电池包电压降低时，在浮阀未起跳的情况下，采样电阻R60的正常工作电流也会小于该电流阈值，会出现误报警；或者，若电流阈值设置偏低，当电池包电压较高时，在浮阀已经起跳的情况下，起跳后采样电阻R60的电流也会大于该电流阈值，则会出现不报警。基于此，在本申请实施例中，可以在供电单元的每个电压段内设置一个电流阈值，并根据供电单元的电压以及主电机的电流，来确定浮阀是否起跳，即确定回收桶是否处于满液位状态。
基于上述分析，如图6c所示，在处理系统14根据流过主电机的电流，确定回收桶内的液位状态的情况下，清洗机还可包括：供电单元电压检测电路119，其中，供电单元电压检测电路119连接于供电单元与处理系统14之间，用于将检测到供电单元的电压提供给处理系统14。
进一步，处理系统14在确定回收桶17内的液位状态时，具体用于：根据供电单元的当前电压以及预设的供电单元的电压与主电机电流阈值之间的对应关系，确定供电单元的当前电压对应的主电机电流阈值；若流过主电机的电流小于供电单元的当前电压对应的主电机电流阈值，则确定回收桶117内的液位状态为满液位。
可选地，若供电电压为锂电池等充电电池，且清洗机为恒吸功，则使用普通的采样原理无法有效判断。因为清洗机恒吸功，则主电机电流为调制电流，周期性变化。如果直接用采到的数据与处理系统设定的电流阈值做比较， 则无法准确确定回收桶的液位状态。因为电流调制，采样到的数据可能是周期内最大值，也可能是周期内最小值，无法作为有效数据。基于此，在本实施例中，可采用奈奎斯特采样定理，对采样电阻R60两端的电压进行采样。之后，将采集到的数据按照从大到小排列，取前N个数据取平均，作为一次有效数据，然后与下一个有效数据做差值，用该差值判断浮阀起跳状态。其中，N≥2，且为整数。
可选地，如图6b所示，电机电流检测电路117c还包括：缓冲电路117c2。其中，缓冲电路117c2包括：运算放大芯片AR1和RC滤波电路。其中，RC滤波器由电阻R64和电容C30串联形成。进一步，运算放大芯片AR1的同相输入端IN+与电流采样电路117c1的输出端电连接，且其反相输入端IN-与其输出端OUT电连接。进一步，RC滤波电路并联于运输放大器的输出端OUT与地之间，且RC滤波电路未接地的一端与处理系统14电连接。即RC滤波电路中电阻R64和电容C30的串接点与处理系统14电连接。
可选地，如图6b所示，本申请实施例还提供主电机驱动电路120a。其中，关于主电机驱动电路120a的结构和工作原理，请参见上述水泵驱动电路中主驱动电路的相关内容，在此不再赘述。
或者，处理系统14根据主电机120的转速以及主电机120的当前功率，确定回收桶内的液位状态的情况下，处理系统14具体用于：判断主电机120在当前功率下运行一定时间段内的转速是否大于当前功率对应的转速阈值；若判断结果为是，则确定回收桶内的液位状态为满液位。其中，主电机120在当前功率下运行一定时间段内是指：主电机120在当前功率下开始运行预设的时间段之后再计时的一段时间，或者为主电机120在当前功率下从开始运行计时的一段时间。其中，一定时间段可根据电机119的当前功率进行灵活设定。例如，对于主电机120的当前功率为90W的情况，一定时间段可以指对主电机120在当前功率90W下运行2s后的1s内、2s内或5s内等等，但不限于此。又例如，对于主电机120的当前功率为120W和150W的情况，一定时间段可以指对主电机120在当前功率下运行2s后的1s内等等，但不限于 此。
例如，对于主电机120的当前功率为90W的情况，可判断在主电机120运行2s后的1s内的转速是否大于50000rpm，若判断结果为是，则确定回收桶17处于满液位状态；或者可判断在主电机120运行2s后的5s内的转速是否大于48000rpm，若判断结果为是，则确定回收桶17处于满液位状态。
又例如，对于主电机120的当前功率为120W的情况，可判断在主电机120运行2s后的1s内的转速是否大于55000rpm，若判断结果为是，则确定回收桶17处于满液位状态。
又例如，对于主电机120的当前功率为150W的情况，可判断在主电机120运行2s后的1s内的转速是否大于59000rpm，若判断结果为是，则确定回收桶17处于满液位状态。
又例如，对于主电机120的当前功率为90W、120W和150W的情况，均可判断在主电机120运行2s后的1s内的转速增量是否大于4000rpm，若判断结果为是，则确定回收桶17处于满液位状态。
进一步，主电机120在当前功率下运行一定时间段内的转速大于当前功率对应的转速阈值，可以指主电机120在当前功率下运行一定时间段内的转速均大于当前功率对应的转速阈值；也可指主电机120在当前功率下运行一定时间段内的平均转速大于当前功率对应的转速阈值；或者，也可指主电机120在当前功率下运行一定时间段内的转速大于当前功率对应的转速阈值的概率大于或等于预设的概率阈值。可选地，预设的概率阈值大于
Figure PCTCN2020100471-appb-000002
下面结合图6d对利用主电机120的转速对回收桶117的液位状态的判定过程进行示例性说明，其主要判定步骤如下：
S1：处理系统14控制主电机120以90W的功率运行。
S2：在主电机120在90W的功率下运行2s后，判断主电机120的转速是否大于设定的第一转速阈值。若判断结果为是，则确定回收桶117的液位状态为满液位，并执行步骤S7；若判断结果为否，则执行步骤S3。
可选地，第一转速阈值为50000rpm。
S3：监测主电机120的功率是否改变。若判断结果为是，则执行步骤S4；若判断结果为否，则执行步骤S7。
S4：在主电机120在改变后的功率下运行2s后，判断主电机120的转速是否大于与改变后的功率对应的转速阈值。若判断结果为是，则确定回收桶117的液位状态为满液位，并执行步骤S7；若判断结果为否，则执行步骤S5。
S5：按照设定的采样周期检测主电机120的转速，并计算每个采样周期内的转速增量。可选地，采样周期为0.2s等，但不限于此。
S6：判断每个采样周期内的转速增量是否大于或等于预设的增量阈值；若判断结果为是，则确定回收桶117的液位状态为满液位，并执行步骤S7；若判断结果为否，则并返回执行步骤S5。
S7：处理系统14控制第二类指示灯点亮或闪烁，并控制清洗机停机。
在本申请实施例中，处理系统14还可根据当前输入主电机120的第二PWM信号的信号参数，计算主电机120的当前功率。
进一步，如图1b和图1c所示，至少一个显示区域还可包括：由多个第二显示管形成的第四显示区域15d。在本实施例中，多个第二显示管可在处理系统14的控制下，显示主电机的功率。其中，多个第二显示管的亮灯数量与主电机的功率大小正相关，即主电机120的功率越大，处于点亮状态的第二显示管的数量越多。
可选地，如图1a和图1c所示，第四显示区域15d可位于第三显示区域15c的下方。
可选地，多个第二显示管可以成行分布、成列分布、环形分布或呈矩阵分布。图1a和图1c中仅以多个第二显示管呈矩阵分布进行示出。
可选地，多个第二显示管还可包括：高功率指示灯和低功率指示灯。其中，高功率指示灯和低功率指示灯分别用于指示主电机当前工作在高功率状态和低功率状态。相应地，处理系统14可在主电机的功率大于或等于设定的第一功率阈值时，控制高功率指示灯点亮；并在主电机的功率小于或等于设 定的第二功率阈值时，控制低功率指示灯点亮；其中，第一功率阈值大于第二功率阈值。
在本申请实施例中，至少一个显示区域还可包括：第五显示区域15e。其中，第五显示区域15e可在处理系统14的控制下，显示清洗机的供电单元的电量。
可选地，如图1b和图1c所示，第五显示区域包括：由多个第二数码管形成的第三子区域15e1，用于在处理系统14的控制下显示供电单元的电量的百分比。
进一步，如图7所示，第五显示区域还包括：由具有不同颜色的多个第三指示灯形成的第四子区域15e2，用于在处理系统14的控制下，显示与供电单元的电量适配的颜色。相应地，处理系统14可根据供电单元的电量，确定多个第三指示灯的亮度，以使第四子区域呈现与供电单元的电量适配的颜色。或者，处理系统14可根据供电单元的电量，控制多个第三指示灯具有与供电单元的电量的颜色的指示灯点亮，以使第四子区域呈现与供电单元的电量适配的颜色。
可选地，第四子区域位于第三子区域的相邻区域。例如，第四子区域可位于第三子区域的左侧(如图7所示)；或者，第四子区域可位于第三子区域的上方、下方或右侧等等。
在一些实施例中，第五显示区域还包括：由多个第三显示管形成的第五子区域15e3，用于显示供电单元的剩余工作时间。可选地，如图7所示，第五子区域15e3可位于第三子区域15e1与第四子区域15e2的下方区域。
相应地，处理系统14可根据供电单元的电量，计算供电单元的剩余工作时间；并根据供电单元的工作时间，控制多个第三显示管显示供电单元的剩余工作时间。
可选地，如图1b和图1c所示，显示器15还可包括由第四指示灯形成的第六显示区域15f，用于在清洁组件13发生堵转的情况下，指示清洁组件13的堵转状态。可选地，处理系统14可在清洁组件13发生堵转时，控制第四 指示灯点亮或闪烁，以提示用户清洁组件13发生堵转。
可选地，处理系统14可检测清洁组件13的电流，若其电流大于或等于预设的电流阈值，则确定清洁组件13发生堵转。进一步，在清洁组件13发生堵转的情况下，控制第四指示灯点亮或闪烁。
可选地，如图1b和图1c所示，显示器15还可包括由多个第四显示管形成的第七显示区域15g，用于显示清洗机的通信组件的工作状态。可选地，多个第四显示管呈散射弧形分布。其中，通信组件被配置为便于清洗机和其他设备之间有线或无线方式的通信。清洗机可以接入基于通信标准的无线网络，如WiFi，2G或3G，4G，5G或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件还可基于近场通信(NFC)技术、射频识别(RFID)技术、红外数据协会(IrDA)技术、超宽带(UWB)技术、蓝牙(BT)技术或其他技术来实现。
可选地，显示器15还可显示日期、时间、品牌名称、机型或用户名等信息。
此外，在本申请实施例中，显示器15还可为液晶显示屏、LED显示屏或OLED显示屏等。可选地，在本实施例中，显示器15还可播放连续的动画。例如，在显示器15上播放清洗机的使用说明、注意事项、故障排除指导等等，但不限于此。
值得说明的是，本申请实施例提供的清洗机在使用过程中的相关状态信息显示的实施方式不仅适用于清洗机，还适用于各种清洁设备。例如手持式吸尘器、擦窗机器人、扫地机器人(干扫或干湿两用)、擦墙机器人等等，但不限于此。其中，清洁设备可包括：机身以及设置于机身上的显示器。其中，显示器与处理系统电连接，用于显示清洁设备在使用过程中的相关状态信息；其中，清洁设备在使用过程中的相关状态信息包括如下的至少一种：(1)回收桶的容量信息；(2)溶液桶的液位信息；(3)清洁组件对清洁对象的清洁程度信息；(4)供电单元的电量信息；(5)清洁设备的自清洁信息；(6)主 电机功率信息；(7)清洁组件的堵转信息；(8)通信组件的工作状态信息。其中，回收桶的容量信息可以为：回收桶的已用容量，也可为回收桶的尚可使用的容量。对于回收桶的回收物为污浊液体的情况，回收桶的容量信息还可为回收桶的液位信息。其中，关于对清洁对象的清洁程度、溶液桶的液位信息以及回收桶的容量信息的检测均可参见上述实施例的相关内容，在此不再赘述。
下面结合几种常见的清洁设备，对显示器在不同清洁设备上的应用进行示例性说明。
应用场景1
一种手持式吸尘器，包括：位于手持式吸尘器前侧的进风口和位于手持式吸尘器后侧的手柄，位于进风口和手柄之间的机身，位于机身内部的旋风分离器。所述手持式吸尘器还包括机身，以及位于机身上的显示器。其中，显示器与处理系统电连接，用于显示手持式吸尘器在使用过程中的相关状态信息；其中，清洁设备在使用过程中的相关状态信息包括如下的至少一种：(1)回收桶的容量信息；(2)溶液桶的液位信息；(3)清洁组件对清洁对象的清洁程度信息；(4)供电单元的电量信息；(5)手持式吸尘器的自清洁信息；(6)主电机功率信息；(7)地刷的堵转信息；(8)通信组件的工作状态信息。
具体地，显示器设置于旋风分离器上方，设置于机身的外侧，方便用户获取显示器的显示信息。在处理系统的控制下，显示器上有多个显示区域，每个显示区域都由多个LED组成。第一显示区域为展示回收桶容量信息的尘桶图标，可以显示手持式吸尘器的回收桶的容量信息，如果回收桶桶满，第一显示区域灯亮或闪烁，表征回收桶的容量达到预定范围，需要清理回收桶。
第二显示区域为展示地刷对地板的清洁程度信息的颜色和亮度渐变的圆弧，可以显示清洁度信息，通过传感器的检测，处理系统将清洁对象的清洁度通过第二显示区域显示，表征手持式吸尘器对地板的清洁程度，蓝色圆弧越多，地板越干净，红色圆弧越多，地板越脏。
第三显示区域为展示供电单元电量信息的数字，实时显示电池当前的电 量百分比，随着电池电量的减少，电池电量百分比数字逐渐减小，直至从100减小为0。
第四显示区域为展示自清洁信息的图标，当手持式吸尘器处于自清洁状态时，自清洁图标点亮或闪烁；当手持式吸尘器需要进行自清洁时，自清洁图标点亮或闪烁；自清洁图标，以表征吸尘器在需要进行自清洁的提醒或正在进行自清洁的状态。
第五显示区域为展示电机功率的方形图标，方形图标全部或部分处于亮灯的状态，表征手持式吸尘器不同的电机功率。当手持式吸尘器处于最高功率状态时，方形图标全部处于亮灯的状态，当电机功率处于中间某个档位时，方形图标部分处于灯亮的状态。第五显示区域通过方形图标的灯亮的数量，表征手持式吸尘器的不同的电机功率档位。
第六显示区域为展示地刷堵转的图标。当手持式吸尘器在运行过程中，地刷出现堵转等故障时，第六显示区的地刷堵转图标处于亮灯或闪烁状态，表征地刷出现堵转等故障信息。
第七显示区域为展示通信模块工作状态的图标。当手持式吸尘器的通信组件电信号连接上外部的无线网络时，例如手持式吸尘器通过WIFI连接上无线网络，第七显示区域的图标处于亮灯状态或者闪烁状态，表征手持式吸尘器的通信组件处于配网成功状态。
手持式吸尘器的显示器包含了上述的七个显示区域，当然并不限定于此，手持式吸尘器的显示器上还可以有其他显示区域，用以表征吸尘器的工作状态信息，例如：日期和时间、品牌、用户名、故障、历史累计工作时间、电池充电次数、自清洁次数等信息。
应用场景2
一种扫地机器人，包括机身，以及机身底部的运动部和机身顶部的显示器，其中，显示器与机身内置的处理系统电连接，用于显示手持式吸尘器在使用过程中的相关状态信息；其中，清洁设备在使用过程中的相关状态信息包括如下的至少一种：(1)回收桶的容量信息；(2)地刷对清洁对象的清洁 程度信息；(3)电池的电量信息；(4)扫地机器人的自清洁信息；(5)主电机功率信息；(6)地刷的堵转信息；(7)通信组件的工作状态信息。
具体地，显示器设置于机身顶部的外表面上，方便用户及时获取扫地机器人的工作状态信息。在处理系统的控制下，显示器上有多个显示区域，每个显示区域都由多个LED组成。第一显示区域表征回收桶的容量信息，第二显示区域表征地刷对地板的清洁程度信息，第三显示区域表征电池的剩余电量信息，第四显示区域表征扫地机器人的自清洁信息，第五显示区域表征主电机功率信息，第六显示区域表征地刷的堵转信息，第七显示区域表征扫地机器人的网络连接状态的信息。扫地机器人的显示器包含了上述的七个显示区域，当然并不限定于此，扫地机器人的显示器上还可以有其他显示区域，用以表征吸尘器的工作状态信息，例如：日期和时间、品牌、用户名、故障、待清洁对象的待清洁区域的地图、待清洁对象的已清洁区域的地图、历史清洁地图、历史清洁次数、历史累计工作时间、电池充电次数、自清洁次数等信息。
除了上述设备实施例之外，本申请实施例还提供信息显示方法。下面结合图示进行示例性说明。
图8为本申请实施例提供的一种信息显示方法的流程示意图。如图8所示，该方法包括：
801、获取清洁设备上的至少一个部件的工作状态信息。
802、在显示器上显示所述至少一个部件的工作状态信息。
在本实施例中，清洁设备可以为手持式吸尘器、擦窗机器人、扫地机器人(干扫或干湿两用)、擦墙机器人等等，但不限于此。其中，若清洁设备为手持式吸尘器，关于显示器的设置位置、形状和实现形式均可参见上述实施例的相关内容，在此不再赘述。
在本实施例中，至少一个部件的工作状态信息包括如下的至少一种：(1)回收桶的容量信息；(2)溶液桶的液位信息；(3)清洁组件对清洁对象的清洁程度信息；(4)供电单元的电量信息；(5)清洁设备的自清洁信息；(6) 主电机功率信息；(7)清洁组件的堵转信息；(8)通信组件的工作状态信息。对于回收桶的回收物为污浊液体的情况，回收桶的容量信息还可为回收桶的液位信息。
下面结合几种常见的清洗设备，对信息显示方法的应用进行示例性说明。
应用场景3
清洁设备为清洗机，则本实施例可提供一种清洗机上的信息显示方法，首先，获取清洗机上的至少一个部件的工作状态信息，其次在清洗机的显示器上显示至少一个部件的工作状态信息。多个部件的工作状态信息包括如下的至少一种：(1)回收桶的容量信息；(2)地刷对清洁对象的清洁程度信息；(3)电池的电量信息；(4)清洗机的自清洁信息；(5)主电机功率信息；(6)地刷的堵转信息；(7)通信组件的工作状态信息。清洗机的这些工作状态信息展示给用户，以便用户及时获知清洗机的工作状态和使用状态。
应用场景4
清洁设备为手持式吸尘器，则本实施例可提供一种手持式吸尘器上的信息显示方法，首先，获取手持式吸尘器上的至少一个部件的工作状态信息，其次在手持式吸尘器的显示器上显示至少一个部件的工作状态信息。多个部件的工作状态信息包括如下的至少一种：(1)尘桶的容量信息；(2)溶液桶的液位信息；(3)地刷对清洁对象的清洁程度信息；(4)电池的电量信息；(5)手持式吸尘器的自清洁信息；(6)主电机功率信息；(7)地刷的堵转信息；(8)通信组件的工作状态信息。手持式吸尘器的这些工作状态信息展示给用户，以便用户及时获知清洗机的工作状态和使用状态。其中，地刷为手持式吸尘器的清洁组件，又称为清洁刷。
在本申请实施例中，在清洁设备上增设显示器，来显示清洁设备上至少一个部件的工作状态信息，从而可直观地显示清洁设备的工作状态。用户可直观地了解清洁设备上的部件的工作状态，有助于提高用户体验。
在一些实施例中，显示器包括至少一个显示区域，用于显示不同部件的工作状态信息。进一步，如图1b所示，至少一个显示区域包括：由多个第一 显示管形成的第一显示区域。其中，第一显示管可以为LED、OLED或薄膜LED等等，但不限于此。相应地，步骤801的一种可选实施方式为：控制第一显示区域显示清洁组件对清洁对象的清洁程度信息。
进一步，多个第一显示管的颜色不同。处理系统在控制第一显示区域显示清洁组件对清洁对象的清洁程度信息时，可控制多个第一显示管的颜色不同，可在处理系统的控制下，显示不同颜色、亮度和形状的组合。其中，不同颜色、亮度和形状的组合表征清洁组件对清洁对象的不同清洁程度。其中，关于不同颜色、亮度和形状的组合的描述，可参见上述实施例的相关内容，在此不再赘述。
在一些实施例中，污浊液体从清洁组件上的吸嘴经抽吸通道至回收桶内，形成污浊液体的流通路径，并设置清洁度检测器件检测清洁组件对清洁对象的清洁程度。其中，清洁度检测器件部分或全部设置于污浊液体的流通路径上。
在本实施例中，清洁度检测器件可检测污浊液体的物理属性值，并将污浊液体的物理属性值提供给处理系统。相应地，处理系统可根据污浊液体的物理属性值确定清洁对象的清洁程度。其中，关于清洁度检测器件的设置位置、实现形态以及不同实现形态下处理系统根据污浊液体的物理属性值确定清洁对象的清洁程度的具体实施方式，均可参见上述实施例的相关内容，在此不再赘述。
在另一些实施例中，考虑到用户在利用该清洁设备执行清洁任务的过程中的行为特征，还可设置一些感知其行为特征的传感器。例如，在一些应用场景中，若清洁对象的脏污程度比较高，用户往往会增大力气对清洁对象进行清洁。基于此，可在清洁设备的手柄上设置压力传感器。相应地，处理系统可根据手柄所承受的压力值，确定清洁组件对清洁对象的清洁程度。其具体实施方式可参见上述实施例的相关内容，在此不再赘述。
又例如，在另一些应用场景中，若清洁对象的脏污程度比较高，用户往往会对清洁对象进行来回清洁。在这种应用场景下，清洁设备在用户的带动 下不断改变作业方向。基于此，可在清洁设备上设置加速度传感器。其中，加速度传感器可检测清洁设备在使用过程中的加速度信息，并将检测到的加速度信息提供给处理系统。相应地，处理系统可根据加速度信息，确定清洁设备的作业方向变化频率。进一步，处理系统可控制多个第一显示管显示作业方向变化率。其中，作业方向变化频率表征清洁组件对清洁对象的清洁程度。
进一步，处理系统还可根据清洁设备的作业方向变化频率，调整清洁设备的工作状态。例如，处理系统可根据清洁设备的作业方向变化频率，将清洁设备的主电机、水泵的电机和清洁组件的电机的功率调整至与该清洁设备的作业方向变化频率适配的功率等等。
在本申请实施例中，无论采用上述哪种方式检测清洁组件对清洁对象的清洁程度，处理系统均可根据清洁对象的清洁程度，调整清洁设备的工作状态。
例如，处理系统14可根据清洁对象的清洁程度，将清洁设备的水泵的功率调节至与清洁对象的清洁程度适配的功率。相应地，处理系统可预设清洁度等级与水泵功率之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定水泵的功率。优选地，清洁等级越高，水泵的功率越小，清洁设备的出水量越小，说明清洁对象越干净。
又例如，处理系统还可根据清洁对象的清洁程度，将清洁设备的主电机和/或清洁组件电机的功率调整至与清洁对象的清洁程度适配的功率。相应地，处理系统可预设清洁度等级与主电机和/或清洁组件电机功率之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定主电机和/或清洁组件电机的功率。优选地，清洁等级越高，主电机和/或清洁组件电机的功率越小，清洁设备的吸水能力越小，说明清洁对象越干净。在本申请的实施例中，主电机将污浊液体由清洁设备的清洁组件上的吸嘴13a抽吸并经清洁设备上的抽吸通道送入清洁设备的回收桶内，清洁组件电机带动清洁组件对清洁对象进行清洁作业。
又例如，处理系统还可根据清洁对象的清洁程度，将清洁设备的任务执行时间调整至与清洁对象的清洁程度适配的时间。相应地，处理系统可预设清洁度等级与清洁时间之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定清洁时间。优选地，清洁等级越高，主电机和/或清洁组件电机的功率越小，清洁时间越短，说明清洁对象越干净。
可选地，若处理系统确定清洁对象的清洁程度达标，则可控制清洁设备停止工作。其中，清洁对象的清洁程度达标可为清洁对象的清洁度等级为最高清洁度等级。可选地，若清洁对象的清洁度等级为最高清洁度等级，处理系统可控制水泵、主电机和/或清洁组件电机停转等等。
相应地，其中，处理系统在调整清洁设备的工作状态时，可根据清洁对象的清洁程度，确定信号参数；并向水泵驱动电路输入具有该信号参数的第一PWM信号，以控制水泵输出满足清洁需求的出水量。其中，信号参数包括：第一PWM信号的频率和占空比。
在本实施例中，显示器还可显示清洁设备的液体存储装置的液位信息。至少一个显示区域还包括：第三显示区域。其中，第三显示区域用于显示清洁设备的液体存储装置的液位信息。其中，液体存储装置为溶液桶和/或回收桶。
在本实施例中，液体存储装置的液位信息可以为：液体存储装置的液位值，也可为液体存储装置中的液位状态。其中，液体存储装置中的液位状态是指：液体存储装置是处于满液位状态，还是处于缺液体状态。
对于液体存储装置包括：溶液桶和回收桶。至少一个第二指示灯包括：第一类指示灯和第二类指示灯。在本实施例中，处理系统在溶液桶内的干净液体低于设定的第一液位阈值时，控制第一类指示灯点亮或闪烁，以提示用户溶液桶处于缺液体状态；并在手回收桶内的污浊液体超过设定的第二液位阈值时，控制第二类指示灯点亮或闪烁，以提示用户回收桶处于满液位状态。其中，第一液位阈值是指溶液桶内的干净液体的最低液位，若溶液桶内的干净液体低于第一液位阈值，则溶液桶处于缺液体状态；第二液位阈值是指回 收桶可容纳的污浊液体的最高液位，若回收桶内的干净液体高于该液位，则说明回收桶处于满液位状态。可选地，第一液位阈值小于第二液位阈值。进一步，第二液体阈值小于或等于回收桶的高度。
相应地，处理系统还可根据液位存储装置中的液体的液位信息计算液位存储装置的液位状态。其中，关于处理系统获取液位存储装置中的液体的液位信息的具体实施方式可参见上述实施例的相关内容，在此不再赘述。
在本申请实施例中，还可在溶液桶和喷嘴之间设置一过渡溶液桶，为了便于描述，在本申请实施例中，将过渡溶液桶简称为过渡桶；并将溶液桶和过渡桶之间的出水管道定义为第一出水管道，将过渡桶与喷嘴之间的出水管道定义为第二出水管道。这样，溶液桶内的干净液体经第一出水管道流入过渡桶，再经第二出水管道送入喷嘴以供喷嘴喷洒至清洁对象上。相应地，第二导电体组设置于干净液体的流通路径上。可选地，液体存储装置还可为过渡桶。其中，过渡桶内的液位状态可反应溶液桶的液位状态。即若过渡桶处于缺液体状态时，可反应溶液桶也处于缺液体状态。
在一些实施例中，处理系统可根据主电机的电流确定回收桶内的液位状态。可选地，可选地，处理系统可根据采样电阻的两端的电压，计算流过主电机的电流；并根据流过主电机的电流，确定回收桶内的液位状态。
进一步，处理系统在确定回收桶内的液位状态时，可根据供电单元的当前电压以及预设的供电单元的电压与主电机电流阈值之间的对应关系，确定供电单元的当前电压对应的主电机电流阈值；若流过主电机的电流小于供电单元的当前电压对应的主电机电流阈值，则确定回收桶内的液位状态为满液位。
或者，处理系统也可根据采样电阻的电压的变化频率，计算主电机的转速；并根据主电机的转速以及主电机的当前功率，确定回收桶内的液位状态。
进一步，处理系统还可判断主电机在当前功率下运行一定时间段内的转速是否大于当前功率对应的转速阈值；若判断结果为是，则确定回收桶内的液位状态为满液位。
关于方法实施例中各步骤的具体实施方式均可参见上述设备实施例的相关内容，在此不再赘述。
相应地，本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，当所述计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行上述信息显示方法中的各步骤。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤801和802的执行主体可以为设备A；又比如，步骤801的执行主体可以为设备A，步骤802的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如801、802等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。
现有技术中，主要通过机械式浮子实现对清洁设备上的液体存储装置进行液位检测。在这种实施方式中，液面高度不同时，液体对浮子的浮力也不同，也就是说，浮子可受随着液面高度变化的推力运动到不同位置，因此，检测浮子位置即可检测液体存储装置中的液位。但是，这种液位检测方式极易受到液面稳定性的影响，导致液位检测结果的可靠性较差。例如，当液体存储装置中的气流较为复杂或者用户使用清洁设备来回推拉时，液体存储装置中将出现液面不稳定的情况，这种情况容易导致机械式浮子提前运动，进而使得液位检测结果偏大。
针对该技术问题，本申请一些实施例提供一种清洁设备。该清洁设备包括：液体存储装置、非接触式液体检测装置以控制装置；其中，非接触式液体检测装置设置于液体存储装置的外侧，可在不接触液体存储装置中的液体的情况下检测出液体存储装置中的液位信息；控制装置与液体检测装置电连接，用于根据液位信息计算液体存储装置的液体存储状态，并输出与液体存 储状态对应的控制指令。在本申请实施方式中，利用非接触式液体检测装置检测液体存储装置中的液位信息，非接触式液体检测装置无需与液体进行接触即可实现液位检测，有效降低了液面的不稳定性对对液位检测结果的影响，有利于提升液位检测结果的可靠性。
以下结合附图，详细说明本申请各实施例提供的技术方案。
图9a为本申请实施例提供的一种清洁设备的结构示意图。如图9a所示，清洁设备包括：液体存储装置91、非接触式液体检测装置92以及控制装置93。
在本实施例中，非接触式液体检测装置92设置于液体存储装置91的外侧，可在不接触液体存储装置91中的液体的情况下，检测液体存储装置91中的液体的液位信息。
在本实施例中，控制装置93与非接触式液体检测装置92电连接，用于根据该液位信息计算液体存储装置91的液体存储状态，并输出与该液体存储状态对应的控制指令。其中，控制装置93可将与液体存储状态对应的控制指令输出给清洁设备上的其他装置，以根据液体存储状态对其他装置进行控制。
在一些实施例中，控制装置93可以使用各种应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、微中控元件、微处理器或其他电子元件实现，本实施例不做限制。
在本实施例中，清洗设备可以为对地面、墙壁、天花板、玻璃、机动车等进行清洁的清洗机、水洗式吸尘器、以及其他洗衣机、洗碗机等各种清洗设备，但不限于此。
在本实施例中，液体存储装置91可以为清洁设备的溶液桶，用于存储清洗剂和/或清水；也可以为清洗设备的回收桶，用于存储回收的废液、污水等。在本实施例中，液体可以为清水、清水和清洗剂的混合液、废水、污水等中的任意一种。
本实施例提供的清洁设备中，利用非接触式液体检测装置检测液体存储 装置中的液位信息，非接触式液体检测装置无需与液体进行接触即可实现液位检测，有效降低了液面的不稳定性对对液位检测结果的影响，有利于提升液位检测结果的可靠性。
值得说明的是，在本实施例图9a中所提供的液体存储装置、非接触式液面检测装置以及控制装置的形状、数量、实现形式以及设置位置均为示例性的，本实施例并不对此进行限定。
在一些示例性的实施例中，非接触式液体检测装置92可包括设置在液体存储装置91外侧的至少一个液位检测传感器921，液位检测传感器921包括一部件(例如电容)，随着液体远离或靠近(非接触)，该部件(如电容)的物理属性会有变化。液位检测传感器921可利用液体远离或靠近时该部件的物理属性会有变化的原理来检测液位的变化。每个液位检测传感器921可以感知液体存储装置91中的液位的高低变化，并将感知到的液位的高低变化转化为电信号后输出至控制装置93，以便于控制装置93根据电信号计算液体存储装置91的液体存储状态。
在一可选实施例中，上述至少一个液位检测传感器921设置在液体存储装置91的外壁上，以感知液体存储装置91中的液位变化。
在另一可选实施例中，清洁设备还包括一机体94，该机体94的侧壁靠近液体存储装置91的外壁。其中，清洁设备的机体94通常包裹着液体存储装置91的底面以及部分或全部的侧面，用于固定或者支撑液体存储装置91。可选地，机体94的侧壁可以紧贴液体存储装置91，也可与液体存储装置91保持微小的空气隙，本实施例不做限制。在该可选实施例中，至少一个液位检测传感器921可设置在清洁设备的机体94的侧壁上。当然，至少一个液位检测传感器921也可以设置在液体存储装置91的外壁上。或者，部分液位检测传感器921设置在清洁设备的机体94的侧壁上，部分液位检测传感器921设置在液体存储装置91的外壁上。
以下将结合图示对该至少一个液位检测传感器的设置位置进行示例性说明：
在一些实施例中，该至少一个液位检测传感器921可设置在液体存储装置91的外壁S1上，如图9a所示。
在另一些实施例中，该至少一个液位检测传感器921可设置在清洁设备的机体的侧壁的外壁S2上，如图9b所示。
在又一些实施例中，该至少一个液位检测传感器921可设置在机体的侧壁的内壁S3上，如图9c所示。
当然，在一些实施例中，至少一个液位检测传感器921可分别设置在S1、S2、S3中的多个壁上。例如，至少一个液位检测传感器921中一部分液位检测传感器设置在机体的侧壁的外壁S2上，另一部分设置在机体的侧壁的内壁S3上，不再进行图示。需要说明的是，为确保每个液位检测传感器921具有相同的检测灵敏度，可优先选择将至少一个液位检测传感器921均设置在S1上，或者均设置在S2上或者均设置在S3上，以时每个液位检测传感器921具有相同的检测条件。
应当理解，图9a、图9b以及图9c中对至少一个液位检测传感器921的设置位置的示意用于示例性说明，并不对其他可选的设置位置构成限制。在本申请的其他可选实施例中，可根据实际需求，对至少一个液位检测传感器921的设置位置进行灵活设置。
在一些示例性的实施例中，为进一步提升液位检测结果的可靠性，可对至少一个液位检测传感器921进行分组，并以分组为单位将各液位检测传感器组分散设置在液位存储装置91的外壁或机体的侧壁上，以从多个方向综合检测液体存储装置91中的液位信息。
可选地，该至少一个液位检测传感器921可被划分为至少一个液位检测传感器组。其中，该至少一个液位检测传感器组可分散设置在液体存储装置91的至少一个方向上的外壁上，或者，分散设置在清洁设备的机体的至少一个方向上的侧壁上。其中，该至少一个方向包括：前侧方向、后侧方向、左侧方向以及右侧方向中的至少一种。
通常，液体存储装置91被设计为跟随清洁设备整机运动而运动，因此，可对液体存储装置91和清洁设备进行相同的方向定义。其中，前侧方向，指的是用户使用清洁设备进行前后推拉操作时，与用户向前推出清洁设备的方向一致的方向；后侧方向，指的是用户使用清洁设备时，与用户向后回拉清洁设备的方向一致的方向；左侧方向和右侧方向，指的是与用户推出清洁设备或者拉回清洁设备的方向垂直的两个方向，是相对用户而言的。
例如，在一些场景下，如图9d、图9e以及图9f所示，液体存储装置91实现为清洁设备上的溶液桶或者回收桶。用户使用清洁设备时，需要沿着用户身体的前后方向进行前推后拉操作，此时，清洁设备以及液体存储装置91的前侧方向与用户的前方一致，后侧方向与用户的后方一致，左侧方向与用户的左手方向一致，右侧方向与用户的右手方向一致。
可选地，若至少一个液位检测传感器组分散设置在液体存储装置91的至少一个方向上的外壁上，那么该至少一个液位检测传感器组可包括以下可选的设置方式：
方式a1、至少一个液位检测传感器组均设置在液体存储装置91前侧的外壁上，如图10a所示。
方式a2、至少一个液位检测传感器组均设置在液体存储装置91后侧的外壁上，如图10b所示。
方式a3、部分液位检测传感器组设置在液体存储装置91前侧的外壁上，部分液位检测传感器组设置在液体存储装置91后侧的外壁上，如图10c所示。
方式a4、部分液位检测传感器组设置在液体存储装置91前侧的外壁上，部分液位检测传感器组设置在液体存储装置91后侧的外壁上，部分液位检测传感器组设置在液体存储装置91左侧的外壁上，如图10d所示。
方式a5、部分液位检测传感器组设置在液体存储装置91前侧的外壁上，部分液位检测传感器组设置在液体存储装置91后侧的外壁上，部分液位检测传感器组设置在液体存储装置91右侧的外壁上，如图10e所示。
方式a6、部分液位检测传感器组设置在液体存储装置91前侧的外壁上， 部分液位检测传感器组设置在液体存储装置91后侧的外壁上，部分液位检测传感器组设置在液体存储装置91左侧的外壁上，部分液位检测传感器组设置在液体存储装置91右侧的外壁上，如图10f所示。
可选地，若至少一个液位检测传感器组分散设置在清洁设备的机体的至少一个方向上的侧壁上，那么该至少一个液位检测传感器组可包括以下可选的设置方式：
方式b1、至少一个液位检测传感器组均设置在清洁设备的机体的侧壁的前侧外壁(或内壁)上。
方式b2、至少一个液位检测传感器组均设置在清洁设备的机体的侧壁的后侧外壁(或内壁)上。
方式b3、部分液位检测传感器组设置在清洁设备的机体的侧壁的前侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体侧壁的后侧外壁(或内壁)上。
方式b4、部分液位检测传感器组设置在清洁设备的机体的侧壁的前侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体侧壁的后侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的左侧外壁(或内壁)上。
方式b5、部分液位检测传感器组设置在清洁设备的机体的侧壁的前侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的后侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的右侧外壁(或内壁)上。
方式b6、部分液位检测传感器组设置在清洁设备的机体的侧壁的前侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的后侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的左侧外壁(或内壁)上，部分液位检测传感器组设置在清洁设备的机体的侧壁的右侧外壁(或内壁)上。
本实施例中不再对上述多种可选的液位检测传感器组的设置方式进行图 示。上述方式b1～方式b6中，每种方式中记载的外壁，可被统一替换为括号中的所记载的内壁，此处不再进行重复列举。
应当理解，液体存储装置91中，液面高度通常沿着液体存储装置91的高度方向上升或者下降。因此，为便于每个液位检测传感器组感知液面高度沿着液体存储装置91的高度方向的升降变化，每个液位检测传感器组可沿着液体存储装置91的高度方向排列设置在液体存储装91置的外壁或清洁设备的机体的侧壁上。例如，如图11a以及图11b所示，液体存储装置91实现为圆柱状的装置时，至少一个液位检测传感器组可沿着液体存储装置91的母线方向排列设置在液体存储装置91的外壁上。不同的液位检测传感器组之间的排列高度可以相同也可以不同，本实施例不做限制。
可选地，在上述各实施例中，每个液位检测传感器921可实现为电容式、电阻式、光电式或者电磁式传感器，本实施例包含但不限于此。在下述实施例中，将以液位检测传感器921实现为电容式传感器为例进行示例性说明。
在一种示例性的 实施例A中，每个液位检测传感器组可包括一个电容传感器，该电容传感器具有较大的检测量程，可感知到连续的液位变化。可选地，该电容传感器的设置方式可实现为以下列举的设置方式中一种，以使得该电容传感器的检测范围覆盖液体存储装置91的存储上限位置以及存储下限位置中的至少一个：
可选地，在一种设置电容传感器的方式中，可使得该电容传感器的检测范围覆盖液体存储装置91的存储上限位置。例如，可将该电容传感器设置在液体存储装置91的外壁上与存储上限对应的位置处。又例如，可将该电容传感器设置在清洁设备的机体的侧壁上与液体存储装置91的存储上限对应的位置处。进而，在一些应用场景中，电容传感器可感知液体存储装置91中液体是否已达到存储上限位置，以避免液体溢出。
可选地，在另一种设置电容传感器的方式中，该电容传感器的检测范围覆盖液体存储装置91的存储下限位置。例如，可将该电容传感器设置在液体存储装置91的外壁上与存储下限对应的位置处。又例如，可将该电容传感器 设置在清洁设备的机体的侧壁上与液体存储装置91的存储下限对应的位置处。进而，在一些应用场景中，电容传感器可感知液体存储装置91中液体是否已接近存储下限位置，以提示补充液体。
可选地，在又一种设置电容传感器的方式中，该电容传感器的检测范围覆盖液体存储装置91的存储上限位置以及存储下限位置。例如，可选择测量范围大于液体存储装置91的存储上限以及存储下限之间的距离差的电容传感器。将电容传感器设置在液体存储装置91的外壁上时，可使该电容传感器的测量范围的起始端与存储下限位置对应或低于存储下限位置，测量范围的末端与存储上限位置对应或高于存储上限位置，如图11a所示。进而，在一些应用场景中，电容传感器可感知液体存储装置91中液体是否已接近存储下限位置，或者是否已接近存储上限位置。
在另一种示例性的 实施例B中，每个液位检测传感器组可包括多个电容传感器。多个电容传感器可实现为检测范围较小电容传感器或者单点式电容传感器。当每个液位检测传感器组包括的电容传感器的数量较少时，可实现点液位测量。当每个液位检测传感器组包括紧密排列的数量较多的电容传感器时，可实现连续的液位测量。其中，多个电容传感器的设置方式可实现为以下一种：
可选地，在一种设置电容传感器的方式中，可使得至少一个电容传感器的检测范围覆盖液体存储装置91的存储上限位置。例如，将一个或多个电容传感器设置在液体存储装置91的外壁上与存储上限对应的位置处。又例如，将一个或多个电容传感器设置在清洁设备的机体的侧壁上与液体存储装置91的存储上限对应的位置处。进而，在一些应用场景中，该一个或多个电容传感器可感知液体存储装置91中液体是否已达到存储上限位置，以避免液体溢出。
可选地，在另一种设置电容传感器的方式中，可使得至少一个电容传感器的检测范围覆盖液体存储装置91的存储下限位置。例如，将一个或多个电容传感器设置在液体存储装置91的外壁上与储下限对应的位置处。又例如， 将一个或多个电容传感器设置在清洁设备的机体的侧壁上与液体存储装置91的存储下限对应的位置处。进而，在一些应用场景中，电容传感器可感知液体存储装置91中液体是否已接近存储下限位置，以提示补充液体。
可选地，在又一种设置电容传感器的方式中，可使得至少一个电容传感器的检测范围覆盖液体存储装置91的存储上限位置，至少一个电容传感器覆盖液体存储装置91的存储下限位置。例如，如图11b所示，可将一个电容传感器设置在液体存储装置91的外壁上与存储下限对应的位置处，将一个电容传感器设置在液体存储装置91的外壁上与存储上限对应的位置处。进而，在一些应用场景中，电容传感器可感知液体存储装置91中液体是否已接近存储下限位置，或者是否已接近存储上限位置。
可选地，在上述实施方式A以及实施方式B中，每个电容传感器可实现为由金属箔片构成的自电容，该金属箔片可贴在液位存装置91的外壁上或者清洁设备的机体的侧壁上，结构简单且成本较低。在无液体靠近时，金属箔片和地之间存在较小的寄生电容。当液体靠近该引脚时，该寄生电容会发生改变，根据寄生电容的变化可对液面高度进行检测。当然，在其他可选的实施方式中，还可采用其他类型的电容传感器，本实施例对此不作限制。
在上述各实施例的基础上，控制装置93可根据非接触式液体检测装置92检测到的液位信息，计算液体存储装置91的液体存储状态，以下将结合附图进行进一步说明。
在一些示例性的实施例中，控制装置93可根据非接触式液体检测装置92中的至少一个液位检测传感器组921输出的电信号，计算液体存储装置91中的液体的液面位置、液体体积以及液面倾斜角度中的至少一种。
可选地，在这种实施方式中，控制装置93可根据体积函数V＝F V(x 1、x 1、x 3…x i)计算液体存储装置91中的液体体积，其中，x i为第i个方向上液位检测传感器组检测到的液位，i为正整数。
可选地，在这种实施方式中，控制装置93可根据角度函数α＝F α(x 1、x 1、x 3…x i)计算液体存储装置91中的液体体积，其中，x i为第i个方向上的液位检 测传感器组检测到的液位，i为正整数。
可选地，考虑到液位检测传感器的误差的存在，V＝F V(x 1、x 2、x 3...x i)±△M％，α＝F α(x 1、x 2、x 3...x i)±△N％。其中，M和N可根据实际情况进行选值，本实施例不做限制。在一些实施例中，可设置M＝1，N＝2。
首先，结合上述实施例记载的方式a1和方式b1进行示例性说明。
针对上述实施例记载的方式a1和方式b1而言，至少一个液位检测传感器组可检测液体存储装置91前侧的液位；针对前述实施例记载的方式a2和方式b2而言，至少一个液位检测传感器组可检测液体存储装置91后侧的液位。在这两种实施方式中，控制装置93可根据一个方向上的液位，大致估计液面所在位置，并估算液体存储装置91中的液体体积。
接下来，结合图12a进行示例性说明。如图12a所示，液体存储装置91前侧的外壁上设置一液位检测传感器组P 1，控制装置93接收到P 1输出的电信号时，可根据该电信号对应的电容量大小，可确定液体存储装置91中的液位为x 1。此时，控制装置93可估算液面在高度为x 1的平面上。接着，控制装置93可结合液体存储装置91的截面半径R，计算液体存储装置91中的液体体积V＝F V(x 1)±△M％＝πR 2x 1±△M％。
当多个液位检测传感器组按照上述实施例记载的方式a3、方式b3、方式a4、方式b4、方式a5、方式b5、方式a6或者方式b6设置时，多个液位检测传感器组可检测多个(即：两个或者两个以上)方向上的液位。基于此，控制装置93可通过多个方向的液位，较为精确地确定液面所在位置，并较为精确地计算液体存储装置91中的液体体积和液面倾斜角度。如图12b所示，基于液位检测传感器组P 1、液位检测传感器组P 2以及液位检测传感器组P 3，可检测到三个方向上的液位x 1、x 1、x 3，基于三个方向上的液位，控制装置93可较为准确地计算出液面所在位置，并有利于较为精确的计算出液体体积。
接下来，将以方式a3为例，结合图12c以及图12d进行示例性说明。
如图12c以及图12d所示，液体存储装置91前侧的外壁上设置有液位检测传感器组P 1，后侧的外壁上设置有液位检测传感器组P 2。控制装置93接收 到P 1以及P 2输出的电信号时，可根据该电信号对应的电容量大小，确定液体存储装置91中前侧的液位为x 1、后侧的液位为x 2。
基于此，控制装置93可计算液体体积V＝F V(x 1、x 2)±△M％＝πR 2x 1+0.5*πR 2*(x 2-x 1)±△M％＝0.5*πR 2(x 2+x 1)±△M％，其中，R为液体存储装置91的有效容积的截面半径。控制装置93可计算液面倾斜角度α＝F α(x 1、x 1)±△N％＝arc[(x 2-x 1)/d]±△N％，其中，d为液体存储装置91的有效容积的截面直径，d＝2R。
当控制装置93获取到两个以上方向上的液位时，首先可根据两个以上方向上的液位确定液面所在位置。接着，根据液面所在位置计算液面的最高值作为x 2，计算液面的最低值作为x 1。接着，基于上述V＝0.5*πR 2(x 2+x 1)±△M％计算液体体积，基于α＝arc[(x 2-x 1)/d]±△N％计算液体倾斜角度，不再赘述。
针对上述实施例记载的方式a1、方式b1、方式a2以及方式b2而言，至少一个液位检测传感器组可输出一个方向上的液位。若液体存储装置91存在倾斜，那么控制装置93无法结合一个方向上的液位较为精确地计算液面所在位置、液面倾斜角度以及较为准确的液体体积。
因此，为结合一个方向上的液位计算液面所在位置、液面倾斜角度以及较为准确的液体体积，本申请实施例提供的非接触式液体检测装置92还包括：至少一个角度传感器922。其中，该至少一个角度传感器922可设置在液体存储装置91的外侧或者设置在清洁设备上。图9e和图9e给出了至少一个角度传感器922设置在清洁设备上的一种示意，本实施例包含但不限于此。其中，至少一个角度传感器922用于检测液体存储装置91的倾斜角度，并将检测到的倾斜角度输出给控制装置93，以供控制装置93计算液体存储装置中的液体存储状态。
基于此，在一些示例性的实施例中，控制装置93可根据非接触式液体检测装置92中的至少一个液位检测传感器组921输出的电信号以及至少一个角度传感器922检测到的角度，计算液体存储装置91中的液体的液面位置、液体体积以及液面倾斜角度中的至少一种。以下将以方式a1为例，结合图12e 进行示例性说明。
如图12e所示，液体存储装置91的前侧的外壁上安装有一个液位检测传感器组P 1，根据P 1输出的电容大小，可确定其检测到的前侧方向上的液位为x 1。当获取到至少一个角度传感器922检测到的角度α时，控制装置93确定液面倾斜角度为α。若α＝0，则液面无倾斜，则可按照前述实施例记载的方式计算液体存储装置91中的液体体积，此处不赘述。
若α≠0，则液面有倾斜，此时，控制装置93可根据角度α和前侧方向上的液位x 1，计算后侧方向上的液位x 2。如图12e所示，tan(α)＝(x 2–x 1)/d，则x 2＝d tan(α)+x 1。接下来，基于两个方向上的液位，可以较为精确地确定液面所在位置，并可采用前述实施例记载的V＝0.5*πR 2(x 2+x 1)±△M％，较为精确地计算液体体积。
值得说明的是，当至少一个液位检测传感器组按照上述实施例记载的方式a4、方式b4、方式a5、方式b5、方式a6或者方式b6设置时，控制装置93根据多个液位计算出液面倾斜角度后，还可进一步根据至少一个角度传感器922检测到的角度对计算得到的液面倾斜角度进行修正，不再赘述。
在上述各实施例的基础上，如图12f所示，在一些示例性的实施例中，清洁设备还包括与控制装置93连接的多媒体输出装置95。其中，多媒体输出装置95，用于：根据控制装置93输出的与液体存储装置91的液体存储状态对应的控制指令，通过语音播报或者显示的方式，输出液体存储装置91的液体存储状态。进而，使用清洁设备的用户可根据多媒体输出装置输出的语音内容或者显示内容，获取液体存储装置91中液体的存储状态，十分便捷。
可选地，在一些实施例中，多媒体输出装置95可包括：显示屏、数码显示管以及音频设备中的至少一个。其中，显示屏和数码显示管用于对用户进行可视化提醒，音频设备用于对用户进行语音提醒。显示屏可包括液晶显示屏、LED(Light Emitting Diode，发光二极管)显示屏等，本实施例包含但不限于此。音频设备可包括扬声器或者蜂鸣器等可发出声音的设备。
可选地，在一些实施例中，控制装置93可根据液体存储装置91中的液 体体积，向多媒体输出装置95输出输出第一指令，该第一指令用于控制多媒体输出装置95输出液体存储装置91的已使用容量和/或剩余容量。进而，多媒体输出装置95可通过显示屏或数码显示管显示液体存储装置91的已使用容量和/或剩余容量。
可选地，在一些实施例中，控制装置93可在液体存储装置91中的液体体积达到设定的上限阈值V max时，可输出第二指令，该第二指令用于控制切断清洁设备的供电电源或者切断清洁设备的真空源风机的供电电源。其中，上限阈值V max可以根据液体存储装置91的存储上限位置计算得到。在这种实施方式中，当液体体积到达液体存储装置91的上限容量值时，可通过自动切断清洁设备或者真空源风机的供电电源的方式，有效避免了液体存储装置91中的液体被真空源风机吸入，进而导致液体从清洁设备上的出风扇位置流出的问题。
需要说明的是，在一些实施例中，当液体存储装置91中的液体体积接近设定的上限阈值V max时(例如，液体体积与V max的差值小于设定阈值)，控制装置93可向多媒体输出装置95输出提示用户清理液体的指令，不再赘述。
可选地，在一些实施例中，控制装置93可在液体存储装置91中的液体体积达到设定的下限阈值V min时，输出第三指令，该第三指令用于控制切断清洁设备的供电电源或者切断清洁设备的真空源风机的供电电源。其中，下限阈值V min可以根据液体存储装置91的存储下限位置计算得到。在这种实施方式中，当液体体积不足以到达液体存储装置91的最小容量值时，自动切断清洁设备或者真空源风机的供电电源，可避免清洁设备在清洁效果不佳的情况下持续工作。
需要说明的是，在一些实施例中，当液体存储装置91中的液体体积接近设定的下限阈值V min时(例如，液体体积与V min的差值小于设定阈值)，控制装置93可向多媒体输出装置95输出提示用户补充液体的指令，不再赘述。
在一些典型的应用场景中，液体存储装置91实现为图9d-图9f所示的清洁设备上回收桶，清洁设备吸取的污水存储在回收桶内，而回收桶进口及前 端风道、回收桶的出风孔、真空源风机、出风风道、出风扇与外界大气是连通的，当清洁设备的回收桶随整机倾斜而被倾斜时，若回收桶内的液面的倾斜角度过大，则由于污水的流动性强，污水可能会回流到回收桶的进口或被吸入真空源风机内。
为了避免上述缺陷，可选地，在一些实施例中，控制装置93可在液体存储装置91中的液体的液面倾斜角度大于设定角度阈值α max时，可输出第四指令，该第四指令用于控制多媒体输出装置95输出液面倾斜风险预警。进而，多媒体输出装置95可通过显示屏或者数码管，以可视化的方式对用户进行风险提醒。例如，在显示屏上显示“危险！请勿过度倾斜！”的字样。或者，多媒体输出装置93可通过音频播放设备播放风险通知语音，不再赘述。
需要说明的是，在一些实施例中，若液体存储装置91中的液体的液面倾斜角度连续大于设定角度阈值α max的时长大于第一时长阈值时，则控制装置93可输出第五指令，该第五指令用于控制切断清洁设备的真空源风机的供电电源，以保护清洁设备。
在一些实施例中，控制装置93还可根据液体存储装置91中的液面位置的波动情况，判断清洁设备是否处于使用状态。例如，若液体存储装置91中的液面位置出现持续波动，则可认为该波动是清洁设备工作时造成的。若液体存储装置91中的液面位置连续处于静止状态的时长大于第二时长阈值时，则控制装置93可认为该清洁设备未处于工作状态，此时控制装置93可输出第六指令，该第六指令用于控制关闭清洁设备，以节省能耗。
需要说明的是，上述“第一”、“第二”等描述，是用于区分不同的指令，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
如图9d-图9f所示的湿式清洁设备，其主要由手柄、机体、真空源风机、溶液桶、回收桶、地刷等部件组成。其中，真空源风机可为整个清洁设备提供真空吸力。当用户在使用清洁设备时，真空源风机开启，随着用户的前推后拉动作，地面的污水等会被真空源风机吸入地刷，并通过清洁设备内的风道或管道进入回收桶内。在经过回收桶内的分离器后，污水与空气被分离， 其中污水回收存储在回收桶内，而干净的空气则被真空源风机吸走通过清洁设备上的出风扇排出。
下面分别以液体存储装置91实现为清洗设备的溶液桶和回收桶为例，对本申请实施例提供的清洁设备的工作原理进行示例性说明。
应用场景5：液体存储装置91实现为清洗设备的回收桶，假设一个电容传感器组安装在回收桶的前侧的外壁上，另一个电容传感器组安装在回收桶的后侧的外壁上，且两个电容传感器组的检测范围均覆盖回收桶的存储上限位置。清洁设备使用的过程中，控制装置93可控制真空源风机向回收桶内回收污水，并接收两个电容传感器组发送的电信号。接着，将接收到的电信号转化为液位的高度信息。当回收桶内的污水的液位未达到回收桶的存储上限位置时，控制装置93可向清洁设备上的显示屏输出控制指令，该控制指令用于控制显示屏显示回收桶的已有液体的容量，或者剩余的可存储容量。当回收桶内的污水的液位接近回收桶的存储上限位置时，控制装置93可向音频设备输出控制指令，该指令用户控制音频设备输出回收桶已满的提示信息，以提示用户清理污水。当回收桶内的污水的液位达到回收桶的存储上限位置时，控制装置93可控制真空源风机切断电源，以避免污水被吸出。
应用场景6：液体存储装置91为清洗设备的溶液桶，假设一个电容传感器组安装在溶液桶的前侧的外壁上，另一个电容传感器组安装在溶液桶的后侧的外壁上，且两个电容传感器组的检测范围均覆盖溶液桶的存储下限位置。清洁设备使用的过程中，控制装置93可控制水泵或开关将溶液桶内的液体抽出，并接收两个电容传感器组发送的电信号。接着，将接收到的电信号转化为液位的高度信息。当溶液桶内的清水的液位未达到溶液桶的存储下限位置时，控制装置93可向清洁设备上的显示屏输出控制指令，该控制指令用于控制显示屏显示溶液桶内剩余可用的液体的容量。当溶液桶内的清水的液位接近溶液桶的存储下限位置时，控制装置93可向音频设备输出控制指令，该指令用户控制音频设备输出溶液桶中的液体快需要补充的提示信息，以提示用户补充液体。当溶液桶内的清水的液位达到溶液桶的存储下限位置时，控制 装置93可控制水泵或开关进入关闭状态。
除上述各实施例记载的清洁设备之外，本申请实施例还提供一种清洁设备控制方法，以下将结合附图进行说明。
图13是本申请一示例性实施例提供的清洁设备控制方法的流程示意图，该清洁设备包括液体存储装置，如图13所示，该方法包括：
步骤1301、获取设置在液体存储装置外侧的非接触式液体检测装置检测到的液位信息。
步骤1302、根据该液位信息，计算该液体存储装置的液体存储状态。
步骤1303、根据该液体存储状态对该清洁设备进行相应控制。
在一些示例性的实施例中，获取设置在液体存储装置外侧的非接触式液体检测装置检测到的液位信息的方式，包括以下至少一种：获取该非接触式液体检测装置中的至少一个液位检测传感器输出的跟随液位变化的电信号；获取该非接触式液体检测装置中的至少一个角度传感器检测到的角度。
在一些示例性的实施例中，根据该液位信息，计算该液体存储装置的液体存储状态的一种方式，包括：根据该至少一个液位检测传感器输出的跟随液面位置变化的电信号以及该至少一个角度传感器检测到的角度，计算该液体存储装置中的液体的液面位置、液体体积以及液面倾斜角度中的至少一种。
在一些示例性的实施例中，根据该液体存储状态对该清洁设备进行相应控制，包括以下至少一种操作：根据该液体存储装置中的液体体积，控制该清洁设备的多媒体输出装置输出该液体存储装置的已使用容量和/或剩余容量；在该液体存储装置中的液体体积达到设定的上限阈值或者下限阈值时，切断该清洁设备的供电电源；在该液体存储装置中的液体体积达到设定的上限阈值或者下限阈值时，切断该清洁设备的真空源风机的供电电源；在该液体存储装置中的液体的液面倾斜角度大于设定角度阈值时，控制该清洁设备的多媒体输出装置输出液面倾斜风险预警信息；在该液体存储装置中的液体的液面倾斜角度连续大于设定角度阈值的时长大于第一时长阈值时，切断该清洁设备的真空源风机的供电电源；在该液体存储装置中的液面位置连续处 于静止状态的时长大于第二时长阈值时，关闭该清洁设备。
本实施例中，利用非接触式液体检测装置检测液体存储装置中的液位信息，非接触式液体检测装置无需与液体进行接触即可实现液位检测，有效降低了液面的不稳定性对对液位检测结果的影响，有利于提升液位检测结果的可靠性。
本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，该计算机程序被执行时能够实现本申请实施例提供的清洁设备控制方法中的步骤。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤1301至步骤1302的执行主体可以为设备A；又比如，步骤1301和1302的执行主体可以为设备A，步骤1303的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如1301、1302等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。
目前，清洁设备已被人们广泛应用于日常生活中。人们可以利用不同功能的清洁设备完成不同的清洗作业，例如利用地面清洗机清洗地面，利用玻璃清洗设备清洗玻璃等。
通常，清洁设备上设有一储水桶，例如溶液桶、清洁剂桶或者两者混合桶。在清洁设备的使用过程中，可通过监测储水桶的液位情况，来监测清洁设备的使用状态，例如储水桶有水或无水状态。
发明人经过创造性的劳动发现，相关技术中，是将检测模块放置于储水桶的桶底或者桶壁上，通过直接监控测储水桶里的水量来达到无水检测的目的，但是因为检测模块的大小及设置位置有限，而储水桶体积较大，仅凭一个检测模块有可能误传递信息。例如，当机器工作时，机器不是处 于直立状态，液面发生较大的波动，液面不平稳，可能导致检测模块的检测范围内无水，但实际储水桶里有水，造成无水检测装置的误识别。
鉴于上述问题，提出了本发明以解决上述问题或至少部分地解决上述问题的清洁设备、清洁设备控制方法和存储介质。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在通篇说明书及权利要求当中所提及的“包括”为一开放式用语，故应解释成“包括但不限定于”。“大致”是指在可接收的误差范围内，本领域技术人员能够在一定误差范围内解决所述技术问题，基本达到所述技术效果。
此外，“连接”一词在此包含任何直接及间接的连接手段。因此，若文中描述一第一装置连接于一第二装置，则代表所述第一装置可直接连接于所述第二装置，或通过其它装置间接地连接至所述第二装置。说明书后续描述为实施本发明的较佳实施方式，然所述描述乃以说明本发明的一般原则为目的，并非用以限定本发明的范围。本发明的保护范围当视所附权利要求所界定者为准。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
实施例一
图14为本发明实施例提供的清洁设备的原理图；图15a为本发明实施例的清洁设备在直立状态下的状态示意图。请参照附图14和附图15a，本实施 例提供一种清洁设备包括：储液装置141和喷液装置142。具体的，在本实施例中，清洁设备可以为能够对地面、墙壁、天花板、玻璃、机动车等进行清洁的清洗机、吸尘器、扫地机器人、洗碗机等，但不限于此。
储液装置141具有容液腔，容液腔中的液体可以为清水、清洁剂、或者清水与清洁剂的混合液体。喷液装置142与储液装置141之间可以具有液流通道143，液流通道143连接于储液装置与喷液装置之间，即液流通道143用于连通容液腔与喷液装置142。液流通道143将容液腔内的液体输送给喷液装置142，喷液装置142用于将容液腔内的液体喷洒出去。例如，对于清洗机来讲，喷液装置142可以向滚刷喷洒液体，以浸润滚刷。对于扫地机器人来讲，喷液装置142可以向设于扫地机器人底部的抹布等清洁单元喷洒液体，以浸润清洁单元。当然，在其他实施例中，喷液装置142还可以直接向待清洁表面喷洒清洗液，本实施例不做限定。
储液装置141与喷液装置142之间可以通过水管S连接，而水管S内部形成液流通道143。水管S具体可以为按照预定路径延伸的硬管，或者可以改变路径的软管，具体可以根据清洁设备的类型，以及清洁设备的结构设计而选择。例如，当清洁设备为扫地机器人时，扫地机器人在工作时，整体的形态不会发生改变，水管S形态便无需改变，水管S可以为硬管或软管。当清洁设备为手持式吸尘器时，手持式吸尘器包括主机和地刷，并且当储液装置141位于主机上，而喷液装置142位于地刷上时，水管S将储液装置141与喷液装置142连接，对于清洗机来讲，为便于使用，主机与地刷之间的相对角度和/或相对位置可以在使用过程中发生改变，此种情况下，水管S应为软管，以便于随着主机与地刷的相对角度和/或相对位置的改变而改变形态。
并且，优选的，水管S的一端可以与储液装置141的底端连接，以使得储液装置141内的液体能够在重力的作用下顺畅地流到水管S的液流通道143内，并且，只要储液装置141内有液体，液流通道143内就会有液体通过。当然，可以理解的是，将储液装置141内的液体排至液流通道143的方式除了依靠重力之外，还可以借助其他动力设备，例如，在水管S中间可以设置有水 泵，水泵可以将储液装置141内的液体抽吸至液流通道143内。
在液流通道143处设有检测模块144，检测模块144用于对液流通道143内液体进行检测，以确定液流通道143处于有水状态或无水状态。本发明实施例中所描述的无水状态和有水状态的“水”包括：清水、清洁剂、或者清水与清洁剂的混合液体。
能够理解的是，当储液装置141内没有液体进入液流通道143时，喷液装置142也就无法喷出液体，整个清洁设备便无法正常工作，只有在用户向储液装置141内添加液体之后才能恢复工作。而现有技术中，通过对储液装置141内的液位进行检测，来判断储液装置141内的液位是否还能使得喷液装置142能够喷出液体。但是由于储液装置141体积较大，而进行液位检测的检测元件一般体积较小，且设置位置有限，无法可靠反映储液装置141的液位情况，常导致误识别，例如，实际上储液装置141内的液体还足够覆盖检测元件的检测面积，但是由于机器倾斜，储液装置141也随之倾斜，使得液体移动至检测元件的有效检测面积之外，检测元件无法检测到液体，则会误判成该储液装置141处于无水状态，严重影响用户体验。
需要说明的是，当储液装置141内已经完全无液体，或者储液装置141内的液体量不够而无法进入液流通道143，液流通道143内均无法检测到液体。
用户在使用清洁设备时，根据需要，可以使得清洁设备倾斜(即机身中心轴线与待清洁表面呈锐角或者钝角)，这样一来，则会导致储液装置141内的液位产生变化，当储液装置141内的水量较少时，液体可能会堆积在前侧角落或者后侧角落，但是储液装置141的出水口一般设置在中间位置，从而在清洁设备倾斜时，储液装置141的液体无法进入液流通道143。
具体的，为解决上述的问题，储液装置141的底部具有第一出水口141a、第二出水口141b和第三出水口141c，第二出水口141b位于储液装置141的底部中间，第一出水口141a和第三出水口141c分别位于第二出水口141b的前后两侧。所谓“前”为清洁设备前进的方向，“后”为清洁设备后退的 方向。
如图15a所示，清洁设备在直立状态下(即机身中心轴线与待清洁表面呈直角)，储液装置141内的液体可以通过第一出水口141a、第二出水口141b和第三出水口141c中的一个或多个流入液流通道143。
图15b为本发明实施例的清洁设备的机身向后倾斜状态示意图；如图15b所示，当清洁设备向后倾斜时，且储液装置141内的液体量不够时，少量液体聚集在后侧角落，第一出水口141a和第二出水口141b均无法出液，而通过第三出水口141c将液体排至液流通道143。
图15c为本发明实施例的清洁设备的机身向前倾斜的状态示意图；如图15c所示，当清洁设备向前倾斜时，且储液装置141内的液体量不够时，少量液体聚集在前侧角落，第二出水口141b和第三出水口141c均无法出液，而通过第一出水口141a将液体排至液流通道143。
由此，通过在储液装置141的底部设置第一出水口141a、第二出水口141b和第三出水口141c，三个出水口分布在储液装置141的前、中、后三个位置，由此，无论清洁设备处于倾斜或直立中的任何状态时，以及无论储液装置141内的液体波动多剧烈，或者用户操作动作多剧烈，储液装置141内的液体均能够顺利流动到液流通道143中，从而液流通道143的有水或无水状态能够充分反映储液装置141的有水或无水状态。
本实施例的清洁设备，通过在储液装置与喷液装置之间的液流通道设置检测模块144，由于液流通道143与储液装置141连通，通过检测模块144检测液流通道内是否有水，进而判断储液装置141内的水量是否还能满足喷洒要求，由于液流通道143的体积相较于储液装置141来讲，其横截面积要小很多，液体能够填充满液流通道143的大部分体积，且当整个清洁设备处于非直立状态下液流通道143内的液体波动幅度比较小，有利于确保液体一直能覆盖到检测模块144的检测面积，因此，只要检测模块能够检测到液流通道内有水，则说明储液装置141的水量还能够使得喷液装置142喷洒液体，而当检测模块确定液流通道内无水时，则说明储液装置141的水量已经无法 使得喷液装置142喷洒液体，用户需要向储液装置141内添加液体，采用本实施例的技术方案，能够有效避免出现现有技术中的误检情况，能可靠反映储液装置内液体是否还能够供喷液装置喷洒出液体，使得用户能够可靠判断清洁设备的储液装置是否需要添加液体。
具体的，清洁设备还包括控制元件145，检测模块144与控制元件145电连接。其中，检测模块144用于对液流通道143内的液体进行检测，控制元件145用于根据检测模块144所检测到的状态信息对清洁设备进行相应控制；其中，状态信息包括有水状态和无水状态。当检测模块144能够检测到液流通道143内的液体时，检测模块144的感测信号传输给控制元件145，控制元件145获得高电平，以使得控制元件145能够获知液流通道143处于有水状态。当检测模块144无法检测到液流通道143内的液体时，检测模块144的感测信号传输给控制元件145，控制元件145获得低电平，以使得控制元件145能够获知液流通道143处于无水状态。
当然，在一些实施例中，检测模块144能够检测到液流通道143内的液体时，控制元件145也可以获得低电平，以使得控制元件145可以获知液流通道143处于有水状态。当检测模块144无法检测到液流通道143内的液体时，控制元件145也可以获得高电平，以使得控制元件145获知液流通道143处于无水状态。
在一些实施例中，控制元件145可以使用各种应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、微中控元件、微处理器或其他电子元件实现，本实施例不做限制。
优选地，控制元件145包括线路板145a和MCU，线路板将感测信号转换为高/低电平，MCU根据高/低电平判断液流通道143的状态并对清洁设备作出相应控制。进一步的，检测模块144可以集成于线路板145a上，线路板145a可以紧贴地设于液流通道143外壁，以保证检测模块144的最佳感测距离。检测模块144感测液位信号，信号后经线路板145a转换成电信号，电信 号再传至MCU，MCU再执行控制操作。但不应以此为限，例如电信号的转换功能也可集成在MCU上，即感测信号可直接传给MCU。需要说明的是，在其他可选的实施方式中，检测模块144与线路板145a也可以分离设置，两者之间电性连接。
检测模块144可以为接触式的检测模块，或者非接触式的检测模块。图22为本发明实施例提供的接触式的检测模块的安装示意图；如图22所示，当检测模块144为接触式的检测模块时，线路板145a可以固定于液流通道143的外壁，而线路板145a上的检测模块144的感测电极可以伸入液流通道143内。图23为本发明实施例提供的非接触式的检测模块的安装示意图；如图23所示，当检测模块144为非接触式的检测模块时，线路板145a连同检测模块144可以固定于液流通道143的外壁，检测模块144不伸入液流通道143内。
具体的，检测模块144可以包括液位检测传感器。液位检测传感器是通过检测容器中液体的液位来反应容器中液体状态，具体至少包括有水状态和无水状态。
本实施例优选的，检测模块144为接触式液位检测传感器，接触式液位检测传感器包括感测电极，如图22所示，感测电极伸入液流通道143内，并用于与液流通道143内的液体接触。通过感测电极直接测量液流通道143内的液位，从而反映液流通道的液位状态，至少包括有水状态和无水状态。
而对于非接触式的检测模块来讲，具体的，可以为非接触式液位传感器，非接触式液位传感器设于液流通道143外壁，该非接触式液位传感器包括一部件(例如电容)，随着液体远离或靠近(非接触)，该部件(如电容)的物理属性会有变化。非接触式液位传感器可利用液体远离或靠近时该部件的物理属性会有变化的原理来检测液位的变化。每个非接触式液位传感器可以感知液流通道143中的液位的高低变化，并将感测信号传输给控制元件145，控制元件145将感测信号转化为电信号并根据电信号判断液流通道143的液位状态，进而间接反映储液装置141的液位状态。
利用非接触式液位传感器检测液流通道143的液位信息，非接触式液体 检测装置无需与液体进行接触即可实现液位检测，有效降低了液面的不稳定性对对液位检测结果的影响，有利于提升液位检测结果的可靠性。
一具体的非接触式液位传感器可以为电容液位传感器，电容液位传感器可实现为由金属箔片构成的自电容，该金属箔片可贴在液流通道143的外壁上，结构简单且成本较低。在无液体靠近时，金属箔片和地之间存在较小的寄生电容。当液体靠近该引脚时，该寄生电容会发生改变，根据寄生电容的变化可对液面高度进行检测。当然，在其他可选的实施方式中，还可采用其他类型的电容传感器，本实施例对此不作限制。
另外，如图14所示，清洁设备还可以包括：报警装置146；报警装置146与控制元件145电连接。控制元件145用于当确定液流通道143处于无水状态时，控制报警装置146发出报警信号。报警装置146可以设于清洁设备上的任一位置，具体的，例如可以以语音播报、闪光提示、显示屏显示、或者以上任一种方式结合起来提示用户。一种优选的实施方式是，在清洁设备(例如可以在储液装置141)上设置一提示灯以及一扬声器，当控制元件145确定液流通道143处于无水状态时，控制该提示灯闪光，并可同时控制扬声器进行语音提醒，用户即可根据上述报警信息，在储液装置141中添加液体。
实施例二
图16为本发明实施例提供的一种检测腔体的结构示意图；图17为图16的检测腔体的侧视图；图18为图16的检测腔体的纵剖视图；请参照附图14-附图18，本实施例在实施例一的基础上，对本发明的清洁设备进行进一步优化。具体的，液流通道143上可以具有检测腔体147。所谓“检测腔体”是设置在液流通道143上的一额外壳体，该额外的壳体内部形成供无水检测模块144检测的检测腔体。
优选的，检测腔体147的横截面积小于液流通道143上其他位置处的横截面积，检测模块144设于检测腔体147。该检测腔体147可以设于液流通道143的任意位置处，储液装置141里的液体142输送至喷液装置142的过程 中，会直接从检测腔体147内经过。本实施例中，可以通过设于储液装置141和喷液装置142之间的水管S的内腔以及检测腔体147的内腔连通形成液流通道143。
由于检测腔体147的横截面积小于液流通道143其他位置的横截面积，更有利于水流入后充满检测腔体的大部分，使得检测腔体147内的液体有一个较高的竖直方向液位高度，该种情况下，在检测腔体147的底部甚至侧部设置检测模块144不会因为液位波动而检测不到，降低了对检测模块144的设置位置的限制，检测准确度较好。
当然，在一些可选实施例中，检测腔体147的横截面积大于液流通道143的其他位置处的横截面积。但是检测腔体147的横截面积远小于储液装置141的横截面积，相较于现有技术来讲，同样能够起到提高无水检测的准确性。
在本实施例中，优选的，检测腔体147的厚度为1mm～1.5mm，检测腔体147的长度为15mm～25mm，检测腔体147的宽度为5mm～15mm。这样的尺寸设计，使得检测腔体147呈扁平状，由于扁平的设计，故液流通道143中的水流入检测腔体147后能够更好地将检测腔体147内的气体排出，避免产生气泡等影响检测模块144的检测，从而从另一方面提高感测结果的准确性。
本实施例相较于在水管S上直接设置检测模块144，检测腔体147内的水的流速相较于水管S内的流速会减缓，从而给予检测模块144充足的时间进行检测，使得检测结果更加准确可靠。
需要说明的是，为提高检测模块144检测的可靠性，可以将检测模块144设于检测腔体147的底壁或侧壁，而当设置在侧壁上时，可以设于侧壁的中部或者下部。检测模块144的数量并不限于一个，为了更准确地反映液流通道143的液位状态，具体可以在检测腔体设置多个检测模块144，多个检测模块144可以分散布置在检测腔体147的多个位置，例如，可以在检测腔体147的底壁和侧壁上均设置检测模块144。
本实施例中的检测腔体147可以包括直形腔；和/或，检测腔体147可以 包括沿液流方向弯曲的弯形腔。如图18或图20所示，检测腔体147为直形腔，图21为本发明实施例提供的检测腔体的又一种结构示意；图21中的检测腔体为弯形腔。当然可以理解的是，检测腔体147还可以是直形腔部和弯形腔部接合的腔体，本实施例不做限定。弯形腔相对于直形腔来讲，液体在其内部流动的阻力更大，有利于减缓液体流速，使得检测模块144的感测时间更加充足，检测结果更加准确可靠。
如图18或图20所示，检测腔体147的两端分别设有进水接头147a和出水接头147b，进水接头147a用于与连接储液装置141的水管S对接，出水接头147b用于与连接喷洒装置142的水管S对接。进水接头147a和出水接头147b可以与检测腔体147一体成型。检测腔体147可以包括进水端147c、主部147d和出水端147e。进水端147c的横截面积由远离主部147d的方向向靠近主部147d的方向逐渐减小，由此，可以使得由水管S中的液体大量流入检测腔体147中，并缓慢充填至检测腔体147。出水端147e的横截面积由靠近主部147d的方向向远离主部147d的方向逐渐增大，由此，可以使得检测腔体147的液体慢速从检测腔体147内流出至水管S中，更进一步地保证液体在检测腔体147中的流速较小，以提供检测模块144充分的检测时间。
在本实施例中，优选的，如图17和图18所示，当本实施例的清洁设备设有线路板145a时，检测腔体147的侧部可以具有开口，在开口处可以设有侧盖148，侧盖148可以与检测腔体147的开口端可拆卸连接，通过侧盖148的一侧密封检测腔体147，可以将线路板145a容纳于侧盖148的另一侧内，以有效节约空间，并对线路板145a起到一定的保护作用，当需要更换或维修线路板145a时，可以将侧盖148从检测腔体147的开口处拆卸下来。当然，侧盖148也可以与检测腔体147不可拆卸连接，例如一体成型。线路板145a可以固定在其他位置，而不限于设置在侧盖148内。
图19为本发明实施例提供的检测腔体的另一种结构示意图。图20为图19的检测腔体的纵剖视图；如图19和图20所示，检测腔体147可以一体成型，并且不具有侧盖148，此种情况下，线路板145a可以固定于其他位置。
图15d为本发明实施例的清洁设备的结构示意图。图15d所示清洁设备可以主要由手柄1411、机体1412、真空源风机1413、储液装置141(例如溶液桶)、回收桶1414、喷液装置142、滚刷1415等部件组成。其中，真空源风机可为整个清洁设备提供真空吸力。当用户在使用清洁设备时，真空源风机开启，喷液装置开启，随着用户的前推后拉动作，地面的污水等会被真空源风机吸入地刷，并通过清洁设备内的风道或管道进入回收桶内。在经过回收桶内的分离器后，污水与空气被分离，其中污水回收存储在回收桶内，而干净的空气则被真空源风机吸走通过清洁设备上的出风口排出。
下面通过具体的应用场景来对本发明所提供的清洁设备进行说明。
应用场景7
清洁设备为清洗机，清洗机的机身上的储水桶的水通过水管流向滚刷上的喷水板，一般地，水管中间可以设有水泵或气泵，以满足清洗机的大流量喷水，通过水泵来增压抽水流向喷液装置(如喷水板)，喷水板设有若干个喷水孔，喷水孔的水喷向滚刷。在水管处设有检测腔体，检测腔体处设有检测模块，检测模块与控制元件电连接，检测模块检测检测腔体的液位，从而间接反映储水桶内是否有水。当检测模块无法在检测腔体内检测到液位，此时储水桶内的水已流完，检测模块通过控制元件与报警装置连接，报警装置提示储水桶无水。
应用场景8
清洁设备为扫地机器人，扫地机器人机身上设置的储水桶的水通过水管流向清洁单元(如抹布)，水管中间可以设有水泵或气泵，当然，受空间的局限，且扫地机器人的喷水流量小，扫地机器人也可以不设置水泵或气泵，可以通过重力渗水至清洁单元(如抹布)。在水管处设有检测腔体，检测腔体处设有检测模块，检测模块与控制元件电连接，检测模块检测检测腔体的液位，从而间接反映储水桶内是否有水。当检测模块无法在检测腔体内检测到液位，此时储水桶内的水已流完，检测模块通过控制元件与报警装置连接，报警装置提示储水桶无水。
应用场景9
清洁设备为吸尘器，吸尘器的地刷上的储水桶的水通过水管流向滚刷上的喷水板，一般地，水管中间可以设有水泵或气泵，以满足清洗机的大流量喷水，通过水泵来增压抽水流向喷液装置(如喷水板)，喷水板设有若干个喷水孔，喷水孔的水喷向滚刷。在水管处设有检测腔体，检测腔体处设有检测模块，检测模块与控制元件电连接，检测模块检测检测腔体的液位，从而间接反映储水桶内是否有水。当检测模块无法在检测腔体内检测到液位，此时储水桶内的水已流完，检测模块通过控制元件与报警装置连接，报警装置提示储水桶无水。
除上述各实施例记载的清洁设备之外，本申请实施例还提供一种清洁设备控制方法，以下将结合附图进行说明。
实施例三
图24为本发明一示例性实施例提供的清洁设备控制方法的流程示意图，该清洁设备包括储液装置、喷液装置，连接于所述储液装置和所述喷液装置之间的液流通道，检测模块，以及控制元件，如图24所示，该方法包括：
S2401、控制元件获取设置在液流通道的检测模块所检测到的液流通道的状态信息，其中，状态信息包括有水状态和无水状态；
S2402、控制元件根据状态信息对所述清洁设备进行相应控制。
具体的，所述根据所述状态信息对所述清洁设备进行相应控制，包括：
当所述状态信息为无水状态时，控制元件控制报警装置报警；
和/或，当所述状态信息为无水状态时，控制元件控制清洁设备关机。
本实施例中通过液流通道的检测模块检测液流通道是否有水，从而可间接获知储液装置的液位情况，由于液流通道的横截面较小，相较于在储液装置直接设置检测模块的方式，能够有效提高无水检测的准确性和可靠性。
其中，需要说明的是，本实施例中的液流通道可以是通过水管形成，也可以是检测腔体形成，具体可参照实施例一和实施例二的描述。
本实施例中的清洁设备可以采用实施例一和实施例二的清洁设备，具体 可以参照实施例一和实施例二的描述。
实施例四
本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，该计算机程序被执行时能够实现本申请实施例三提供的清洁设备控制方法中的步骤。
本实施例中的清洁设备可以采用实施例一和实施例二的清洁设备，具体可以参照实施例一和实施例二的描述。
针对现有清洁设备只能靠用户肉眼确定清洁对象的洁净程度的技术问题，本申请实施例提供一种解决方案，基本思路是：在清洁设备上增设可检测清洁对象上的污浊液体的物理属性值的检测器件，即将该检测器件的部分或全部设置于污浊液体的流通路径上。这样，处理系统可根据检测器件检测到的污浊液体的物理属性值，确定清洁对象的清洁程度，实现了对清洁对象的清洁程度的自主检测，无需再人工确定清洁对象是否干净，从而有利于提高用户体验。
以下结合附图，详细说明本申请各实施例提供的技术方案。
应注意到：相同的标号在下面的附图以及实施例中表示同一物体，因此，一旦某一物体在一个附图或实施例中被定义，则在随后的附图和实施例中不需要对其进行进一步讨论。
图25a为本申请实施例提供的一种清洁设备的结构示意图。如图25a所示，该清洁设备S10包括：依次连接的地刷251、抽吸通道252和回收桶253；清洁对象上的污浊液体由地刷251上的吸嘴251a抽吸并经抽吸通道252送入回收桶253内。其中，如图25a中虚线所示，污浊液体从地刷251上的吸嘴251a经抽吸通道252至回收桶253内，形成污浊液体的流通路径。其中，地刷251是指清洁设备S10上的清洁组件，又可称为清洁刷。
进一步，如图25a所示，清洁设备S10还包括：处理系统254和第一检测器件255。其中，第一检测器件255部分或全部设置于污浊液体的流通路径上。第一检测器件255部分设置于污浊液体的流通路径上，是指：第一检测 器件255的部分组件设置于污浊液体的流通路径上，其余组件设置于除污浊液体的流通路径之外的其它部位。
可选地，第一检测器件255可设置于地刷251的腔体、地刷251的吸嘴251a、抽吸通道252或回收桶253中，也可设置于这些部位中的多个部位中。在在本申请实施例中，多个指2个或2个以上。例如，可在地刷251的吸嘴251a和抽吸通道252中设置第一检测器件255，或者，地刷251的腔体和回收桶253中设置至少一个第一检测器件255，等等，但不限于此。图25a仅以第一检测器件255设置于抽吸通道252内进行示例，并不对其设置位置进行限定。
可选地，每个部位设置的第一检测器件255的数量可为1个或多个。
在本实施例中，第一检测器件255用于检测污浊液体的物理属性值，并将污浊液体的物理属性值提供给处理系统254。相应地，处理系统254可根据污浊液体的物理属性值确定清洁对象的清洁程度。
在本实施例中，图25a所示的清洁设备S10的实现形态仅为示例性说明。其中，清洗设备S10可为自主移动式清洁设备，也可为图25a中所示的手持式清洗设备。进一步，清洁设备S10可以为用于清洗地面、地板、地毯、墙壁、天花板或玻璃等区域的清洗机，但不限于此。
在本实施例中，在清洁设备上增设可检测清洁对象上的污浊液体的物理属性值的检测器件，即将该检测器件的部分或全部设置于污浊液体的流通路径上。这样，处理系统可根据检测器件检测到的污浊液体的物理属性值，确定清洁对象的清洁程度，实现了对清洁对象的清洁程度的自主检测，无需再人工确定清洁对象是否干净，从而有利于提高用户体验。
在本实施例中，第一检测器件255的工作原理不同，可检测的污浊液体的物理属性不同。例如，一些光学检测器件可以检测污浊液体的光学属性值；又例如，一些电学检测器件可以检测污浊液体的电学属性值。在本申请实施例中，污浊液体的物理属性包括其光学属性和/或电学属性。其中，污浊液体的光学属性可以为污浊液体的颜色、浊度或透明度等；污浊液体的电学属性 可以为污浊液体的电阻、电阻率、电流或电压等等。
下面分别以第一检测器件255检测污浊液体的光学属性值和电学属性值为例，对本申请实施例提供的第一检测器件255进行示例性说明。
图25b为本申请实施例提供的一种第一检测器件的结构示意图。如图25b所示，第一检测器件255包括：光源255a和光检测器255b。其中，光源255a发出的光信号可经污浊液体后到达光检测器255b。进一步，光检测器255b将到达的光信号转换成电信号并输出至处理系统254。其中，光检测器255b输出的电信号可反应污浊液体的光学属性。为了便于描述和区分，在本实施例中，将光检测器255b输出的电信号，定义为第一电信号。相应地，处理系统254可根据第一电信号计算污浊液体的光学属性值，并根据污浊液体的光学属性值确定清洁对象的清洁程度。
可选地，处理系统254可将污浊液体的光学属性值在已知的光学属性值与清洁等级的对应关系中进行匹配，并将与污浊液体的光学属性值对应的清洁等级，确定为清洁对象的清洁等级。其中，清洁对象的清洁等级，可反映其清洁程度。
可选地，如图25b所示，光源255a与光检测器255b可相对设置。其中，光源255a与光检测器255b相对设置，是指：光检测器255b的光接收面通过污浊液体与光源255a相对，即光源255a发出的光经污浊液体透射到达光检测器255b。这样，光源255a发出的光信号可经污浊液体透射后到达光检测器255b。
或者，如图25c所示，光源255a与光检测器255b可同侧设置。其中，光源255a与光检测器255b相对设置，是指：光检测器255b的光接收面与光源255a位于污浊液体的同一侧，即光源255a发出的光经污浊液体反射到达光检测器255b。这样，光源255a发出的光信号可经污浊液体反射后到达光检测器255b。
在本申请实施例中，为了便于描述和区分，将清洁设备S10正立工作(图25a所示的工作状态)时，各组件的重心方向所指向的部位，定义为该组件的 底部。例如，对于回收桶253重心方向所指向的回收桶253的部位，定义为回收桶253的底部。进一步，将清洁设备S10工作时，各组件中清洁设备S10的前进方向所指向的部位，定义为该组件的前面；相应地，将各组件中与清洁设备S10的前进方向相反的一面，定义为该组件的背面；进而也就定义了各组件的左面和右面。
基于上述各组件的前后左右方向，对于抽吸通道252，光源255a和光检测器255b相对设置，可理解为光源255a和光检测器255b分别设置于抽吸通道的前面和背面；或者分别设置于抽吸通道的左面和右面。光源255a和光检测器255b同侧设置，可理解为光源255a和光检测器255b均设置于抽吸通道的前面、背面、左面或右面。
对于回收桶253，可分别将光源255a和光检测器255b设置于回收桶253的前面和背面(图25d所示)；或者将光源255a和光检测器255b分别设置于回收桶253的左面和右面(图25e所示)。光源255a和光检测器255b同侧设置，可理解为光源255a和光检测器255b均设置于回收桶253的前面、背面、左面或右面，图25f中仅以光源255a和光检测器255b均设置于回收桶253的左面进行示例。优选地，光源255a和光检测器255b均设置于回收桶253的底部，这样有助于提高对污浊液体的光学属性值的检测速率。其中，回收桶253的结构形式仅为示例性说明，并不对其进行限定。
值得说明的是，在本申请实施例中，光源255a发生的光的波长处于光检测器255b可检测的光波长范围内。其中，光源255a可为各种光波长的光源，相应地，光检测器255b可为可接收光源255a发出的光的光波长的光接收器。可选地，若光源255a为红外光源，则光检测器255b可为红外接收管；若光源255a为激光光源，则光检测器255b可为激光二极管；若光源255a为LED光源，则光检测器255b可为色彩传感器等等；但不限于此。下面以光源255a为LED光源，光检测器255b为色彩传感器为例，对第一检测器件255的工作原理进行示例性说明。当LED光源发出的光经污浊液体到达色彩传感器时，色彩传感器可将接收到的光信号转换为RGB电压并输出至处理系统254。相 应地，处理系统254可根据该RGB电压，计算污浊液体的颜色；并根据污浊液体的颜色确定清洁对象的清洁程度。
可选地，处理系统254中可预置液体颜色与清洁度等级之间的对应关系。相应地，处理系统254可将污浊液体的颜色与液体颜色与清洁等级之间的对应关系中进行匹配，并将污浊液体的颜色对应的清洁等级，作为清洁对象的清洁等级。其中，清洁对象的清洁等级可反映清洁对象的清洁程度。
在实际应用中，考虑到污浊液体的流通路径本身也会存在一定程度的脏污，而这种脏污在一定程度上影响光检测器接收的第一电信号，而导致后续对清洁对象的清洁程度的判定存在一定的误差。在本申请实施例中，为了降低污浊液体的流通路径本身存在的脏污对检测结果的影响，可在清洁设备S10对清洁对象执行清洁任务之前，调整光源255a的亮度，直至光检测器255b输出的参考电信号满足设定要求。其中，光检测器255b输出的参考电信号满足设定要求是指：光检测器255b输出的参考电信号的强度与预设的基准强度之间的差异处于预设的差异范围之内。例如，假设光检测器255b输出的参考电信号为电压信号，则光检测器255b输出的电压信号满足设定要求是指：光检测器255b输出的电压值与预设的基准电压值之间的电压差处于预设的电压差范围之内。
进一步，若在光源的亮度被调至最大时，光检测器255b输出的参考电信号仍不满足设定要求，则处理系统254可输出第一提示信息，来提示用户清洁污浊液体的流通路径，即提示用户清洁污浊液体的流通路径所涉及的部位。
在本申请实施例中，不限定处理系统254输出第一提示信息的方式。在一些实施例中，清洁设备S10包括音频组件，则处理系统254可通过音频组件播放第一提示信息。在另一些实施例中，清洁设备S10包括显示屏，则处理系统254可通过显示屏展示第一提示信息。在另一些实施例中，清洁设备S10包括显示屏，并提供相应的人机交互界面，则处理系统254可在人机交互界面上展示第一提示信息。在又一些实施例中，清洁设备S10包括蜂鸣器，且蜂鸣器与处理系统254电连接。相应地，若光源的亮度被调至最大时，光 检测器255b输出的参考电信号仍不满足设定要求，处理系统254还可控制蜂鸣器发出蜂鸣声，以提示用户清洁污浊液体的流通路径。在再一些实施例中，清洁设备S10还包括指示灯，且指示灯与处理系统254电连接。相应地，若光源的亮度被调至最大时，光检测器255b输出的参考电信号仍不满足设定要求，处理系统254还可控制指示灯发出提示信号，以提示用户清洁污浊液体的流通路径。可选地，处理系统254还可控制指示灯闪烁或显示设定的颜色，等等，但不限于此。
除了上述光学检测器件之外，本申请实施例提供的第一检测器件还可实现为电学检测器件，下面结合图25g进行示例性说明。
如图25g所示，第一检测器件255包括：第一导电体组2551和第一检测电路2552。其中，第一导电体组2551设置于污浊液体的流通路径上。第一检测电路2552电连接于第一导电体组2551与处理系统254之间。其中，导电体组是指一组导电体，为便于描述和区分，在本申请实施例的一些地方，将一组导电体定义为一个导电体组。导电体为一体成型的结构，在液体中具有良好的导电属性，不仅不与液体发生化学反应，还具有一定的硬度，金属材质或非金属材质都可以实现。在一些优选的实施例中，导电体可优选为不锈钢丝。
进一步，第一检测电路2552可在第一导电体组2551与污浊液体接触时产生第二电信号并输出至处理系统254。其中，第二电信号可反应污浊液体的电学属性。第一导电体组2551包括至少两个互不接触的导电体。图25g-图25l中仅以导电体的数量为2个进行示例。
进一步，第一导电体组2551中的一部分导电体与清洁设备S10的电源的正极电连接，以形成正极导电体；其余部分接地，形成接地导电体。这样，当正极导电体和接地导电体接触到污浊液体时，正极导电体和接地导电体形成通路。相应地，第一检测电路2552便可在正极导电体和接地导电体形成通路时，产生第二电信号，并将第二电信号输出至处理系统254。
其中，导电体可为导电探针、导电贴片或导电触点等等，但不限于此。 其中，导电体可为不锈钢材质。第一导电体组2551中的各导电体可相对设置，也可位于同侧。如图25g和图25h所示，若第一导电体组2551设置于抽吸通道内，则第一导电体组2551中的各导电体可设置于抽吸通道的内侧壁上。若第一导电体组2551设置于回收桶内，则第一导电体组2551中的各导电体可设置于回收桶253的内壁上。可选地，如图25i所示，第一导电体组2551可设置于回收桶253的内侧壁上。优选地，第一导电体组2551设置于内侧壁的底部。或者，如图25j所示，第一导电体组2551设置于回收桶253的底部。进一步，若导电体为导电探针，如图25k所示，也可悬挂于回收桶253内。优选地，导电探针伸入回收桶253的底部，这样一旦有污浊液体被抽吸到回收桶253内，导电探针便可检测污浊液体的电学属性值。
进一步，若导电体为导电探针，可为刚性导电探针，这样可防止正极导电体和负极导电体直接接触，造成短路。
下面以第一导电体组2551包括互不接触的导电体A和B为例，并结合图25l和图25m所示的电路原理图，对第一检测电路2552的工作原理和结构进行示例性说明。
如图25l所示，第一检测电路2552包括：电压检测电路2552a。其中，电压检测电路2552a的供电端P与导电体A电连接。其中，供电端P还与电源的正极电连接。进一步，电压检测电路2552a的接地端和输出端Q分别与导电体B电连接，且电压检测电路2552a的输出端Q电连接于处理系统254。其中，电压检测电路2552a的接地端与地电连接。
可选地，如图25m所示，电压检测电路2552a还包括：基准采样电阻R3。基准采样电阻R3的两端与导电体B以及地电连接。可选地，可将导电体B与基准采样电阻R3的连接点作为电压检测电路2552a的输出端Q。其中，当导电体A和导电体B与污浊液体接触时，导电体A和导电体B形成通路，这样，处理系统254便可通过检测基准采样电阻R3两端的电压，进而得到导电体A和导电体B形成的通路的电压，即污浊液体的电压(第二电信号)。由于基准采样电阻R3的阻值已知，因此，可得到导电体A和导电体B形成的通 路的电流，从而得到污浊液体的电阻值。
进一步，为了降低污浊液体的电阻值的变化而导致电压检测电路2552a输出的电压值过大而对处理系统254造成危害，如图25m所示，可在电压检测电路2552a的输出端接入缓冲电路2552b。其中，缓冲电路的2552b的输入端与与电压检测电路2552a的输出端Q电连接，且缓冲电路2552b的输出端(DW-R)电连接于处理系统254。
可选地，如图25m所示，缓冲电路2552b可包括：运算放大器U1和RC滤波电路。其中，RC滤波器由电阻R1和电容C1串联形成。进一步，运算放大器U1的同相输入端1与电压检测电路2552a的输出端Q电连接，且其反相输入端3与其输出端4电连接。进一步，RC滤波电路并联于运输放大器的输出端4与地之间，且RC滤波电路未接地的一端与处理系统254电连接。即RC滤波电路中电阻R1和电容C1的串接点与处理系统254电连接。
进一步，考虑到清洁设备S10喷洒出的干净液体可能本身存在一定的杂质，若直接利用第一检测电路2552输出的电信号确定清洁对象的清洁程度，则可能会存在一定的误差。因此，在实际应用中可事先测定清洁设备S10喷洒出的干净液体的基准电信号。其中，干净液体可为清水、清洁液或消毒液等。为了便于描述和区分，在本实施例中，将测定清洁设备S10喷洒出的干净液体的基准电信号的检测电路，定义为基准检测电路，并将基准检测电路的整体阻值定义为基准阻值。其中，基准检测电路的整体阻值为基准检测电路本身的整体阻值，不包含干净液体的阻值。基准检测电路可为第一检测电路，也可为其它检测电路，例如下述实施例中的第二检测电路。
进一步，为了简化后续处理系统254的计算，可在测量污浊液体的电学属性值时，将第一检测电路2552的整体阻值设置为基准阻值。基于此，可在第一检测电路2552中设置可变电阻电路2552c。如图25m所示，第一检测电路2552a还包括：可变电阻电路2552c。进一步，可变电阻电路2552c的第一端E1与电压检测电路中的基准采样电阻R3电连接，其第二端E2与处理系统254电连接，且其第三端E3接地。
相应地，处理系统254可调整可变电阻电路2552c的阻值，以将第一检测电路2552的整体阻值调整为基准阻值。
进一步，可变电阻电路2552c可实现为可变电阻器，例如滑动变阻器、电位器等。其中，可变电阻器的可调节端为第二端E2与处理系统254电连接，其余不可调节的两个端口分别与基准采样电阻R3以及地电连接。其中，处理系统254可通过调节可变电阻器的可调节端来调整可变电阻器的阻值，进而调整第一检测电路2552的整体阻值。
或者，如图25m所示，可变电阻电路2552c还可包括：多个串联的采样电阻。在本实施例中，多个指2个或2个以上。为了便于描述和区分，将可变电阻电路2552c所包含的采样电阻，定义为可选采样电阻。多个可选采样电阻串接于基准采样电阻R3与地之间，并在每个电阻串接点处并联一个N-MOS管，每个N-MOS管的漏极D与串接点电连接。进一步，如图25m所示，每个N-MOS管的源极S作为可变电阻电路2552c的第三端E3接地，且每个N-MOS管的栅极G作为可变电阻电路2552c的第二端E2分别与处理系统254电连接。这样，处理系统254便可通过调节多个N-MOS管的状态，确定是否将可选采样电阻接入第一检测电路2552以及确定将哪个或哪些可选采样电阻接入第一检测电路2552，从而将第一检测电路2552的整体阻值调整为基准阻值。例如，图25m中，若N-MOS管Q1导通，则可选采样电阻R4、R5和R6被短路，即可选采样电阻R4、R5和R6均不接入第一检测电路2552。若N-MOS管Q1关断，N-MOS管Q2导通，则可将可选采样电阻R4接入第一检测电路2552。若N-MOS管Q1、Q2和Q3均关断，则可将可选采样电阻R4、R5和R6均接入第一检测电路2552；等等。
在本发明实施例中所提供的电路结构示意图中的各元器件可采用相同或相近功能的元器件进行替换。例如，N-MOS管也可替换为P-MOS管或三极管(NPN三极管或PNP三极管)，并可参照图25m所示的电路工作原理图适应性调整各器件之间的连接关系。
在本申请实施例中，基准电信号可在清洁设备S10出厂之前进行测定， 并将测定的基准电信号预置在清洁设备S10中。或者，也可在清洁设备S10中设置基准电信号的检测器件，并将该检测器件的部分设置于干净液体的流通路径上。这样，处理系统254便可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
进一步，在本申请实施例中，如图25n所示，清洁设备S10还包括：与地刷251的喷嘴258依次连接的出水管道257和溶液桶256。其中，溶液桶256内的干净液体经出水管道257送入喷嘴258以供喷嘴258喷洒至清洁对象上。相应地，如图25n所示，清洁设备S10还包括：第二导电体组259和第二检测电路2510。其中，第二导电体组259设置于干净液体的流通路径上。第二检测电路2510电连接于第二导电体组259与处理系统254之间。
可选地，第二导电体组259可设置于溶液桶256、出水管道257和喷嘴258中的至少一个部位中。其设置方式可参见上述第一导电体组2551的相关内容，在此不再赘述。其中，每个部位可设置一个或多个第二导电体组259。
第二导电体组259包括至少两个互不接触的导电体。图25n中仅以导电体的数量为2个进行示例。进一步，第二导电体组259中的一部分导电体与电源的正极电连接，以形成正极导电体；其余部分接地，形成接地导电体。这样，当正极导电体和接地导电体接触到干净液体时，正极导电体和接地导电体形成通路。相应地，第二检测电路2510便可在正极导电体和接地导电体形成通路时，产生基准电信号，并将基准电信号输出至处理系统254。第二检测电路2510可在第二导电体组259与干净液体接触时产生基准电信号并输出至处理系统254。
可选地，第二检测电路2510的电路结构可实现为图25o所示的电路结构，关于第二检测电路2510的电路结构的描述，可参见上述第一检测电路2552的相关内容，在此不再赘述。
基于图25o所示的第二检测电路2510，处理系统254可通过调节第二检测电路2510中多个N-MOS管的状态，使得第二检测电路2510输出的基准电信号保持在一稳定的范围内。例如，处理系统254可通过调节第二检测电路 2510中多个N-MOS管的状态，使得第二检测电路2510输出的基准电压为电源电压的中值电压，等等，但不限于此。相应地，处理系统254可通过调节第一检测电路2552中多个N-MOS管的状态，使得第一检测电路2552中多个N-MOS管的状态与第二检测电路2510中多个N-MOS管的状态相同，这样可使得第一检测电路2552的整体电阻与第二检测电路2510的整体电阻相同，有助于减小后续处理系统254根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度的计算量。
在本申请实施例中，处理系统254可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
进一步，在本申请各实施例中，如图25p所示，处理系统254可包括处理器254a。其中，处理器254a可为：处理器254a可以为任意硬件处理设备。可选地，处理器可以为中央处理器(Central Processing Unit，CPU)、图形处理器(Graphics Processing Unit，GPU)或微控制单元(Microcontroller Unit，MCU)；也可以为现场可编程门阵列(Field-Programmable Gate Array，FPGA)可编程阵列逻辑器件(Programmable Array Logic，PAL)、通用阵列逻辑器件(General Array Logic，GAL)、复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)等可编程器件；或者为先进精简指令集(RISC)处理器(Advanced RISC Machines，ARM)或系统芯片(System on Chip SOC)等等，但不限于此。
相应地，处理器254a可将第二电信号与基准电信号之间的差异，在已知的电信号差异与清洁度等级之间的对应关系中进行匹配，以确定清洁对象的清洁度等级，即将第二电信号与基准电信号之间的差异对应的清洁度等级作为清洁对象的清洁程度。
可选地，处理器254a可计算第二电信号与基准电信号之间的差异。或者，如图25p所示，处理系统254还可包括：差分运算电路254b。其中，差分运算电路254b的第一输入端DW-R连接于第一检测电路2552的输出端，用于接收第二电信号；差分运算电路254b的第二输入端PW-R接收基准电信号。 进一步，差分运算电路254b的输出端DL与处理器254a电连接，用于将第二电信号与基准电信号之间的差值输出至处理器254a。相应地，处理器254a便可根据第二电信号与基准电信号之间的差异，确定清洁对象的清洁程度。
可选地，如图25p所示，差分运算电路254b可包括：运算放大器U3和RC滤波电路。其中，运算放大器U3的同相输入端1作为差分运算电路的第一输入端与第一检测电路2552的输出端电连接，用于接收第二电信号。运算放大器U3的反向输入端3作为差分运算电路254b的第二输入端接收基准电信号。进一步，运算放大器U3的反向输入端3与其输出端4之间并联RC并联电路。RC并联电路由电阻R24和电容C10并联构成。进一步，RC滤波电路并联于运算放大器U3的输出端4与地之间，其中，RC滤波电路由电阻R23和电容C9串联构成，电阻R23和电容C9的串接点作为差分运算电路254b的输出端DL，并与处理系统254电连接。可选地，运算放大器U3还包括：正负电源供电端2和5；其中正电源供电端5与清洁设备S10的电源的正极电连接，其负电源供电端5接地。
值得说明的是，在一些实施例中，为了提高清洁对象的清洁度检测的准确度，还可利用上述光学属性值和第二电信号，共同确定清洁对象的清洁程度，其具体实施方式，可参见上述实施例的相关内容，在此不再赘述。
在本申请各实施例中，处理系统254还可根据清洁对象的清洁程度，调整清洁设备的工作状态。例如，处理系统254可根据清洁对象的清洁程度，将清洁设备的水泵的功率调节至与清洁对象的清洁程度适配的功率。相应地，处理系统254可预设清洁度等级与水泵功率之间的对应关系，基于该对应关系，处理系统254可根据清洁对象的清洁度等级，确定水泵的功率。优选地，清洁等级越高，水泵的功率越小，清洁设备的出水量越小，说明清洁对象越干净。
又例如，处理系统254还可根据清洁对象的清洁程度，将清洁设备的主电机和/或地刷电机的功率调整至与清洁对象的清洁程度适配的功率。相应地，处理系统254可预设清洁度等级与主电机和/或地刷电机功率之间的对应关 系，基于该对应关系，处理系统254可根据清洁对象的清洁度等级，确定主电机和/或地刷电机的功率。优选地，清洁等级越高，主电机和/或地刷电机的功率越小，清洁设备的吸水能力越小，说明清洁对象越干净。在本申请的实施例中，主电机将污浊液体由清洁设备的地刷上的吸嘴251a抽吸并经清洁设备上的抽吸通道送入清洁设备的回收桶内，地刷电机带动地刷清洁清洁对象。
又例如，处理系统254还可根据清洁对象的清洁程度，将清洁设备的任务执行时间调整至与清洁对象的清洁程度适配的时间。相应地，处理系统254可预设清洁度等级与清洁时间之间的对应关系，基于该对应关系，处理系统254可根据清洁对象的清洁度等级，确定清洁时间。优选地，清洁等级越高，主电机和/或地刷电机的功率越小，清洁时间越短，说明清洁对象越干净。
可选地，若处理系统254确定清洁对象的清洁程度达标，则可控制清洁设备S10停止工作。其中，清洁对象的清洁程度达标可为清洁对象的清洁度等级为最高清洁度等级。可选地，若清洁对象的清洁度等级为最高清洁度等级，处理系统254可控制水泵、主电机和/或地刷电机停转等等。
值得说明的是，如图25q所示，本申请实施例还提供电源管理电路2511，其中，电源管理电路2511用于将电池的输出电压转换为清洁设备S10所需的电压，在本实施例中，以清洁设备S10所需的电压为+5V进行示例。如图25q所示，电源管理电路2511包括电压管理芯片U4，其中，电压管理芯片U4的输入端用于与电池正极电连接，其接地端接地，其输出端用于与上述各电路的供电端电连接。其中，电压管理芯片U4可将输入的电池电压转换为+5V电压并输出。可选地，电池正极与电压管理芯片U4的输入端之间可串联发光二极管D2，发光二极管D2的阳极与电池正极电连接，其阴极与电压管理芯片U4的输入端电连接。发光二极管D2可用于显示清洁设备S10的供电状态。
进一步，电压管理芯片U4的输入端与地之间还可并联滤波电路，用于滤除电池所输出电压的纹波，还可滤除电池251所输出电压中的噪声。可选地，滤波电路可由有源电容EC1和无源电容C18并联构成。
进一步，电压管理芯片的输出端与地之间也可并联滤波电路，用于避免 由于电源管理芯片U4所输出电流的突变而使电压下降，相当于滤除电源管理芯片U4所输出电压的纹波，还可滤除电源管理芯片U4所输出电压中的噪声。可选地，电压管理芯片的输出端与地之间并联的滤波电路可由有源电容EC2和无源电容C19并联构成。
值得说明的是，上述本实施例图25a-图25q中所提供的清洁设备的结构及实现形式、以及清洁设备各组件的形态及设置位置只是示例性的，而非限制性的。另外，除图25a-图25q所示组件之外，清洁设备S10还可以根据应用需求包含通信组件、滚轮、驱动组件等，图25a-图25q中未示出。图25a-图25q中仅示意性给出部分组件，并不意味着清洁设备S10必须包含图25a-图25q所示全部组件，也不意味着清洁设备S10只能包括图25a-图25q所示组件。还值得说明的是，在本申请实施例提供的各电路原理图中，相同的端口标记之间表示对应的端口电连接。
除了上述实施例提供的清洁设备之外，本申请实施例还提供清洁度检测方法。下面从处理系统的角度，对本申请实施例提供的清洁度检测方法进行示例性说明。
图26为本申请实施例提供的一种清洁度检测方法的流程示意图。如图26所示，该方法包括：
2601、接收第一检测器件提供的清洁对象上的污浊液体的物理属性值。
2602、根据污浊液体的物理属性值，确定清洁对象的清洁程度。
在本实施例中，清洗设备可以为用于清洗地面、地板、地毯、墙壁、天花板或玻璃等区域的清洗机，但不限于此。污浊液体由清洁设备的地刷上的吸嘴抽吸并经清洁设备上的抽吸通道送入清洁设备的回收桶内。其中，第一检测器件部分或全部设置于污浊液体的流通路径上。其中，关于第一检测器件的结构以及设置方式的描述，均可参见上述实施例的相关内容，在此不再赘述。
在本实施例中，在清洁设备上增设可检测清洁对象上的污浊液体的物理属性值的检测器件，即将该检测器件的部分或全部设置于污浊液体的流通 路径上。这样，处理系统可根据检测器件检测到的污浊液体的物理属性值，确定清洁对象的清洁程度，实现了对清洁对象的清洁程度的自主检测，无需再人工确定清洁对象是否干净，从而有利于提高用户体验。
在本实施例中，第一检测器件的工作原理不同，可检测的污浊液体的物理属性不同。例如，一些光学检测器件可以检测污浊液体的光学属性值；又例如，一些电学检测器件可以检测污浊液体的电学属性值。在本申请实施例中，污浊液体的物理属性包括其光学属性和/或电学属性。其中，污浊液体的光学属性可以为污浊液体的颜色、浊度或透明度等；污浊液体的电学属性可以为污浊液体的电阻、电阻率、电流或电压等等。
在一些实施例中，若第一检测器件检测污浊液体的光学属性值，则第一检测器件可包括：光源和光检测器。其中，关于光源和光检测器的设置位置、实现形态以及工作原理的描述，均可参见上述实施例的相关内容，在此不再赘述。在该实施方式中，第一检测器件可向处理系统提供第一电信号，其中，第一电信号反应污浊液体的光学属性。相应地，步骤2602的一种可选实施方式为：根据第一检测器件提供的第一电信号，计算污浊液体的光学属性值，并根据污浊液体的光学属性值，确定清洁对象的清洁程度。关于根据污浊液体的光学属性值确定清洁对象的清洁程度的具体实施方式，可参见上述实施例的相关内容，在此不再赘述。
在另一些实施例中，若第一检测器件检测污浊液体的电学属性值，则第一检测器件可包括：第一导电体组和第一检测电路。其中，第一导电体组设置于污浊液体的流通路径上。第一检测电路电连接于第一导电体组与处理系统之间。其中，关于第一导电体组和第一检测电路的描述可参见上述实施例的相关内容，在此不再赘述。在本实施例中，第一检测电路可向处理系统提供第二电信号。其中，其中，第二电信号反应污浊液体的电学属性。相应地，步骤2602的另一种可选实施方式为：根据第一检测器件提供的第二电信号，确定清洁对象的清洁程度。
在又一些实施例中，若第一检测器件既检测污浊液体的电学属性值，又 检测污浊液体的光学属性值，则第一检测器件可包括：光源和光检测器，以及第一导电体组和第一检测电路。步骤2602的又一种可选实施方式为：根据污浊液体的光学属性值以及第一检测器件提供的第二电信号，确定清洁对象的清洁程度。
在本申请各实施例中，在确定清洁对象的清洁程度之后，还可根据清洁对象的清洁程度，调整清洁设备的工作状态。例如，处理系统可根据清洁对象的清洁程度，将清洁设备的水泵的功率调节至与清洁对象的清洁程度适配的功率。相应地，处理系统可预设清洁度等级与水泵功率之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定水泵的功率。优选地，清洁等级越高，水泵的功率越小，清洁设备的出水量越小，说明清洁对象越干净。
又例如，还可根据清洁对象的清洁程度，将清洁设备的主电机和/或地刷电机的功率调整至与清洁对象的清洁程度适配的功率。相应地，处理系统可预设清洁度等级与主电机和/或地刷电机功率之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定主电机和/或地刷电机的功率。优选地，清洁等级越高，主电机和/或地刷电机的功率越小，清洁设备的吸水能力越小，说明清洁对象越干净。在本申请的实施例中，主电机将污浊液体由清洁设备的地刷上的吸嘴抽吸并经清洁设备上的抽吸通道送入清洁设备的回收桶内，地刷电机带动地刷清洁清洁对象。
又例如，还可根据清洁对象的清洁程度，将清洁设备的任务执行时间调整至与清洁对象的清洁程度适配的时间。相应地，处理系统可预设清洁度等级与清洁时间之间的对应关系，基于该对应关系，处理系统可根据清洁对象的清洁度等级，确定清洁时间。优选地，清洁等级越高，主电机和/或地刷电机的功率越小，清洁时间越短，说明清洁对象越干净。
可选地，若处理系统确定清洁对象的清洁程度达标，则可控制清洁设备停止工作。其中，清洁对象的清洁程度达标可为清洁对象的清洁度等级为最高清洁度等级。可选地，若清洁对象的清洁度等级为最高清洁度等级，处理 系统可控制水泵、主电机和/或地刷电机停转等等。
相应地，本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，当计算机指令被一个或多个处理器执行时，致使一个或多个处理器执行上述方法中的步骤。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤2601和2602的执行主体可以为设备A；又比如，步骤2601的执行主体可以为设备A，步骤2602的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如2601、2602等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。
针对现有清洁设备在关机时目标对象上存在液体残留的技术问题，在本申请一些实施例中，可移动设备可响应指示其停止作业的指令，控制流体供应装置停止向目标对象喷洒液体或控制流体供应装置降低喷洒量，并控制回收装置继续回收目标对象上的液体，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
以下结合附图，详细说明本申请各实施例提供的技术方案。
应注意到：相同的标号在下面的附图以及实施例中表示同一物体，因此，一旦某一物体在一个附图或实施例中被定义，则在随后的附图和实施例中不需要对其进行进一步讨论。
图27a为本申请实施例提供的一种可移动设备的结构示意图。如图27a所示，该可移动设备包括：流体供应装置271、回收装置272和控制系统273。其中，控制系统273与流体供应装置271和回收装置272电连接，可控制流体供应装置271和回收装置272的工作状态。在本实施例中，流体供应装置271负责向外喷洒液体，为了便于描述和区分，将流体供应装置 271向外喷洒的液体定义为第一液体。回收装置272负责回收由第一液体产生的第二液体。
在不同的应用场景中，可移动设备的实现形态、第一液体和第二液体的化学成分有所不同。例如，在清洁场景中，可移动设备可为清洁设备，第一液体可为干净液体，例如清水和/或掺杂有清洁剂的液体等等，但不限于此。相应地，第二液体可为第一液体喷洒在目标对象(清洁对象和/或清洁刷)，经清洁设备的清洁组件清洁后产生的污浊液体。在该应用场景中，第一液体被释放到目标对象上进行清洁工作。又例如，在一些应用场景中，可移动设备可为化学反应设备，第一液体可为待反应的化学试剂，相应地，第二液体可为第一液体在目标对象上发生化学反应后形成的液体；等等，但不限于此。其中，图27a中仅以可移动设备为清洁设备进行示例，并不限定可移动设备的实现形式。
可移动设备可在移动过程中利用各部件执行相关作业。可移动设备是指可以进行移动的设备，可以为自主移动设备，例如扫地机器人、擦窗机器人等；也可为需要借助外力进行移动的设备，例如手持式清洗机、手持式吸尘器、手持式除螨仪等等，但不限于此。
在本实施例中，可移动设备在工作时，控制系统273可控制流体供应装置271向目标对象喷洒第一液体，并控制回收装置272回收目标对象上的第二液体。但是，在现有技术中，在可移动设备接收到指示该设备停止作业的指令时，会控制流体供应装置271和回收装置272同时停止作业，以致目标对象上残留大量液体。为了解决该问题，本实施例中，控制系统273可响应指示可移动设备停止作业的指令，控制流体供应装置271停止向目标对象喷洒第一液体。可选地，控制系统273可立即控制流体供应装置271不再作业，也可控制流体供应装置271逐渐减少喷洒量至停止作业。相应地，对于回收装置272，控制系统273可控制回收装置272继续回收目标对象上的第二液体，并在满足设定条件时控制回收装置272停止回收目标对象上的第二液体。
其中，在不同实施例中，设定条件可有所不同。例如，在一些实施例中，设定条件可以为回收装置272在控制系统273可响应指示可移动设备停止作业的指令之后，继续回收目标对象上的第二液体的时长达到设定时长。相应地，控制系统273在回收装置272继续回收目标对象上的第二液体的时长达到设定时长时，控制回收装置272停止作业。另一些实施例中，设定条件可以为目标对象的湿度小于或等于设定的湿度阈值；相应地，控制系统273在目标对象的湿度小于或等于设定的湿度阈值时，控制回收装置272停止作业。又一些实施例中，设定条件可以为回收装置272继续回收目标对象上的第二液体的时长达到设定时长，且目标对象的湿度小于或等于设定的湿度阈值；相应地，控制系统273在回收装置272继续回收目标对象上的第二液体的时长达到设定时长，且目标对象的湿度小于或等于设定的湿度阈值时，控制回收装置272停止作业。
值得说明的是，在本申请各实施例中，若控制系统273是利用电信号控制某个部件进行作业的，则控制可移动设备上的某个部件停止工作可以指控制系统273不再向该部件输出电信号，不包括该部件利用惯性继续作业。
本实施例提供的可移动设备，可响应指示其停止作业的指令，控制流体供应装置停止向目标对象喷洒液体，并控制回收装置继续回收目标对象上的液体，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
在本申请实施例中，指示可移动设备停止作业的指令可以为指示可移动设备关机的指令，也可为指示可移动设备暂停作业的指令。在一些实施例中，如图27b所示，可移动设备上设置有停止作业的按键，其中，停止作业的按键可为关机键，也可为暂停键。在本实施例中，控制系统273可检测可移动设备上的停止作业的按键的状态，并在检测到停止作业的按键被按下时，确定收到指示可移动设备停止作业的指定。可选地，如图27b所示，停止作业的按键可与电源电连接，其中，按键和电源之间还可设置有其它电路。在本申请实施例中不进行限定。可选地，电源可为外接电源，也可为内置电池模 块。
进一步，可移动设备还包括按键检测电路274。按键检测电路274与控制系统273配合可检测停止作业的按键是否被按下。即控制系统273可通过检测按键检测电路274与控制系统273电连接的接口的电平的变化，检测停止作业按键是否被按下。可选地，若控制系统273检测到按键检测电路274与控制系统273电连接的接口的电平由高电平转变为低电平，则确定停止作业的按键被按下。或者，在一些实施例中，若控制系统273检测到按键检测电路274与控制系统273电连接的接口的电平由低电平转变为高电平，则确定停止作业的按键被按下。具体按键检测电路274与控制系统273电连接的接口的电平变化方式，由具体的电路连接方式决定，图27b所示的电路连接结构仅为示例性说明，并不对其构成限定。
可选地，按键检测电路274可与控制系统273集成在同一PCB板上，也可单独集成在与控制系统273所在PCB板不同的另一PCB板上。
在另一些实施例中，可移动设备具有语音交互功能，可移动设备可通过其上的音频组件(图27a和图27b中未示出)实现与用户的语音交互。用户可通过向可移动设备下发语音指令，控制可移动设备停止作业。相应地，控制系统273可监听可移动设备接收的语音指令；并在监听到可移动设备接收到指示可移动设备停止作业的语音指令时，确定收到指示可移动设备停止作业的指令。控制系统273在收到指示可移动设备停止作业的语音指令后，控制可移动设备停止作业。
在本申请的实施例中，目标对象的实现形态包括如下的至少一种：清洁刷、清洁对象，清洁对象可以为以下多种实现方式的任意一种：地面、玻璃窗、玻璃墙、墙壁、汽车、管道等。可移动设备的结构和清洁场景不同，目标对象的形态也不同，在此不做限制。可选地，目标对象为地面和清洁刷。在另一些实施方式中，目标对象为地面。
在本申请实施例中，流体供应装置271的实现形态不同，控制流体供应装置271停止作业的方式也有所差别。在一种实施例中，如图27a所示，流 体供应装置271可包括：水泵271a、输水管271b和喷嘴(图27a中未示出)。可移动设备还可包括溶液桶275，溶液桶275内存储有第一液体。其中，水泵271a可将溶液桶275的第一液体抽出，并经输水管271b流至喷嘴，之后，由喷嘴将第一液体喷洒至目标对象上。在该实施例中，控制系统273可向水泵271a输送驱动信号，水泵271a在驱动信号的驱动下转动，将溶液桶275中的第一液体抽出至输水管271b。为了便于描述和区分，将控制系统273向水泵271a输出的驱动信号，定义为第一驱动信号。相应地，控制系统273可停止向水泵271a输送第一驱动信号，进而使流体供应装置271停止作业。
可选地，水泵271a的实现形态不同，第一驱动信号的形式也不同。若水泵271a为直流水泵，则第一驱动信号为PWM信号，其参数值可为PWM信号的占空比；若水泵271a为交流水泵，其中，交流水泵可由可控硅控制，则第一驱动信号为脉冲信号，其参数值可为脉冲信号与正弦信号过零点之间的延迟时间Δt。其中，正弦信号可为220V的市电信号。控制系统273可通过控制脉冲信号相较于正弦信号过零点的延迟时间的长短，控制可控硅的导通角的大小，进而控制水泵271a的功率。其中，脉冲信号相较于正弦信号过零点的延迟时间越长，可控硅的导通角越小，水泵271a的功率越小；相应地，脉冲信号相较于正弦信号过零点的延迟时间越短，可控硅的导通角越大，水泵271a的功率越大。可选地，在一些实施例中，脉冲信号相较于正弦信号过零点的延迟时间可为：首个脉冲的上升沿或下降沿与正弦信号过零点之间的时间间隔。其中，脉冲信号可以为1个脉冲或多个脉冲。图27c仅以脉冲信号为3个，脉冲信号相较于正弦信号的过零点的延迟时间为首个脉冲的下降沿之间的时间间隔Δt进行示例。
在本实施例中，流体供应装置271可有不同的喷洒量等级，其中，水泵271a的功率越高，流体供应装置271的喷洒量越大。相应地，第一驱动信号的参数值可决定水泵271a的功率。对于直流水泵，PWM信号，其占空比越大，水泵271a的功率越高；对于可控硅控制的交流水泵，脉冲信号与正弦信号过零点之间的延迟时间越短，可控硅的导通角越大，水泵271a的功率越高。 基于此，在本申请实施例中，控制系统273也可逐渐改变第一驱动信号的参数值，以使水泵271a逐渐停止转动。例如，若水泵271a为直流水泵，则可按照设定的占空比降低梯度，向水泵271a输出占空比逐渐减小的PWM信号，直至占空比降低为0。又例如，若水泵271a为交流水泵，则可按照设定的时延梯度，向水泵271a输出脉冲信号相较于正弦信号过零点之间的延迟时间增大的脉冲信号，直至正弦信号的半周期内不输出脉冲信号，即直至可控硅的导通角为0°。例如，如图27c所示，若水泵271a为交流水泵，正弦信号的半周期内不输出脉冲信号是指：正弦信号的半周期内第一驱动信号一直为高电平信号。
在另一些实施例中，流体供应装置271设置有对应的阀门，控制系统273可控制阀门的闭合程度，控制流体供应装置271停止喷洒第一液体。例如，控制系统273可控制阀门对应的制动机构动作，部分关闭阀门或全关闭阀门等等，但不限于此。总之，控制系统273可以通过阀门的制动机构控制流体供应装置271开启或停止喷洒第一液体，相应地，还可以控制逐渐增大第一液体的流量，或者逐渐减小第一液体的流量。
在另一些实施例中，流体供应装置271通过气泵或第一液体的自重供应第一液体，控制系统273可控制流体供应装置271开启或停止喷洒第一液体，相应地，还可以控制逐渐增大第一液体的流量，或者逐渐减小第一液体的流量。
对于回收装置272，控制系统273也可向其输出驱动信号来控制其工作状态。为了便于描述和区分，在本申请实施例中，将控制系统273向回收装置272输出的驱动信号，定义为第二驱动信号。即控制系统273可响应指示可移动设备停止作业的指令，向回收装置272的电机输出第二驱动信号，来控制回收装置272继续回收目标对象上的第二液体。其中，第二驱动信号的参数值与控制系统273在响应指示可移动设备停止作业的指令之前向回收装置272输出的驱动信号的参数值可以相同，也可以不同。若第二驱动信号的参数值与控制系统273在响应指示可移动设备停止作业的指令之前向回收装置272 输出的驱动信号的参数值相同，则回收装置272以原功率继续回收目标对象上的第二液体。相应地，第二驱动信号的参数值与控制系统273在响应指示可移动设备停止作业的指令之前向回收装置272输出的驱动信号的参数值不同，则回收装置272以调整后的功率继续回收目标对象上的第二液体。其中，调整后的功率可以大于原功率，也可小于原功率；还可以是先大于原功率，预定时间后再阶梯状的减小功率，或者线性、非线性的减小功率。
在本实施例中，如图27a所示，回收装置272可包括：吸嘴272a、以及对应的电机272b。可选地，回收装置272对应的电机272b可为可移动设备的主电机。可移动设备还可包括：回收桶276。其中，主电机运转产生吸力，由吸嘴272a将目标对象上的第二液体吸收至回收桶276内。其中，控制系统273向回收装置272输出第二驱动信号，确切地说是向回收装置272的电机272b输出第二驱动信号。其中，第二驱动信号的参数值不同，电机272b的工作功率不同。若电机272b为直流电机，则第二驱动信号为PWM信号，其参数可为PWM信号的占空比，其中，PWM信号的占空比越大，电机272d的功率越大；若电机272b为交流电机，交流电机由可控硅控制，则第二驱动信号为脉冲信号，其参数可为脉冲信号相较于正弦信号过零点的延迟时间，其中，延迟时间越短，可控硅的导通角越大，电机272c的功率越大。
在本申请实施例中，第二驱动信号的参数值可与控制系统273在响应指示可移动设备停止作业的指令之前向回收装置272输出的驱动信号的参数值相同；也可以与不同控制系统273在响应指示可移动设备停止作业的指令之前向回收装置272输出的驱动信号的参数值不同。
进一步，第二驱动信号的参数的具体取值可预设在可移动设备内，也可根据实际情况进行确定。在一种实施例中，流体供应装置271具有不同的喷洒量等级，不同喷洒量等级对应的喷洒量不同。在控制系统273响应指示可移动设备停止作业的指令之前，流体供应装置271若工作在不同的喷洒量等级，目标对象上产生的第二液体的量也就不同。基于此，控制系统273可根据流体供应装置271在响应指示可移动设备停止作业的指令之前的喷洒量， 确定第二驱动信号所需的第一目标参数值；并按照第一目标参数值，向回收装置272输出第二驱动信号。在该实施例中，第二驱动信号具有第一目标参数值。可选地，控制系统273可确定流体供应装置271在响应指示可移动设备停止作业的指令之前的喷洒量等级，并将该喷洒量等级在预设的喷洒量等级与参数值之间的对应关系中进行匹配，进而得到与流体供应装置271在响应指示可移动设备停止作业的指令之前的喷洒量等级适配的第一目标参数值。
在另一种实施例中，还可根据目标对象的湿度，确定第二驱动信号所需的第二目标参数值；并按照第二目标参数值，向回收装置272输出第二驱动信号。在该实施例中，第二驱动信号具有第二目标参数值。可选地，可在可移动设备与目标对象接触的位置上设置湿度传感器，该湿度传感器与控制系统273电连接，可采集目标对象的湿度。可选地，若可移动设备为清洁设备，则湿度传感器可设置于机体与目标对象临近的位置，例如，机体底部、清洁刷底部等等，但不限于此。进一步，控制系统273可根据目标对象的湿度，确定对应的湿度等级；并将目标对象对应的湿度等级在预设的湿度等级与参数值之间的对应关系中进行匹配，进而得到与目标对象的湿度等级适配的第二目标参数值。
在又一些实施例中，还可根据流体供应装置271在响应指示可移动设备停止作业的指令之前的喷洒量以及目标对象的湿度，确定第二驱动信号所需的目标参数值，并向回收装置272输出具有该目标参数值的第二驱动信号。
在其它一些实施例中，还可将第二驱动信号的参数的具体取值可预设在可移动设备内，为了便于描述和区分，将预设的第二驱动信号的参数值定义为第三目标参数值。其中，第三目标参数值不同于在响应指示所述可移动设备停止作业的指令之前向回收装置272输出的驱动信号的参数值；相应地，控制系统273根据预设的第三目标参数值，生成第二驱动信号；按照第三目标参数值，向回收装置272的电机272d输出第二驱动信号。在该实施例中，第二驱动信号具有第三目标参数值。
在本申请实施例中，如图27a所示，可移动设备还包括：清洁组件277。其中，清洁组件277包括：清洁刷以及带动清洁刷作业的电机。在本申请实施例中，对于清洁组件277，控制系统273可响应指示可移动设备停止作业的指令，控制清洁组件277停止作业；也可响应指示可移动设备停止作业的指令，控制清洁组件277继续作业，并在满足上述设定条件后控制清洁组件277停止作业。
可选地，控制系统273向清洁组件277的电机输送第三驱动信号，以控制清洁组件277继续作业；其中，第三驱动信号的参数值可与在控制系统273在响应指示所述可移动设备停止作业的指令之前向清洁组件277的电机输出的驱动信号的参数值相同，这样，清洁组件277可以原功率进行执行清洁工作。可选地，第三驱动信号的参数值可与在控制系统273在响应指示所述可移动设备停止作业的指令之前向清洁组件277的电机输出的驱动信号的参数值不同，这样，清洁组件277可以调整后的功率继续执行清洁工作。例如，清洁组件277可以降低后的功率继续执行清洁工作，也可以升高后的功率继续执行清洁工作。不同的功率对应不同的参数值，即控制系统273可将清洁组件277的电机输出不同的参数值来调整清洁组件277的工作功率。
其中，第三驱动信号的参数值可预设在可移动设备内，也可根据流体供应装置271在控制系统273响应指示可移动设备停止作业的指令之前的喷洒量和/或目标对象的湿度确定，其具体实施方式可参见上述第二驱动信号的目标参数值的相关内容，在此不再赘述。
值得说明的是，上述本实施例图27a和图27b中所提供的可移动设备的结构及实现形式、以及可移动设备各组件的形态及设置位置只是示例性的，而非限制性的。另外，除图27a和图27b所示组件之外，可移动设备还可以根据应用需求包含通信组件、滚轮、驱动组件等，图27a和图27b中未示出。图27a和图27b中仅示意性给出部分组件，并不意味着可移动设备必须包图27a和图27b所示全部组件，也不意味着可移动设备只能包括图27a和图27b所示组件。
除了上述可移动设备之外，本申请实施例还提供作业方法，适用于上述控制系统，下面进行示例性说明。
图28为本申请实施例提供的一种作业方法的流程示意图。如图28所示，该方法包括：
2801、响应于指示可移动设备停止作业的指令，控制流体供应装置停止向目标对象喷洒第一液体。
2802、控制回收装置继续回收目标对象上的第二液体。
2803、在满足设定条件时控制回收装置停止回收目标对象上的第二液体。
在本实施例中，包括：流体供应装置和回收装置。其中，在本实施例中，流体供应装置负责向外喷洒液体，为了便于描述和区分，将流体供应装置向外喷洒的液体定义为第一液体。回收装置负责回收由第一液体产生的第二液体。
在不同应用场景下，可移动设备的实现形态、第一液体和第二液体的化学成分有所不同。例如，在清洁场景中，可移动设备可为清洁设备，第一液体可为干净液体，例如清水或者掺杂有清洁剂的液体等等，但不限于此。相应地，第二液体可为第一液体喷洒在目标对象(清洁对象和/或清洁刷)，经清洁设备的清洁组件清洁后产生的污浊液体。又例如，在一些应用场景中，可移动设备可为化学反应设备，第一液体可为待反应的化学试剂，相应地，第二液体可为第一液体在目标对象上发生化学反应后形成的液体；等等，但不限于此。
可移动设备可在移动过程中利用各部件执行相关作业。可移动设备是指可以进行移动的设备，可以为自主移动设备，例如扫地机器人、擦窗机器人等；也可为需要借助外力进行移动的设备，例如手持式清洗机、手持式吸尘器、手持式除螨仪等等，但不限于此。
在本实施例中，可移动设备在工作时，流体供应装置可向目标对象喷洒第一液体，并回收装置可回收目标对象上的第二液体。但是，在现有技术中，在可移动设备接收到指示该设备停止作业的指令时，会流体供应装 置和回收装置同时停止作业，以致目标对象上残留大量液体。为了解决该问题，本步骤2801中，可响应指示可移动设备停止作业的指令，控制流体供应装置停止向目标对象喷洒第一液体。可选地，可立即控制流体供应装置不再作业，也可控制流体供应装置逐渐减少喷洒量至停止作业。
相应地，对于回收装置，在步骤2802中，可控制回收装置继续回收目标对象上的第二液体，并在步骤2803中，在满足设定条件时控制回收装置停止回收目标对象上的第二液体。
其中，在不同实施例中，设定条件可有所不同。例如，在一些实施例中，设定条件可以为回收装置在响应指示可移动设备停止作业的指令之后，继续回收目标对象上的第二液体的时长达到设定时长。相应地，在回收装置继续回收目标对象上的第二液体的时长达到设定时长时，控制回收装置停止作业。另一些实施例中，设定条件可以为目标对象的湿度小于或等于设定的湿度阈值；相应地，在目标对象的湿度小于或等于设定的湿度阈值时，控制回收装置停止作业。又一些实施例中，设定条件可以为回收装置继续回收目标对象上的第二液体的时长达到设定时长，且目标对象的湿度小于或等于设定的湿度阈值；相应地，在回收装置继续回收目标对象上的第二液体的时长达到设定时长，且目标对象的湿度小于或等于设定的湿度阈值时，控制回收装置停止作业。
值得说明的是，在本申请各实施例中，若是利用电信号控制某个部件进行作业的，则控制可移动设备上的某个部件停止工作可以指不再向该部件输出电信号，不包括该部件利用惯性继续作业。
本实施例中，可移动设备可响应指示其停止作业的指令，控制流体供应装置停止向目标对象喷洒液体，并控制回收装置继续回收目标对象上的液体，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
在本申请实施例中，指示可移动设备停止作业的指令可以为指示可移动设备关机的指令，也可为指示可移动设备暂停作业的指令。在步骤2801之前，可检测可移动设备上的停止作业的按键的状态，并在检测到停止作业的按键 被按下时，确定收到指示可移动设备停止作业的指定。其中，停止作业的按键可为关机键，也可为暂停键。
在另一些实施例中，可移动设备具有语音交互功能。用户可通过向可移动设备下发语音指令，控制可移动设备停止作业。相应地，在步骤2801之前，可监听可移动设备接收的语音指令；并在监听到可移动设备接收到指示可移动设备停止作业的语音指令时，确定收到指示可移动设备停止作业的指令。
在本申请实施例中，流体供应装置的实现形态不同，控制流体供应装置停止作业的方式也有所差别。在一种实施例中，流体供应装置可包括：水泵、输水管和喷嘴。其中，关于该流体供应装置的工作原理可参见上述实施例的相关内容，在此不再赘述。可向水泵输送驱动信号，水泵在驱动信号的驱动下转动，将溶液桶中的第一液体抽出至输水管。为了便于描述和区分，将向水泵输出的驱动信号，定义为第一驱动信号。相应地，步骤2801的一种可选实施方式为：停止向水泵输送第一驱动信号，进而使流体供应装置停止作业。其中，关于水泵的电机的实现形态、第一驱动信号以及向水泵停止输送第一驱动信号的实施方式的描述，可参见上述实施例的相关内容，在此不再赘述。
在另一些实施例中，流体供应装置设置有对应的阀门，步骤2801的另一种实施方式为：控制阀门的闭合程度，控制流体供应装置停止喷洒第一液体。例如，可控制阀门对应的制动机构动作，关闭阀门等等，但不限于此。总之，控制系统可以通过阀门的制动机构控制流体供应装置开启或停止喷洒第一液体，相应地，还可以控制逐渐增大第一液体的流量，或者逐渐减小第一液体的流量。
在另一些实施例中，流体供应装置通过气泵或第一液体的自重供应第一液体，控制系统可控制流体供应装置开启或停止喷洒第一液体，相应地，还可以控制逐渐增大第一液体的流量，或者逐渐减小第一液体的流量。
对于回收装置，也可向其输出驱动信号来控制其工作状态。为了便于描述和区分，在本申请实施例中，将向回收装置输出的驱动信号，定义为第二 驱动信号。相应地，步骤2802的一种实施方式为：响应指示可移动设备停止作业的指令，向回收装置的电机输出第二驱动信号，来控制回收装置继续回收目标对象上的第二液体。其中，第二驱动信号的参数值与在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值可以相同，也可以不同。
在本实施例中，回收装置可包括：真空泵、吸嘴、回收桶以及对应的电机。可选地，回收装置对应的电机可为可移动设备的主电机。其中，向回收装置输出第二驱动信号，确切地说是向回收装置的电机输出第二驱动信号。其中，第二驱动信号的参数值不同，电机的工作功率不同。关于第二驱动信号的实现形式以及第二驱动信号的参数值与电机工作功率的对应关系，可参见上述实施例的相关内容，在此不再赘述。
在本申请实施例中，第二驱动信号的参数值可与在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值相同；也可以与不同在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值不同。
进一步，第二驱动信号的参数的具体取值可预设在可移动设备内，也可根据实际情况进行确定。在一种实施例中，流体供应装置具有不同的喷洒量等级，不同喷洒量等级对应的喷洒量不同。在响应指示可移动设备停止作业的指令之前，流体供应装置若工作在不同的喷洒量等级，目标对象上产生的第二液体的量也就不同。基于此，可根据流体供应装置在响应指示可移动设备停止作业的指令之前的喷洒量，确定第二驱动信号所需的第一目标参数值；并按照第一目标参数值，向回收装置输出第二驱动信号。在该实施例中，第二驱动信号具有第一目标参数值。其中，关于确定第一目标参数值的具体实施方式可参见上述实施例的相关内容，在此不再赘述。
在另一种实施例中，还可根据目标对象的湿度，确定第二驱动信号所需的第二目标参数值；并按照第二目标参数值，向回收装置输出第二驱动信号。在该实施例中，第二驱动信号具有第二目标参数值。其中，关于确定目标对 象的湿度以及确定第二目标参数值的具体实施方式可参见上述实施例的相关内容，在此不再赘述。
在又一些实施例中，还可根据流体供应装置在响应指示可移动设备停止作业的指令之前的喷洒量以及目标对象的湿度，确定第二驱动信号所需的目标参数值，并向回收装置输出具有该目标参数值的第二驱动信号。
在其它一些实施例中，还可第二驱动信号的参数的具体取值可预设在可移动设备内，为了便于描述和区分，将预设的第二驱动信号的参数值定义为第三目标参数值。其中，第三目标参数值不同于在响应指示所述可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值；相应地，可根据预设的第三目标参数值，生成第二驱动信号；按照第三目标参数值，向回收装置的电机输出第二驱动信号。在该实施例中，第二驱动信号具有第三目标参数值。
在本申请实施例中，可移动设备还包括：清洁组件。其中，清洁组件包括：清洁刷以及带动清洁刷作业的电机。在本申请实施例中，对于清洁组件，可响应指示可移动设备停止作业的指令，控制清洁组件停止作业；也可响应指示可移动设备停止作业的指令，控制清洁组件继续作业，并在满足上述设定条件后控制清洁组件停止作业。
可选地，可向清洁组件的电机输送第三驱动信号，以控制清洁组件继续作业；其中，第三驱动信号的参数值可与在控制系统在响应指示可移动设备停止作业的指令之前向清洁组件的电机输出的驱动信号的参数值相同，这样，清洁组件可以原功率进行执行清洁工作。可选地，第三驱动信号的参数值可与在响应指示所述可移动设备停止作业的指令之前向清洁组件的电机输出的驱动信号的参数值不同，这样，清洁组件可以调整后的功率继续执行清洁工作。例如，清洁组件可以降低后的功率继续执行清洁工作，也可以升高后的功率继续执行清洁工作。不同的功率对应不同的参数值，即可将清洁组件的电机输出不同的参数值来调整清洁组件的工作功率。
其中，第三驱动信号的参数值可预设在可移动设备内，也可根据流体供 应装置在响应指示可移动设备停止作业的指令之前的喷洒量和/或目标对象的湿度确定，其具体实施方式可参见上述第二驱动信号的目标参数值的相关内容，在此不再赘述。
相应地，本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，当计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行上述作业方法中的步骤。
图29为本申请实施例提供的另一种可移动设备的结构示意图。如图29所示，该可移动设备包括：流体供应装置291、回收装置292和控制系统293。其中，控制系统293与流体供应装置291和回收装置292电连接，可控制流体供应装置291和回收装置292的工作状态。在本实施例中，流体供应装置291负责向外喷洒液体，为了便于描述和区分，将流体供应装置291向外喷洒的液体定义为第一液体。回收装置292负责回收由第一液体产生的第二液体。其中，关于可移动设备的实现形态、第一液体以及第二液体的描述可参见上述实施例的相关内容，在此不再赘述。
但是，在现有技术中，在可移动设备接收到指示该设备停止作业的指令时，会控制流体供应装置291和回收装置292同时停止作业，以致目标对象上残留大量液体。为了解决该问题，本实施例中，控制系统293可响应指示可移动设备停止作业的指令，控制流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并控制回收装置292继续回收目标对象上的第二液体，并在满足设定条件时控制流体供应装置和回收装置同时停止作业。其中，关于指示可移动设备停止作业的指令、如何确定是否接收到该指令以及设定条件的描述，可参见上述实施例的相关内容，在此不再赘述。
值得说明的是，在本申请各实施例中，若控制系统293是利用电信号控制某个部件进行作业的，则控制可移动设备上的某个部件停止工作可以指控制系统293不再向该部件输出电信号，不包括该部件利用惯性继续作业。
本实施例提供的可移动设备，可响应指示其停止作业的指令，控制流体供应装置以降低后的喷洒量向目标对象喷洒液体，并控制回收装置继续回收目标对象上的液体，以及在满足设定条件时控制流体供应装置和回收装置同时停止作业，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
在本申请实施例中，流体供应装置的实现形态不同，控制流体供应装置停止作业的方式也有所差别。在一种实施例中，如图29所示，流体供应装置291可包括：水泵291a、输水管291b和喷嘴(图29中未示出)。可选地，可移动设备还可包括：溶液桶294。溶液桶294内存储有第一液体。其中，关于流体供应装置291的工作原理，可参见上述实施例的相关内容，在此不再赘述。在该实施例中，控制系统293可向水泵291a输送驱动信号，水泵291a在驱动信号的驱动下转动，将溶液桶294中的第一液体抽出至输水管291b。为了便于描述和区分，将控制系统293向水泵291a输出的驱动信号，定义为第一驱动信号。相应地，控制系统293可通过调整第一驱动信号的参数值，来降低流体供应装置291的喷洒量。即控制系统293在响应指示可移动设备停止作业的指令，向水泵输出的第一驱动信号对应的功率小于其在若水泵291a的响应指示可移动设备停止作业的指令，向水泵输出的驱动信号对应的功率。
进一步，若水泵291a为直流水泵，则第一驱动信号为PWM信号，其参数值可为PWM信号的占空比。相应地，可减小PWM信号的占空比来降低水泵291a的工作功率，进而降低流体供应装置291的喷洒量。若水泵291a为交流水泵，且交流水泵由可控硅控制，则第一驱动信号为脉冲信号，其参数值可为脉冲信号相较于正弦信号的过零点的延迟时间。相应地，可延长脉冲信号的上升沿或下降沿与正弦信号的过零点之间的延迟时间，进而减小可控硅的导通角，来降低水泵291a的工作功率，进而降低流体供应装置291的喷洒量。正弦信号为可移动设备供电的220V的市电。其中，关于控制系统293在响应指示可移动设备停止作业的指令，向水泵输出的第一驱动信号的参数值 可预设在可移动设备内。
在另一些实施例中，流体供应装置291设置有对应的阀门，控制系统293可控制阀门的闭合程度，调整流体供应装置291的喷洒量。例如，控制系统293可控制阀门对应的制动机构动作，调小阀门的开度，从而降低流体供应装置291的喷洒量等等，但不限于此。
对于回收装置292，控制系统293也可向其输出驱动信号来控制其工作状态。为了便于描述和区分，在本申请实施例中，将控制系统293向回收装置292输出的驱动信号，定义为第二驱动信号。即控制系统293可响应指示可移动设备停止作业的指令，向回收装置292的电机输出第二驱动信号，来控制回收装置292继续回收目标对象上的第二液体。其中，第二驱动信号的参数值与控制系统293在响应指示可移动设备停止作业的指令之前向回收装置292输出的驱动信号的参数值可以相同，也可以不同。若第二驱动信号的参数值与控制系统293在响应指示可移动设备停止作业的指令之前向回收装置292输出的驱动信号的参数值相同，则回收装置292以原功率继续回收目标对象上的第二液体。相应地，第二驱动信号的参数值与控制系统293在响应指示可移动设备停止作业的指令之前向回收装置292输出的驱动信号的参数值不同，则回收装置292以调整后的功率继续回收目标对象上的第二液体。其中，调整后的功率可以大于原功率，也可小于原功率。
优选地，若回收装置292调整后的功率小于原功率，则回收装置292以降低后的功率工作时的单位回收量大于流体供应装置291以降低后的功率作业时的单位喷洒量。其中，单位回收量是指回收装置292在单位时间内可回收的液体量，但是在实际作业中，目标对象上的液体可能小于回收装置292的单位回收量。单位喷洒量则是指流体供应装置291在单位时间内可喷洒的液体量。
进一步，第二驱动信号的参数的具体取值可预设在可移动设备内，也可根据实际情况进行确定。在一种实施例中，流体供应装置291具有不同的喷洒量等级，不同喷洒量等级对应的喷洒量不同。在控制系统293响应指示可 移动设备停止作业的指令之前，流体供应装置291若工作在不同的喷洒量等级，目标对象上产生的第二液体的量也就不同；同理，在控制系统293响应指示可移动设备停止作业的指令之后，流体供应装置291若工作在不同的喷洒量等级，目标对象上产生的第二液体的量也就不同。基于此，控制系统293可根据流体供应装置291在响应指示可移动设备停止作业的指令之前或之后的喷洒量，确定第二驱动信号所需的第一目标参数值；并按照第一目标参数值，向回收装置292输出第二驱动信号。在该实施例中，第二驱动信号具有第一目标参数值。其中，关于确定第一目标参数值的具体实施方式可参见上述实施例的相关内容，在此不再赘述。
在另一种实施例中，还可根据目标对象的湿度，确定第二驱动信号所需的第二目标参数值；并按照第二目标参数值，向回收装置292输出第二驱动信号。在该实施例中，第二驱动信号具有第二目标参数值。其中，关于确定第二目标参数值以及目标对象的湿度的具体实施方式，可参见上述实施例的相关内容，在此不再赘述。
在又一些实施例中，还可根据流体供应装置291在响应指示可移动设备停止作业的指令之前或之后的喷洒量以及目标对象的湿度，确定第二驱动信号所需的目标参数值，并向回收装置292输出具有该目标参数值的第二驱动信号。
在其它一些实施例中，还可第二驱动信号的参数的具体取值可预设在可移动设备内，为了便于描述和区分，将预设的第二驱动信号的参数值定义为第三目标参数值。其中，第三目标参数值不同于在响应指示可移动设备停止作业的指令之前向回收装置292输出的驱动信号的参数值；相应地，控制系统293根据预设的第三目标参数值，生成第二驱动信号；按照第三目标参数值，向回收装置292的电机输出第二驱动信号。在该实施例中，第二驱动信号具有第三目标参数值。
在本申请实施例中，如图29所示，回收装置292可包括：吸嘴292a、以及对应的电机292b。可选地，回收装置292对应的电机292b可为可移动设备 的主电机。可移动设备还可包括：回收桶295。回收装置292可将目标对象上的第二液体回收至回收桶295内。
在本申请实施例中，如图29所示，可移动设备还包括：清洁组件296。其中，清洁组件296包括：清洁刷以及带动清洁刷作业的电机。在本申请实施例中，对于清洁组件296，控制系统293可响应指示可移动设备停止作业的指令，控制清洁组件296停止作业；也可响应指示可移动设备停止作业的指令，控制清洁组件296继续作业，并在满足上述设定条件后控制清洁组件296停止作业。在本实施例中，清洁组件继续作业包括如下的任意一种：清洁刷保持原功率继续运行，清洁刷减小功率运行，清洁刷增大功率运行，以原功率运行预定时间(例如为5秒)后线性或非线性的减小功率运行，增大功率运行预定时间(例如为5秒)后线性的减小功率运行。在另外一些实施例中，清洁刷继续作业的运行参数由功率可替换为转速，清洁刷保持原转速继续运行，清洁刷减小转速运行，清洁刷增大转速运行，以原转速运行预定时间(例如为5秒)后线性或非线性的减小转速运行，增大转速运行预定时间(例如为5秒)后线性的减小转速运行。在另外一些实施例中，清洁刷继续作业的运行参数由功率可替换为转向，清洁刷继续作业的包括如下的任意一种：清洁刷保持原有转向运行，清洁刷切换为与原有转向相反的转向后反向运行，清洁刷保持原有转向运行预定时间(例如为5秒)后切换为反向运行，清洁刷反向运行预定时间后(例如为5秒)切换为原有转向运行。其中，关于如何停止清洁组件296作业以及如何控制清洁组件296继续作业的具体实施方式，均可参见上述实施例的相关内容，在此不再赘述。
值得说明的是，上述本实施例图29中所提供的可移动设备的结构及实现形式、以及可移动设备各组件的形态及设置位置只是示例性的，而非限制性的。另外，除图29所示组件之外，可移动设备还可以根据应用需求包含通信组件、滚轮、驱动组件等，图29中未示出。图29中仅示意性给出部分组件，并不意味着可移动设备必须包含图29所示全部组件，也不意味着可移动设备只能包括图29所示组件。
除了上述可移动设备之外，本申请实施例还提供另一种作业方法，适用于上述控制系统，下面进行示例性说明。
图30为本申请实施例提供的另一种作业方法的流程示意图。如图4所示，该方法包括：
3001、响应指示可移动设备停止作业的指令，控制流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体。
3002、控制回收装置继续回收目标对象上的第二液体。
3003、在满足设定条件时控制流体供应装置和回收装置同时停止作业。
在本实施例中，包括：流体供应装置和回收装置。其中，在本实施例中，流体供应装置负责向外喷洒液体，为了便于描述和区分，将流体供应装置向外喷洒的液体定义为第一液体。回收装置负责回收由第一液体产生的第二液体。其中，关于可移动设备的实现形态、第一液体以及第二液体的描述可参见上述实施例的相关内容，在此不再赘述。
可移动设备可在移动过程中利用各部件执行相关作业。可移动设备是指可以进行移动的设备，可以为自主移动设备，例如扫地机器人、擦窗机器人等；也可为需要借助外力进行移动的设备，例如手持式吸尘器、手持式除螨仪等等，但不限于此。
在本实施例中，可移动设备在工作时，流体供应装置可向目标对象喷洒第一液体，并回收装置可回收目标对象上的第二液体。但是，在现有技术中，在可移动设备接收到指示该设备停止作业的指令时，会流体供应装置和回收装置同时停止作业，以致目标对象上残留大量液体。为了解决该问题，在步骤3001中，响应指示可移动设备停止作业的指令，控制流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并在步骤3002中，控制回收装置继续回收目标对象上的第二液体；接着，在步骤3003中，在满足设定条件时控制流体供应装置和回收装置同时停止作业。其中，关于指示可移动设备停止作业的指令、如何确定是否接收到该指令以及设定条件的描述，可参见上述实施例的相关内容，在此不再赘述。
在本实施例中，可移动设备可响应指示其停止作业的指令，控制流体供应装置以降低后的喷洒量向目标对象喷洒液体，并控制回收装置继续回收目标对象上的液体，以及在满足设定条件时控制流体供应装置和回收装置同时停止作业，这样有助于降低目标对象上的液体残留，进而有助于提高用户体验。
在本申请实施例中，流体供应装置的实现形态不同，控制流体供应装置停止作业的方式也有所差别。在一种实施例中，流体供应装置可包括：水泵、输水管和喷嘴。其中，关于流体供应装置的工作原理，可参见上述实施例的相关内容，在此不再赘述。在该实施例中，可向水泵输送驱动信号，水泵在驱动信号的驱动下转动，将溶液桶中的第一液体抽出至输水管。为了便于描述和区分，将向水泵输出的驱动信号，定义为第一驱动信号。相应地，可通过调整第一驱动信号的参数值，来降低流体供应装置的喷洒量。即在响应指示可移动设备停止作业的指令，向水泵输出的第一驱动信号对应的功率小于其在若水泵的响应指示可移动设备停止作业的指令，向水泵输出的驱动信号对应的功率。
进一步，若水泵为直流水泵，则第一驱动信号为PWM信号，其参数值可为PWM信号的占空比。相应地，可减小PWM信号的占空比来降低水泵的工作功率，进而降低流体供应装置的喷洒量。若水泵为交流水泵，可由可控硅控制，则第一驱动信号为脉冲信号，其参数值可为脉冲信号相较于正弦信号的过零点之间的延迟时间，具体为：脉冲信号的上升沿或下降沿相较于正弦信号的过零点之间的延迟时间。相应地，可延长脉冲信号的上升沿或下降沿相较于正弦信号的过零点的延迟时间，进而减小可控硅的导通角，来降低水泵的工作功率，进而降低流体供应装置的喷洒量。其中，关于在响应指示可移动设备停止作业的指令，向水泵输出的第一驱动信号的参数值可预设在可移动设备内。
在另一些实施例中，流体供应装置设置有对应的阀门，可控制阀门的闭合程度，调整流体供应装置的喷洒量。例如，可控制阀门对应的制动机构动 作，调小阀门的开度，从而降低流体供应装置的喷洒量等等，但不限于此。
对于回收装置，也可向其输出驱动信号来控制其工作状态。为了便于描述和区分，在本申请实施例中，将向回收装输出的驱动信号，定义为第二驱动信号。即可响应指示可移动设备停止作业的指令，向回收装置的电机输出第二驱动信号，来控制回收装置继续回收目标对象上的第二液体。其中，第二驱动信号的参数值与控制系统在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值可以相同，也可以不同。若第二驱动信号的参数值与控制系统在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值相同，则回收装置以原功率继续回收目标对象上的第二液体。相应地，第二驱动信号的参数值与控制系统在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值不同，则回收装置以调整后的功率继续回收目标对象上的第二液体。其中，调整后的功率可以大于原功率，也可小于原功率。
优选地，若回收装置调整后的功率小于原功率，则回收装置以降低后的功率工作时的单位回收量大于流体供应装置以降低后的功率作业时的单位喷洒量。其中，单位回收量是指回收装置在单位时间内可回收的液体量，但是在实际作业中，目标对象上的液体可能小于回收装置的单位回收量。单位喷洒量则是指流体供应装置在单位时间内可喷洒的液体量。
进一步，第二驱动信号的参数的具体取值可预设在可移动设备内，也可根据实际情况进行确定。在一种实施例中，可根据流体供应装置在响应指示可移动设备停止作业的指令之前或之后的喷洒量，确定第二驱动信号所需的第一目标参数值；并按照第一目标参数值，向回收装置输出第二驱动信号。在该实施例中，第二驱动信号具有第一目标参数值。其中，关于确定第一目标参数值的具体实施方式可参见上述实施例的相关内容，在此不再赘述。
在另一种实施例中，还可根据目标对象的湿度，确定第二驱动信号所需的第二目标参数值；并按照第二目标参数值，向回收装置输出第二驱动信号。在该实施例中，第二驱动信号具有第二目标参数值。其中，关于确定第二目 标参数值以及目标对象的湿度的具体实施方式，可参见上述实施例的相关内容，在此不再赘述。
在又一些实施例中，还可根据流体供应装置在响应指示可移动设备停止作业的指令之前或之后的喷洒量以及目标对象的湿度，确定第二驱动信号所需的目标参数值，并向回收装置输出具有该目标参数值的第二驱动信号。
在其它一些实施例中，还可第二驱动信号的参数的具体取值可预设在可移动设备内，为了便于描述和区分，将预设的第二驱动信号的参数值定义为第三目标参数值。其中，第三目标参数值不同于在响应指示可移动设备停止作业的指令之前向回收装置输出的驱动信号的参数值；相应地，控制系统根据预设的第三目标参数值，生成第二驱动信号；按照第三目标参数值，向回收装置32的电机输出第二驱动信号。在该实施例中，第二驱动信号具有第三目标参数值。
在本申请实施例中，可移动设备还包括：清洁组件。其中，清洁组件包括：清洁刷以及带动清洁刷作业的电机。在本申请实施例中，对于清洁组件，可响应指示可移动设备停止作业的指令，控制清洁组件停止作业；也可响应指示可移动设备停止作业的指令，控制清洁组件继续作业，并在满足上述设定条件后控制清洁组件停止作业。其中，关于如何停止清洁组件作业以及如何控制清洁组件继续作业的具体实施方式，均可参见上述实施例的相关内容，在此不再赘述。
相应地，本申请实施例还提供一种存储有计算机指令的计算机可读存储介质，当计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行上述作业方法中的步骤。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤3001和3002的执行主体可以为设备A；又比如，步骤3001的执行主体可以为设备A，步骤3002的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺 序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如3001、3002等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
本申请实施例提供的作业方法，适用于多种可移动设备。例如可移动设备可为清洁设备，如扫地机器人、手持式吸尘器、擦窗机器人等；也可为化学反应设备；等等，但不限于此。下面以清洁设备为例，并结合相关作业场景，对本申请实施例提供的作业方法进行示例性说明。
应用场景10：
本申请实施例提供一种清洁设备包括：流体供应装置、回收装置和控制系统。其中，控制系统与流体供应装置和回收装置电连接，可控制流体供应装置和回收装置的工作状态。在本实施例中，流体供应装置负责向外喷洒干净液体，例如清水或者掺杂有清洁剂的液体等等，但不限于此。相应地，第二液体可为第一液体喷洒在目标对象(清洁对象和/或清洁刷)，经清洁设备的清洁组件清洁后产生的污浊液体。本实施例中，控制系统可响应指示清洁设备停止作业的指令，控制流体供应装置停止向目标对象喷洒干净液体。可选地，控制系统可立即控制流体供应装置不再作业，也可控制流体供应装置逐渐减少喷洒量至停止作业。相应地，对于回收装置，控制系统可控制回收装置继续回收目标对象上的污浊液体，并在满足设定条件时控制回收装置停止回收目标对象上的污浊液体。这样有助于降低目标对象上的污浊液体残留，进而有助于提高用户体验。
应用场景11：
本申请实施例提供一种清洁设备包括：流体供应装置、回收装置和控制系统。其中，控制系统与流体供应装置和回收装置电连接，可控制流体供应装置和回收装置的工作状态。在本实施例中，流体供应装置负责向外 喷洒干净液体，例如清水或者掺杂有清洁剂的液体等等，但不限于此。相应地，第二液体可为第一液体喷洒在目标对象(清洁对象和/或清洁刷)，经清洁设备的清洁组件清洁后产生的污浊液体。本实施例中，控制系统可响应指示可移动设备停止作业的指令，控制流体供应装置以降低后的喷洒量继续向目标对象喷洒干净液体，并控制回收装置继续回收目标对象上的污浊液体，并在满足设定条件时控制流体供应装置和回收装置同时停止作业。这样有助于降低目标对象上的污浊液体残留，进而有助于提高用户体验。
应用场景12：
在本应用场景中，清洁设备为清洗机，清洁机包括溶液桶、回收桶、主电机、控制系统和地刷，控制系统和主电机、溶液桶、回收桶、地刷电连接，可控制主电机、溶液桶、回收桶、地刷的工作状态。清洗机被开机后，控制系统响应用户的开机信号，控制主电机开始吸尘，控制地刷电机开始运转，溶液桶响应控制系统的信号开启水泵喷水，回收桶收集地刷从地面吸取的灰尘、水等脏污。清洗机被用户关机，控制系统响应关机信号，计时器开始计时，并控制溶液桶的水泵停止喷水，地刷电机保持原有功率继续运转，主电机保持原有功率继续运行，继续抽吸地面的灰尘、水等脏污，关机信号达到预定时间(例如3秒)后，响应控制系统的控制信号，地刷电机和主电机停止运行，清洗机关机。由于在清洗机关机后，水泵停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景13：
在本应用场景中，清洁设备为清洗机，清洁机包括溶液桶、回收桶、主电机、控制系统和地刷，控制系统和主电机、溶液桶、回收桶、地刷电连接，可控制主电机、溶液桶、回收桶、地刷的工作状态。清洗机被开机后，控制系统响应用户的开机信号，控制主电机开始吸尘，控制地刷电机开始运转，溶液桶响应控制系统的信号开启水泵喷水，回收桶收集地刷从地面吸取的灰尘、水等脏污。清洗机被用户关机，控制系统响应关机信号，计时器开始计时，并控制溶液桶的水泵停止喷水，地刷电机减小功率继续运转，主电机减 小功率继续运行，继续抽吸地面的灰尘、水等脏污，关机信号达到预定时间(例如5秒)后，响应控制系统的控制信号，地刷电机和主电机停止运行，清洗机关机。由于在清洗机关机后，水泵停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景14：
在本应用场景中，清洁设备为清洗机，清洁机包括溶液桶、回收桶、主电机、控制系统、语音模块和地刷，控制系统和主电机、溶液桶、回收桶、地刷、语音模块电连接，可控制主电机、溶液桶、回收桶、地刷、语音模块的工作状态。用户向清洗机输出语音开机信号，清洗机的语音模块接受到用户的语音信息后发送给控制系统，控制系统响应用户的开机信号，控制主电机开始吸尘，控制地刷电机开始运转，溶液桶响应控制系统的信号开启水泵喷水，回收桶收集地刷从地面吸取的灰尘、水等脏污。用户向清洗机输出语音关机信号，清洗机的语音模块接受到用户的语音信息后发送给控制系统，控制系统响应关机信号，计时器开始计时，并控制溶液桶的水泵停止喷水，地刷电机减小功率继续运转，主电机减小功率继续运行，继续抽吸地面的灰尘、水等脏污，关机信号达到预定时间(例如5秒)后，响应控制系统的控制信号，地刷电机和主电机停止运行，清洗机关机。由于在清洗机关机后，水泵停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景15：
在本应用场景中，清洁设备为清洗机，清洁机包括溶液桶、回收桶、主电机、控制系统和地刷，控制系统和主电机、溶液桶、回收桶、地刷电连接，可控制主电机、溶液桶、回收桶、地刷的工作状态，地刷底部设有检测地面湿度的湿度传感器。清洗机被开机后，控制系统响应用户的开机信号，控制主电机开始吸尘，控制地刷电机开始运转，溶液桶响应控制系统的信号开启水泵喷水，回收桶收集地刷从地面吸取的灰尘、水等脏污。清洗机被用户关机，控制系统响应关机信号，实时接受湿度传感器检测的地面的湿度，当地 面湿度超过预定的湿度值时，控制系统控制溶液桶的水泵停止喷水，地刷电机保持原有功率继续运转，主电机增大功率继续运行，继续抽吸地面的灰尘、水等脏污，当湿度传感器检测地面的湿度达到预定的湿度值后，响应控制系统的控制信号，地刷电机和主电机停止运行，清洗机关机。由于在清洗机关机后，水泵停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景16：
在本应用场景中，清洁设备为扫地机器人，扫地机器人包括清水箱、尘盒、主电机、控制系统和滚刷，控制系统和主电机、清水箱、尘盒、滚刷电连接，可控制主电机、清水箱、尘盒、滚刷的工作状态。扫地机器人被开机后，控制系统响应开机信号，控制主电机开始吸尘，控制滚刷开始运转，清水箱响应控制系统的信号开启喷水，尘盒收集扫地机器人从地面吸取的灰尘、水等脏污。扫地机器人被关机，控制系统响应关机信号，计时器开始计时，并控制清水箱停止喷水，滚刷减小功率继续运转，主电机减小功率继续运行，继续抽吸地面的灰尘、水等脏污，关机信号达到预定时间(例如5秒)后，响应控制系统的控制信号，滚刷和主电机停止运行，扫地机器人关机。由于在扫地机器人关机后，清水箱停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景17：
在本应用场景中，清洁设备为扫地机器人，扫地机器人包括清水箱、尘盒、主电机、控制系统、语音模块和滚刷，控制系统和主电机、清水箱、尘盒、滚刷、语音模块电连接，可控制主电机、清水箱、尘盒、滚刷、语音模块的工作状态。用户向扫地机器人输出语音开机信号，扫地机器人的语音模块接受到用户的语音信息后发送给控制系统，控制系统响应开机信号，控制主电机开始吸尘，控制滚刷开始运转，清水箱响应控制系统的信号开启喷水，尘盒收集扫地机器人从地面吸取的灰尘、水等脏污。用户向清洗机输出语音关机信号，清洗机的语音模块接受到用户的语音信息后发送给控制系统，控 制系统响应关机信号，计时器开始计时，并控制清水箱停止喷水，滚刷减小功率继续运转，主电机减小功率继续运行，继续抽吸地面的灰尘、水等脏污，关机信号达到预定时间(例如5秒)后，响应控制系统的控制信号，滚刷和主电机停止运行，扫地机器人关机。由于在扫地机器人关机后，清水箱停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
应用场景18：
在本应用场景中，清洁设备为扫地机器人，扫地机器人包括清水箱、尘盒、主电机、控制系统和滚刷，控制系统和主电机、清水箱、尘盒、滚刷电连接，可控制主电机、清水箱、尘盒、滚刷的工作状态，扫地机器人底部设有检测地面湿度的湿度传感器。扫地机器人被开机后，控制系统响应开机信号，控制主电机开始吸尘，控制滚刷开始运转，清水箱响应控制系统的信号开启喷水，尘盒收集扫地机器人从地面吸取的灰尘、水等脏污。扫地机器人被关机，控制系统响应关机信号，实时接受湿度传感器检测的地面的湿度，当地面湿度超过预定的湿度值时，并控制清水箱停止喷水，滚刷减小功率继续运转，主电机减小功率继续运行，继续抽吸地面的灰尘、水等脏污，当湿度传感器检测地面的湿度达到预定的湿度值后，响应控制系统的控制信号，滚刷和主电机停止运行，扫地机器人关机。由于在扫地机器人关机后，清水箱停止喷水，而主电机继续运行，能够及时抽吸地面脏污，减少地面液体残留，提高用户体验。
在本申请实施例中，存储器用于存储计算机程序，并可被配置为存储其它各种数据以支持在可移动设备上的操作。其中，处理器可执行存储器中存储的计算机程序，以实现相应控制逻辑。存储器可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
在本申请实施例中，控制系统可包括处理器及其外围电路。其中，处理器可以为任意可执行上述方法逻辑的硬件处理设备。可选地，处理器可以为中央处理器(Central Processing Unit，CPU)、图形处理器(Graphics Processing Unit，GPU)或微控制单元(Microcontroller Unit，MCU)；也可以为现场可编程门阵列(Field-Programmable Gate Array，FPGA)、可编程阵列逻辑器件(Programmable Array Logic，PAL)、通用阵列逻辑器件(General Array Logic，GAL)、复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)等可编程器件；或者为先进精简指令集(RISC)处理器(Advanced RISC Machines，ARM)或系统芯片(System on Chip，SOC)等等，但不限于此。
在本申请实施例中，通信组件被配置为便于可移动设备和其他设备之间有线或无线方式的通信。可移动设备可以接入基于通信标准的无线网络，如WiFi，2G或3G，4G，5G或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件还可基于近场通信(NFC)技术、射频识别(RFID)技术、红外数据协会(IrDA)技术、超宽带(UWB)技术、蓝牙(BT)技术或其他技术来实现。
在本申请实施例中，电源组件被配置为可移动设备的各种组件提供电力。电源组件可以包括电源管理系统，一个或多个电源，及其他与为电源组件所在设备生成、管理和分配电力相关联的组件。
在本申请实施例中，音频组件可被配置为输出和/或输入音频信号。例如，音频组件包括一个麦克风(MIC)，当音频组件所在设备处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器或经由通信组件发送。在一些实施例中，音频组件还包括一个扬声器，用于输出音频信号。例如，对于具有语言交互功能的可移动设备，可通过音频组件实现与用户的语音交互等。
现有技术中，清洁设备在工作时，产生较大的噪音。例如，清洁设备的 主电机产生负压时的噪音、滚刷电机转动的声音、水泵抽水的声音、吸尘通道的噪音、清洁设备的行动轮滚动的噪音等等。这些噪音对清洁设备的语音交互功能产生了较大的干扰，例如，清洁设备工作时，其发出的语音提示声无法被用户清晰地听到，用户发出的语音指令也无法被清洁设备准确地获取。
针对上述技术问题，本申请一些示例性实施例提供了一种清洁设备以及清洁设备的语音交互方法，以下将结合附图，详细说明本申请各实施例提供的技术方案。
应注意到：相同的标号在下面的附图以及实施例中表示同一物体，因此，一旦某一物体在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
图31为本申请一示例性实施例提供的清洁设备的结构示意图，如图31所示，该清洁设备包括：本体311、安装于本体311上的负载312、控制器313以及音频组件314。
在本实施例中，清洁设备可以实现为对地面、墙壁、天花板、玻璃、机动车等进行清洁的清洗机、湿式吸尘器、手持式吸尘器、扫地机器人等各种清洁设备，但不限于此。
其中，负载312指的是安装于清洁设备上、用于清洁设备实现清洁功能的组件。在不同类型的清洁设备上，负载312的实现形式不同。例如，清洁设备实现为清洗机时，负载312可实现为清洗机上用于产生负压的真空源的主电机、滚刷电机、水泵等等。又例如，清洁设备实现为吸尘器时，负载312可实现为吸尘器上的旋风分离器、主电机、滚刷电机等等。应当理解，上述列举的不同类型的负载用于结合不同的清洁设备对负载进行示例性说明，并不对负载312的实现形式构成任何限制。
其中，控制器313用于在清洁设备中实现中控功能，可根据预置的控制逻辑或者用户的控制指令，控制清洁设备上的负载的工作状态。控制器313可以使用各种应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列 (FPGA)、微中控元件、微处理器、微控制单元(MCU)或其他电子元件实现，本实施例不做限制。
在本实施例中，控制器313可获取针对清洁设备的语音交互触发事件，响应该语音交互触发事件，将清洁设备上的负载312的工作噪声控制在设定范围内，并向音频组件314发送语音交互指令。其中，语音交互触发事件，指的是能够触发清洁设备的语音交互功能的事件，可以是用户事件，也可以是清洁设备的系统事件，本实施例不做限制。
其中，音频组件314，用于在语音交互模式下输出和/或输入音频信号。音频组件314接收到控制器313发送的语音交互指令后，可执行与该语音交互触发事件对应的语音交互操作。可选地，语音交互操作可包括：语音消息播放操作以及语音指令收录操作中的至少一种。
在一些实施例中，如图32所示，音频组件314可包括一个语音芯片3141、存储单元3142、驱动单元3143、麦克风(MIC)3144以及扬声器3145。当音频组件314执行语音指令收录操作时，语音芯片3141可通过驱动单元3143驱动麦克风3144收录来自外部的音频信号。麦克风3144接收到外部的音频信号后，可将其发送至语音芯片3141。语音芯片3141可根据音频信号的进行语音识别，以获取外部音频信号包含的交互信息。当音频组件314执行语音消息播放操作时，可由语音芯片3141确定需要播放的音频信号，并通过驱动单元3143驱动扬声器3145输出音频信号。
在本施例中，控制器313获取到针对清洁设备的语音交互触发事件时，将清洁设备上的负载312的工作噪声控制在设定范围内，再控制清洁设备上的音频组件314执行与该语音交互触发事件对应的语音交互操作，进而，可降低负载的工作噪声对音频组件的语音交互操作产生的干扰，有利于提升清洁设备的语音交互性能。
在一些示例性的实施例中，控制器313将清洁设备上的负载312的工作噪声控制在设定范围内的可选实施方式，可包括：控制负载312的工作回路处于断开状态；或者，控制负载312的功率小于设定的功率阈值。
应当理解，不同类型的清洁设备上安装的负载312不同，进而，控制器313控制负载312的方式也不同。在多种清洁设备中，主电机、滚刷电机、水泵以及行动轮是较为通用的负载，以下将结合这些通用的负载进行示例性说明。
通常，清洁设备上，主电机用于产生负压，形成较大的真空吸力以将灰尘和/或污水吸入回收桶，因而会产生较大的噪声。滚刷电机、水泵以及行动轮的噪声较小。
基于此，在一些可选实施例中，控制负载312的工作回路处于断开状态时，可主要控制主电机的工作回路处于断开状态，控制滚刷电机、水泵以及行动轮等其他负载的工作回路处于正常接通状态，以降低主要噪声。在另一些实施例中，可控制主电机、滚刷电机、水泵以及行动轮的工作回路均处于断开状态，以进一步降低噪声。
通常，负载312产生的噪声与其功率成正相关的关系，负载的功率越高、噪声越大。在清洁设备中，主电机的功率较高(通常在150-450W之间)，滚刷电机的功率较小(通常在20-50W之间)。
基于此，可选地，在一些实施例中，控制负载312的功率小于设定的功率阈值时，可控制主电机的功率小于某一设定的功率阈值，但不改变滚刷电机、水泵以及行动轮的功率，以降低主要噪声。在另一些实施例中，可在控制主电机的功率小于某一设定的阈值同时，控制滚刷电机、水泵以及行动轮的功率相应地小于各自对应的功率阈值。
其中，控制负载312的工作回路处于断开状态，可包括如下可选的实施方式：
实施方式C：若负载312处于工作状态，则切断负载312的工作回路，以使负载312进入非工作状态。当负载312的工作回路被切断后，负载312逐渐停止动作，工作噪声会随之降低。
基于上述，控制清洁设备上的音频组件314执行与语音交互触发事件对应的语音交互操作，可包括：
可选地，在工作回路被切断使得负载312停止动作后，控制器313可向音频组件314发送与该语音交互触发事件对应的语音交互指令，以控制音频组件314执行与该语音交互触发事件对应的语音交互操作。通常，负载312的工作回路被切断后，由于存在惯性，负载312还会继续运动，进而不断产生噪音。因此，等待负载312停止动作后执行语音交互操作，可避免负载312的惯性动作产生的噪音的干扰。
可选地，在负载312的工作回路被切断的时间达到设定时长后，控制器313可向音频组件314发送与该语音交互触发事件对应的语音交互指令，以控制音频组件314执行与该语音交互触发事件对应的语音交互操作。工作回路被切断后，负载312因惯性继续运动的幅度和速度会随着时间慢慢减弱，在一定时长后，惯性动作产生的噪声会降低到一定值，对清洁设备的语音交互操作的干扰较小，此时，可执行语音交互操作。可选地，在一些实施例中，该设定时长可以为2秒、3秒或者4秒，视具体清洁设备进行设置，本实施例不做限制。
实施方式D：若负载312处于开机后的非工作状态，则可延迟接通清洁设备上的负载312的工作回路，以控制负载暂时保持在非工作状态。清洁设备开机后，若负载312处于非工作状态，且负载312的工作回路未接通时，负载312不会产生动作，也不会产生工作噪声，因此不会对清洁设备的语音交互操作造成干扰。
基于上述，在延迟接通负载312的工作回路的过程中，控制器313可向音频组件314发送与该语音交互触发事件对应的语音交互指令。
其中，控制负载312的功率小于设定的功率阈值，可包括如下可选的实施方式：
实施方式E：若负载312处于工作状态，则降低负载312的功率。基于上述，控制清洁设备上的音频组件314执行与语音交互触发事件对应的语音交互操作，可包括：在负载312的功率降低至第一功率阈值之后，控制器313向音频组件314发送与语音交互触发事件对应的语音交互指令。
其中，第一功率阈值可根据实际中功率和噪声的对应关系计算得到，本实施例不做限制。应当理解，第一功率阈值的选值可满足如下要求，即：使得负载312的功率小于第一功率阈值时，负载312产生的工作噪声对清洁设备的语音交互操作的影响较小，有利于语音交互内容进行清晰无误地传递。
实施方式F：若负载312处于开机后的非工作状态，则控制器313可接通负载312的回路，并按照设定的功率上升速度升高负载312的功率。其中，设定的功率上升速度，可使得负载312的功率以可控的速度上升到其工作所需的值，在负载312的功率上升的过程中，负载312的工作噪声逐渐增大。
基于上述，控制清洁设备上的音频组件314执行与语音交互触发事件对应的语音交互操作，可包括：在负载312的功率升高至第二功率阈值之前，控制器313可向音频组件314发送与所述语音交互触发事件对应的语音交互指令。其中，第二功率阈值可根据实际中功率和噪声的对应关系计算得到，本实施例不做限制。应当理解，第二功率阈值的选值可满足如下要求，即：使得负载312的功率未上升至第二功率阈值之前，负载312产生的工作噪声对清洁设备的语音交互操作的影响较小，有利于语音交互内容进行清晰无误地传递。
需要说明的是，在本申请的上述以及下述各实施例中，语音交互触发事件可包括：清洁设备的开机事件、清洁设备的关机事件、清洁设备的故障事件、清洁设备的组件状态更新事件以及清洁设备的语音收录功能唤醒事件中的至少一种。
上述实施例记载的实施方式D、F，适用于语音交互触发事件实现为清洁设备的开机事件的应用场景。
其中，清洁设备的开机事件，可由用户通过清洁设备上的开关组件(例如，物理按钮或触控按键)触发，或者由用户向清洁设备发出的开机语音指令触发，或者由终端设备(例如智能手机、智能音箱)发出的开机语音指令触发，或者由终端设备发送给清洁设备的无线通信信号触发，本实施例包含但不限于此。
可选地，当语音交互触发事件为开机事件时，控制器313可执行实施方式D，响应开机事件，延迟接通负载312的工作回路，并向音频组件314发送播报开机提示消息的语音交互指令。也就是说，先通过音频组件314执行开机语音提示操作，再给负载312上电，有效避免了负载312的工作噪声对开机语音提示操作造成干扰。
可选地，当语音交互触发事件为开机事件时，控制器313可执行实施方式F，接通负载312的工作回路，并按照设定的功率上升速度升高负载312的功率；与此同时，控制器313可在负载312的功率上升到第二阈值前，控制音频组件314执行开机语音提示操作。进而，可在快速启动负载的同时，保证了良好的语音交互效果。
上述实施例记载的实施方式C、E，适用于语音交互触发事件实现为清洁设备的关机事件、清洁设备的故障事件、清洁设备的物联事件、洁设备的组件状态更新事件以及清洁设备的语音收录功能唤醒事件的应用场景。以下将结合上述事件，对实施方式C、E进行进一步示例性说明。
可选地，语音交互触发事件实现清洁设备的关机事件。其中，清洁设备的关机事件，可由用户通过清洁设备上的开关组件(例如，物理按钮或触控按键)触发，或者由用户向清洁设备发出的关机语音指令触发，或者由终端设备(例如智能手机、智能音箱)发出的关机语音指令触发，或者由终端设备发送给清洁设备的无线通信信号触发，本实施例包含但不限于此。
响应关机事件，控制器313可执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报关机提示消息的语音交互指令；或者，控制器313可执行实施方式C，在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送播报关机提示消息的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报关机提示消息的语音交互指令。音频组件314接收到该语音交互指令后，可播放类似“关机中，已关机，请放回底座”的语音消息。
可选地，语音交互触发事件实现为清清洁设备的故障事件，所述故障事件包括如下的至少一种：主电机故障、滚刷电机故障、充电器故障、灰尘传感器故障。
清洁设备的主电机为产生负压的真空源，控制器313实时检测主电机的工作状态。控制器313可在清洁设备的开机状态下，实时获取清洁设备上的主电机的工作状态信息，并在主电机出现故障时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报主电机故障的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报主电机故障的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报主电机故障的语音交互指令。音频组件314接收到该指令后，可播报类似“主电机故障”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的主电机出现故障时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户主电机故障预警，以避免使用不当。
清洁设备的滚刷电机为滚刷清洁动作的动力源，控制器313实时检测滚刷电机的工作状态。控制器313可在清洁设备的开机状态下，实时获取清洁设备上的滚刷电机的工作状态信息，并在滚刷电机出现故障时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报滚刷电机故障的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报滚刷电机故障的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报滚刷电机故障的语音交互指令。音频组件314接收到该指令后，可播报类似“滚刷电机故障”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行 动轮中的至少一种。进而，在清洁设备的滚刷电机出现故障时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户滚刷电机故障预警，以避免使用不当。
清洁设备有有线和无线两种模式，有线清洁设备有直接连接电源才工作，无线清洁设备需要配备可充电电池，电池通过充电器充电。清洁设备外接充电器，控制器313实时检测充电器的故障事件，包括充电器的型号是否匹配、充电器本体故障等。控制器313可在清洁设备的开机状态下，实时获取与清洁设备连接的充电器的工作状态信息，并在充电器故障时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报充电器故障的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报充电器故障的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报充电器故障的语音交互指令。音频组件314接收到该指令后，可播报类似“充电器故障”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的充电器出现故障时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户充电器故障预警，以避免使用不当。
可选地，清洁设备还配备有传感器，传感器可以检测的脏污度和/或清洁度包括如下的至少一种：待清洁表面、吸尘口、吸尘通道、回收桶，通常传感器有光电式的或密度式的，接触式的或非接触式的，统称为灰尘传感器。控制器313可在清洁设备的开机状态下，实时获取清洁设备上的灰尘传感器的工作状态信息，并在灰尘传感器出现故障时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报灰尘传感器故障的语音交互指令；或者，执行实施方式C，切断负载312的工作 回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报灰尘传感器故障的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报灰尘传感器故障的语音交互指令。音频组件314接收到该指令后，可播报类似“灰尘传感器故障”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的灰尘传感器出现故障时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户灰尘传感器故障预警，以避免使用不当。
可选地，语音交互触发事件实现为清洁设备的配网事件。清洁设备的本体311上设置有通信组件，可通过WIFI、蓝牙等无线通信方式连接外部的无线网络设备，实现清洁设备的配网。控制器313可在清洁设备的开机状态下，实时获取清洁设备上的通信组件的网络连接状态信息，并在通信组件配网成功时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报配网成功的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报配网成功的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报配网成功的语音交互指令。音频组件314接收到该指令后，可播报类似“配网成功”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的配网成功时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户配网成功，以利于用户执行其他操作。
可选地，语音交互触发事件实现为清洁设备的物联事件。清洁设备的本体311上设置有通信组件，可通过WIFI、蓝牙等无线通信方式连接外部的无线网络设备，实现清洁设备的配网。配网成功后，清洁设备通过无线网络连 接服务器或其他终端设备，终端设备包括但不限于智能手机、智能手环、智能音箱、智能手表、智能家居、冰箱、电视、路由器、扫地机器人、智能盒子等。清洁设备网络连接其他智能终端设备，可实现家庭智能设备的互联互通。控制器313可在清洁设备的开机状态下，实时获取清洁设备上的物联状态信息，并在清洁设备与家庭其他智能设备物联成功时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报物联成功的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报物联成功的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报物联成功的语音交互指令。音频组件314接收到该指令后，可播报类似“物联成功”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的物联成功时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户物联成功，以利于用户执行其他操作。
可选地，语音交互触发事件实现为电池余量更新事件。清洁设备上的电池组件，用于为清洁设备上的各种负载进行供电。在一些场景下，清洁设备可在电池余量每更新到设定的阈值时，通过语音提示方式提示用户电池余量；在另一些场景下，清洁设备可在电池余量到达余量下限值时，通过语音提示方式提示用户更换电池或者进行充电。以下将结合后者进行示例性说明。
控制器313可在清洁设备的开机状态下，实时获取清洁设备上的电池组件的电池余量，并在电池余量小于设定的电量阈值时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送并播报电量预警的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送并播报电量预警的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第 一功率阈值之后时，向音频组件314发送播报电量预警的语音交互指令。音频组件314接收到该指令后，可播报类似“电量不足”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在清洁设备的电池电量到达设定的余量下限时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户电量不足预警，以提醒用户及时充电。
可选地，清洁设备的本体311上安装有溶液桶。溶液桶是清洁设备上用于存储清水或者清洁剂的容器。溶液桶内或者溶液桶外可安装第一液位检测装置，以检测溶液桶中的液位。语音交互触发事件为溶液桶的剩余水量更新事件。
在清洁设备的开机状态下，第一液位检测装置可将检测到的液位值发送至控制器313。控制器313接收到第一液位检测装置发送的液位值后，可根据该液位值判断溶液桶的剩余水量是否小于设定的水量阈值。若为是，则可执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报溶液桶剩余水量的语音交互指令，或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送播报溶液桶剩余水量的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报溶液桶剩余水量的语音交互指令。音频组件314接收到该指令后，可播报类似“溶液桶内水量不足”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，在溶液桶中的剩余水量到达设定的水量下限时，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式提醒用户水量不足预警，以提醒用户在溶液桶中添加液体。
可选地，清洁设备的本体311上安装有回收桶。回收桶是清洁设备上用于存储清洁过程中回收的污水的容器。例如，清洁设备实现为清洗机时，在清洗机的使用过程中，主电机产生的负压可将地面的脏水吸进回收桶。回收 桶内或者回收桶外，安装有第二液位检测装置，以检测回收桶中的液位。语音交互触发事件，可以为回收桶的可用容量更新事件。
在清洁设备的开机状态下，第二液位检测装置可将检测到的液位值发送至控制器313。控制器313可根据第二液位检测装置发送的溶液值判断回收桶的可用容量是否大于设定的容量阈值。若为是，则可执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报回收桶可用容量的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送播报回收桶可用容量的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报回收桶可用容量的语音交互指令。音频组件314接收到该指令后，可播报类似“回收桶已满”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，清洁设备可在噪音干扰较低的情况下，通过语音提示的方式，提醒用户回收桶将满预警，以提醒用户清理回收桶中的污水，从而避免污水溢出。
可选地，语音交互触发事件实现为地刷状态更新事件。其中，地刷包括水泵以及滚刷。滚刷电机用于带动滚刷进行转动，以实现清洁。在清洁设备的使用过程中，水泵可从溶液桶中抽出液体，加压，并将加压后的液体喷向滚刷，随着滚刷电机不断旋转，滚刷的刷毛可将水泵喷洒出来的液体带向地面，湿润地面。随着滚刷进行不断转动，刷毛可对湿润的底面进行擦拭。
地刷包括滚刷电机，滚刷电机包括内置电机和外置电机，在滚刷电机的转动过程中，控制器313可在清洁设备的开机状态下实时获取滚刷电机的转动状态，并在滚刷电机出现堵转(例如滚刷缠绕毛发)时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报滚刷电机堵转的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2 秒)后，向音频组件314发送播报滚刷电机堵转的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报滚刷电机堵转的语音交互指令。音频组件314接收到该指令后，可播报类似“滚刷堵转”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，滚刷清洁的过程中出现电机堵转现象时，清洁设备可在噪音干扰较低的情况下，播放滚刷电机堵转的语音提示消息，以避免使用不当。
可选地，地刷上的滚刷是可拆卸的，当滚刷未安装时，清洁设备是可以开机的。控制器313可在清洁设备的开机状态下实时获取滚刷的安装状态，并在滚刷未安装时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报滚刷未安装的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送播报滚刷未安装的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报滚刷未安装的语音交互指令。音频组件314接收到该指令后，可播报类似“滚刷未安装”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，清洁设备清洁的过程中出现滚刷未安装现象时，清洁设备可在噪音干扰较低的情况下，播放滚刷未安装的语音提示消息，以避免使用不当。
可选地，在一些应用场景中，地刷包括水泵，水泵用于对溶液桶内的液体加压，并喷洒向滚刷或待清洁面。在水泵的工作过程中，控制器313可在清洁设备的开机状态下实时获取水泵的工作状态，并在水泵出现故障时，执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送播报水泵故障的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送播报滚刷水泵故障的语音交互指令； 或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送播报水泵故障的语音交互指令。音频组件314接收到该指令后，可播报类似“水泵故障”的语音消息。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。进而，滚刷清洁的过程中出现水泵故障现象时，清洁设备可在噪音干扰较低的情况下，播放水泵故障的语音提示消息，以避免使用不当。
可选地，语音交互触发事件实现为清洁设备的语音收录功能唤醒事件，该语音收录功能唤醒事件用于唤醒音频组件314收录外界的音频信号的功能。
在一些场景下，用户存在与清洁设备的语音交互需求时，可对清洁设备上的物理按钮或者触控按键执行操作，以唤醒清洁设备的语音交互功能。物理按钮或者触控按键检测到用户的操作后，可向控制器313发送语音收录功能唤醒事件。
响应语音收录功能唤醒事件，控制器313在清洁设备的开机状态下可执行实施方式C，切断负载312的工作回路，并在负载312停止动作时，向音频组件314发送录入外部音频信号的语音交互指令；或者，执行实施方式C，切断负载312的工作回路，并在负载312的工作回路被切断的时间达到设定时长(例如2秒)后，向音频组件314发送录入外部音频信号的语音交互指令；或者，控制器313可执行实施方式E，降低负载312的工作功率，并在负载312的功率降低至第一功率阈值之后时，向音频组件314发送录入外部音频信号的语音交互指令。音频组件314可根据该指令，进入录入外部音频信号的状态，并播放“请讲”、“请说出您的需求”等语音消息，以提示用户开始输出语音指令。在此应用场景中，负载312为主电机、滚刷电机、水泵以及行动轮中的至少一种。
在另一些场景下，用户存在与清洁设备的语音交互需求时，可向清洁设备输出包含特定信息(例如清洁设备的名字或者特定字符)的语音消息，以唤醒清洁设备的语音交互功能。音频组件314检测到该语音消息后，若识别到语音消息包含上述特定信息，则可向控制器313发送语音收录功能唤醒事 件。
响应该语音收录功能唤醒事件，控制器313可执行实施方式C或者实施方式E，以将负载312的工作噪声控制在设定范围内，并向音频组件314发送进入语音收录状态的控制指令。音频组件314可根据该指令播放类似“我没有听清楚，请再说一遍”的语音消息。
在又一些场景下，用户存在与清洁设备的语音交互需求时，可通过终端设备唤醒清洁设备的语音交互功能。终端设备可根据用户的操作向控制器313发送与语音收录功能唤醒事件对应的无线通信信号。其中，终端设备可实现为智能手机、智能手环、智能音箱、智能手表等等。例如，用户可通过佩戴的蓝牙耳机，向与蓝牙耳机连接的智能音箱或者智能手机发送语音指令。智能音箱或者智能手机可根据该语音指令，通过无线通信方式向控制器313发送语音收录功能唤醒事件对应的无线通信信号。
控制器313接收到该无线通信信号后，可执行实施方式C或实施方式E，并向音频组件314发送录入外部音频信号的语音交互指令。音频组件314可根据该指令，进入录入外部音频信号的状态，并播放“请讲”、“请说出您的需求”等语音消息，以提示用户开始输出语音指令。
当然，除上述各实施例列举的事件之外，语音交互触发事件可实现为清洁设备上的其他事件，例如行动轮状态更新事件(行动轮卡住或者空转)、清洁设备启动故障事件、启动超时事件、负载温度过高事件、清洁设备倾倒或翻转、负载湿度过高事件等等，本实施例不再一一进行列举。
在一些示例性的实施例中，控制器313控制清洁设备上的音频组件314执行与语音交互触发事件对应的语音交互操作之后，还可接收语音交互操作的结束消息。可选地，该结束消息可以是执行语音交互操作的音频组件314。接着，控制器313可判断该语音语音交互触发事件是否为关机事件，若不为关机事件，则可控制负载312的工作回路处于接通状态，或者控制负载312的功率大于或者等于该设定的功率阈值。以下将结合上述列举的实施方式进行说明。
基于实施方式C，当控制器313接收到语音交互操作的结束消息、且语音交互触发事件不为关机事件时，控制器313可按照语音交互操作之前负载312的工作状态，重新接通负载312的工作回路。
基于实施方式D，当控制器313接收到语音交互操作的结束消息、且语音交互触发事件不为关机事件时，控制器313可根据清洁设备启动时应具有的工作状态，接通负载312的工作回路。
基于实施方式E，当控制器313接收到语音交互操作的结束消息、且语音交互触发事件不为关机事件时，控制器313可按照语音交互操作之前负载312的工作状态，重新升高负载312的功率。
基于实施方式F，基于实施方式D，当控制器313接收到语音交互操作的结束消息、且语音交互触发事件不为关机事件时，控制器313可按照情节设备的启动需求，升高负载312的功率。
基于上述，存在针对清洁设备的语音交互触发事件时，可灵活控制清洁设备上的负载的工作噪声，降低了语音交互过程中的噪声干扰，确保了清洁设备发出的语音消息有效地被用户感知，也可确保清洁设备较为准确地获取用户发出的语音消息，有利于实现良好的人机交互过程。
除前述各实施例记载的清洁设备之外，本申请实施例还提供一种清洁设备的语音交互方法，以下将进行具体说明。
图33为本申请一示例性实施例提供的清洁设备的语音交互方法的流程示意图，如图33所示，该方法包括：
步骤3301、获取针对清洁设备的语音交互触发事件。
步骤3302、将该清洁设备上的负载的工作噪声控制在设定范围内。
步骤3303、控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作。
在一些示例性的实施方式中，该语音交互操作包括：语音消息播放操作以及语音指令收录操作中的至少一种。
在一些示例性的实施方式中，将该清洁设备上的负载的工作噪声控制在 设定范围内的一种方式，包括：控制该负载的工作回路处于断开状态，以将该负载的工作噪声控制在设定范围内；或者，控制该负载的功率小于设定的功率阈值，以将该负载的工作噪声控制在设定范围内。
在一些示例性的实施方式中，控制该负载的工作回路处于断开状态的一种方式，包括：若该负载处于工作状态，则切断该负载的工作回路；若该负载处于开机后的非工作状态，则延迟接通该负载的工作回路。
在一些示例性的实施方式中，若该负载处于工作状态，控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作的一种方式，包括：在该工作回路被切断后，若该负载停止动作，则向该音频组件发送与该语音交互触发事件对应的语音交互指令；或者，在该工作回路被切断的时间达到设定时长后，向该音频组件发送与该语音交互触发事件对应的语音交互指令。
在一些示例性的实施方式中，若该负载处于开机后的非工作状态，控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作的一种方式，包括：在延迟接通该负载的工作回路的过程中，向该音频组件发送与该语音交互触发事件对应的语音交互指令。
在一些示例性的实施方式中，控制该负载的功率小于设定的功率阈值的一种方式，包括：若该负载处于工作状态，则降低该负载的功率；相应地，控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作的一种方式，包括：在该负载的功率降低至第一功率阈值之后，向该音频组件发送与该语音交互触发事件对应的语音交互指令。
在一些示例性的实施方式中，控制该负载的功率小于设定的功率阈值的一种方式，包括：若该负载处于开机后的非工作状态，则接通该负载的回路，并按照设定的功率上升速度升高该负载的功率；相应地，控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作的一种方式，包括：在该负载的功率升高至第二功率阈值之前，向该音频组件发送与该语音交互触发事件对应的语音交互指令。
在一些示例性的实施方式中，控制该清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作之后，该方法还包括：接收该语音交互操作的结束消息；判断该语音语音交互触发事件是否为关机事件；若为否，则控制该负载的工作回路处于接通状态，或者控制该负载的功率大于或者等于该设定的功率阈值。
在一些示例性的实施方式中，该负载包括：该清洁设备上的主电机、滚刷电机、水泵以及行动轮中的至少一种。
在一些示例性的实施方式中，该语音交互触发事件包括：该清洁设备的开机事件、该清洁设备的关机事件、该清洁设备的组件状态更新事件以及该清洁设备的语音收录功能唤醒事件中的至少一种。
在一些示例性的实施方式中，该清洁设备的组件状态更新事件，包括：该清洁设备上的电池余量更新事件、溶液桶的剩余水量更新事件、回收桶的可用容量更新事件、地刷状态更新事件以及行动轮状态更新事件中的至少一种。
在本施例中，获取到针对清洁设备的语音交互触发事件时，将清洁设备上的负载的工作噪声控制在设定范围内，再控制清洁设备上的音频组件执行与该语音交互触发事件对应的语音交互操作，进而，可降低负载的工作噪声对音频组件的语音交互操作产生的干扰，有利于提升清洁设备的语音交互性能。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤3301至步骤3302的执行主体可以为设备A；又比如，步骤3302和3302的执行主体可以为设备A，步骤3303的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如3301、3302等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。
需要说明的是，本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，计算机程序被执行时能够实现上述方法实施例中实现清洁设备的语音交互操作的各步骤。
需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (118)

  1. 一种清洗机，其特征在于，包括：手柄组件、机身、清洁组件、处理系统以及设置于所述机身上的显示器；所述显示器与所述处理系统电连接，用于显示所述清洗机上至少一个部件的工作状态信息。
  2. 根据权利要求1所述的清洗机，其特征在于，所述显示器包括至少一个显示区域，用于显示不同部件的工作状态信息。
  3. 根据权利要求2所述的清洗机，其特征在于，所述至少一个部件的工作状态信息包括如下的至少一种：
    (1)液体存储装置的液位信息；
    (2)清洁组件对清洁对象的清洁程度信息；
    (3)供电单元的电量信息；
    (4)清洗机的自清洁信息；
    (5)主电机功率信息；
    (6)清洁组件的堵转信息；
    (7)通信组件的工作状态信息。
  4. 根据权利要求2所述的清洗机，其特征在于，所述至少一个显示区域包括：由多个第一显示管形成的第一显示区域，用于在所述处理系统的控制下显示所述清洁组件对清洁对象的清洁程度信息。
  5. 根据权利要求4所述的清洗机，其特征在于，所述多个第一显示管的颜色不同，用于在所述处理系统的控制下，显示不同的颜色、亮度和形状的组合；其中，不同的颜色、亮度和形状的组合表征所述清洁组件对所述清洁对象的不同清洁程度；或者，
    所述多个第一显示管颜色相同，用于在所述处理系统的控制下，显示不同形状和/或亮度，其中不同的形状和/或亮度表征所述清洁组件对所述清洁对象的不同的清洁程度。
  6. 根据权利要求4所述的清洗机，其特征在于，所述多个第一显示管以阵列形式排布或沿所述显示器的边缘分布。
  7. 根据权利要求4所述的清洗机，其特征在于，所述机身上还设置有：与所述清洁组件依次连接的抽吸通道和回收桶；其中，所述清洁对象上的污浊液体由所述清洁组件上的吸嘴抽吸并经所述抽吸通道送入所述回收桶内；
    所述清洗机还包括：部分或全部设置于所述污浊液体的流通路径上的清洁度检测器件，用于检测所述污浊液体的物理属性值并提供给所述处理系统；
    所述处理系统用于根据所述物理属性值确定所述清洁组件对所述清洁对象的清洁程度，并控制所述多个第一显示管显示与对所述清洁对象的清洁程度适配的颜色、亮度和形状的组合。
  8. 根据权利要求2所述的清洗机，其特征在于，所述至少一个显示区域还包括：由第一指示灯形成的第二显示区域，所述第一指示灯在所述清洗机使用自清洁功能期间处于点亮状态。
  9. 根据权利要求8所述的清洗机，其特征在于，所述处理系统还用于执行以下操作：
    在所述清洗机对所述清洁对象执行清洁任务的时间达到预设的时长时，启动所述清洗机的自清洁功能，并控制所述第一指示灯点亮；
    或者，检测到自清洁功能控制开关被开启，启动清洗机的自清洁功能，并控制第一指示灯点亮。
  10. 根据权利要求2所述的清洗机，其特征在于，所述至少一个显示区域还包括：用于显示所述清洗机的液体存储装置的液位信息的第三显示区域。
  11. 根据权利要求10所述的清洗机，其特征在于，所述第三显示区域包括：由至少一个第二指示灯形成的第一子区域，用于在所述处理系统的控制下，显示所述液体存储装置的不同液位状态。
  12. 根据权利要求11所述的清洗机，其特征在于，所述至少一个第二指示灯包括：第一类指示灯和第二类指示灯；
    其中，所述第一类指示灯，用于在所述清洗机的溶液桶内的干净液体低于设定的第一液位阈值时点亮或闪烁，以提示用户所述溶液桶处于缺液体状态；
    所述第二类指示灯，用于在所述清洗机的回收桶内的污浊液体超过设定的第二液位阈值时点亮或闪烁，以提示所述用户所述回收桶处于满液位状态；
    所述第一液位阈值小于所述第二液位阈值；
    所述第一类指示灯和所述第二类指示灯同行分布或同列分布。
  13. 根据权利要求10所述的清洗机，其特征在于，所述第三显示区域还包括：由至少一个第一数码管形成的第二子区域，用于在所述处理系统的控制下显示所述液体存储装置的液位值。
  14. 根据权利要求2所述的清洗机，其特征在于，所述至少一个显示区域还包括：由多个第二显示管形成的第四显示区域，用于在所述处理系统的控制下，显示主电机的功率；其中，所述多个第二显示管的亮灯数量与所述主电机的功率大小正相关。
  15. 根据权利要求14所述的清洗机，其特征在于，所述多个第二显示管成行分布、成列分布、环形分布或呈矩阵分布。
  16. 根据权利要求2所述的清洗机，其特征在于，所述至少一个显示区域还包括：第五显示区域，用于在所述处理系统的控制下，显示清洗机的供电单元的电量。
  17. 根据权利要求16所述的清洗机，其特征在于，所述第五显示区域包括：由多个第二数码管形成的第三子区域，用于在所述处理系统的控制下显示所述供电单元的电量的百分比。
  18. 根据权利要求16所述的清洗机，其特征在于，所述第五显示区域，还包括：由具有不同颜色的多个第三指示灯形成的第四子区域，用于在所述处理系统的控制下，显示与所述供电单元的电量适配的颜色。
  19. 根据权利要求1所述的清洗机，其特征在于，所述显示器设置于所述机身的顶部或前面。
  20. 根据权利要求19所述的清洗机，其特征在于，所述显示器的设置于液体存储装置的上方；或者，所述显示器所在平面与机身的轴线垂直。
  21. 根据权利要求19所述的清洗机，其特征在于，所述显示器可伸缩地 设置于所述机身的顶部或前面。
  22. 一种清洁设备，其特征在于，包括：机身以及设置于机身上的显示器；所述显示器与处理系统电连接，用于显示所述清洁设备在使用过程中的相关状态信息；所述清洁设备在使用过程中的相关状态信息包括如下的至少一种：
    (1)回收桶的容量信息；
    (2)溶液桶的液位信息；
    (3)清洁组件对清洁对象的清洁程度信息；
    (4)供电单元的电量信息；
    (5)清洁设备的自清洁信息；
    (6)主电机功率信息；
    (7)清洁组件的堵转信息；
    (8)通信组件的工作状态信息。
  23. 一种信息显示方法，其特征在于，包括：
    获取清洁设备上的至少一个部件的工作状态信息；
    在显示器上显示所述至少一个部件的工作状态信息；
    所述至少一个部件的工作状态信息包括如下的至少一种：
    (1)回收桶的容量信息；
    (2)溶液桶的液位信息；
    (3)清洁组件对清洁对象的清洁程度信息；
    (4)供电单元的电量信息；
    (5)清洁设备的自清洁信息；
    (6)主电机功率信息；
    (7)清洁组件的堵转信息；
    (8)通信组件的工作状态信息。
  24. 一种存储有计算机指令的计算机可读存储介质，其特征在于，当所述计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行 权利要求23所述方法中的步骤。
  25. 一种清洁设备，其特征在于，包括：
    液体存储装置、非接触式液体检测装置以控制装置；
    其中，所述非接触式液体检测装置设置于所述液体存储装置的外侧，用于检测所述液体存储装置中的液体的液位信息；
    所述控制装置与所述非接触式液体检测装置电连接，用于根据所述液位信息计算所述液体存储装置的液体存储状态，并输出与所述液体存储状态对应的控制指令。
  26. 根据权利要求25所述的设备，其特征在于，所述非接触式液体检测装置包括至少一个液位检测传感器；
    所述至少一个液位检测传感器设置在所述液体存储装置的外壁上或设置在所述清洁设备的机体的侧壁上；所述机体的侧壁靠近所述液体存储装置的外壁。
  27. 根据权利要求26所述的设备，其特征在于，所述至少一个液位检测传感器包括至少一个液位检测传感器组；
    所述至少一个液位检测传感器组分散设置在所述液体存储装置的至少一个方向上的外壁上，或分散设置在所述清洁设备的机体的至少一个方向上的侧壁上；所述至少一个方向包括：前侧方向、后侧方向、左侧方向以及右侧方向中的至少一种。
  28. 根据权利要求27所述的设备，其特征在于，每个液位检测传感器组沿着所述液体存储装置的高度方向排列设置在所述液体存储装置的外壁或所述机体的侧壁上。
  29. 根据权利要求28所述的设备，其特征在于，每个液位检测传感器组包括一个电容传感器；所述电容传感器的检测范围覆盖所述液体存储装置的存储上限位置以及存储下限位置中的至少一个。
  30. 根据权利要求28所述的设备，其特征在于，每个液位检测传感器组 包括多个电容传感器；所述多个电容传感器中，至少一个电容传感器的检测范围覆盖所述液体存储装置的存储上限位置，和/或至少一个电容传感器的检测范围覆盖所述液体存储装置的存储下限位置。
  31. 根据权利要求26-30任一项所述的设备，其特征在于，所述非接触式液体检测装置还包括：至少一个角度传感器；所述至少一个角度传感器设置在所述液体存储装置的外侧或者所述清洁设备上，用于检测所述液体存储装置的倾斜角度。
  32. 根据权利要求31所述的设备，其特征在于，所述控制装置用于：根据所述至少一个液位检测传感器输出的电信号以及所述至少一个角度传感器检测到的角度，计算所述液体存储装置中的液体的液面位置、液体体积以及液面倾斜角度中的至少一种；
    其中，所述至少一个液位检测传感器输出的电信号跟随液位变化。
  33. 根据权利要求25-30任一项所述的设备，其特征在于，所述设备还包括：与所述控制装置连接的多媒体输出装置；
    所述多媒体输出装置，用于：根据所述控制装置输出的与所述液体存储状态对应的控制指令，通过语音播报或者显示的方式，输出所述液体存储装置的液体存储状态。
  34. 根据权利要求33所述的设备，其特征在于，所述多媒体输出装置包括：显示屏、数码显示管以及音频设备中的至少一个。
  35. 根据权利要求25-30任一项所述的设备，其特征在于，所述控制装置还用于：
    在所述液体存储装置中的液体的液面倾斜角度连续大于设定角度阈值的时长大于第一时长阈值时，输出控制所述清洁设备的真空源风机进入关闭状态的指令；和/或，
    在所述液体存储装置中的液面位置连续处于静止状态的时长大于第二时长阈值时，输出关闭所述清洁设备的指令。
  36. 一种清洁设备控制方法，所述清洁设备包括液体存储装置，其特征 在于，所述方法包括：
    获取设置在液体存储装置外侧的非接触式液体检测装置检测到的液位信息；
    根据所述液位信息，计算所述液体存储装置的液体存储状态；
    根据所述液体存储状态对所述清洁设备进行相应控制。
  37. 根据权利要求36所述的方法，其特征在于，获取设置在液体存储装置外侧的非接触式液体检测装置检测到的液位信息，包括以下至少一种：
    获取所述非接触式液体检测装置中的至少一个液位检测传感器输出的跟随液位变化的电信号；
    获取所述非接触式液体检测装置中的至少一个角度传感器检测到的角度。
  38. 根据权利要求37所述的方法，其特征在于，根据所述液位信息，计算所述液体存储装置的液体存储状态，包括：
    根据所述至少一个液位检测传感器输出的跟随液位变化的电信号以及所述至少一个角度传感器检测到的角度，计算所述液体存储装置中的液体的液面位置、液体体积以及液面倾斜角度中的至少一种。
  39. 根据权利要求36-38任一项所述的方法，其特征在于，根据所述液体存储状态对所述清洁设备进行相应控制，包括以下至少一种操作：
    根据所述液体存储装置中的液体体积，控制所述清洁设备的多媒体输出装置输出所述液体存储装置的已使用容量和/或剩余容量；
    在所述液体存储装置中的液体体积达到设定的上限阈值或者下限阈值时，切断所述清洁设备的供电电源；
    在所述液体存储装置中的液体体积达到设定的上限阈值或者下限阈值时，切断所述清洁设备的真空源风机的供电电源；
    在所述液体存储装置中的液体的液面倾斜角度大于设定角度阈值时，控制所述清洁设备的多媒体输出装置输出液面倾斜风险预警信息；
    在所述液体存储装置中的液体的液面倾斜角度连续大于设定角度阈值的 时长大于第一时长阈值时，切断所述清洁设备的真空源风机的供电电源；
    在所述液体存储装置中的液面位置连续处于静止状态的时长大于第二时长阈值时，关闭所述清洁设备。
  40. 一种存储有计算机程序的计算机可读存储介质，其特征在于，所述计算机程序被执行时能够实现权利要求36-39任一项所述方法中的步骤。
  41. 一种清洁设备，其特征在于，包括：
    储液装置；
    喷液装置；
    液流通道，连接于所述储液装置与所述喷液装置之间；
    检测模块，设于所述液流通道，用于对所述液流通道内液体进行检测，以确定所述液流通道处于有水状态或无水状态。
  42. 根据权利要求41所述的清洁设备，其特征在于，所述液流通道上具有检测腔体，所述检测模块设于所述检测腔体。
  43. 根据权利要求42所述的清洁设备，其特征在于，所述检测腔体的横截面积小于所述液流通道上其他位置处的横截面积。
  44. 根据权利要求42所述的清洁设备，其特征在于，所述检测模块设于所述检测腔体的侧壁或底壁。
  45. 根据权利要求42所述的清洁设备，其特征在于，所述检测腔体包括直形腔；和/或，所述检测腔体包括沿液流方向弯曲的弯形腔。
  46. 根据权利要求45所述的清洁设备，其特征在于，所述检测腔体的厚度为1mm～1.5mm，所述检测腔体的长度为15mm～25mm，所述检测腔体的宽度为5mm～15mm。
  47. 根据权利要求42所述的清洁设备，其特征在于，所述储液装置与所述喷液装置之间设有水管，所述水管的内腔以及所述检测腔体的内腔连通形成所述液流通道。
  48. 根据权利要求42所述的清洁设备，其特征在于，所述检测腔体包括 进水端、主部和出水端；
    所述进水端的横截面积由远离所述主部的方向向靠近所述主部的方向逐渐减小，所述出水端的横截面积由靠近所述主部的方向向远离所述主部的方向逐渐增大。
  49. 根据权利要求41所述的清洁设备，其特征在于，所述储液装置的底部具有第一出水口、第二出水口和第三出水口，所述第二出水口位于所述储液装置的底部中间，所述第一出水口和所述第三出水口分别位于所述第二出水口的前后两侧。
  50. 根据权利要求42-49任一项所述的清洁设备，其特征在于，所述清洁设备还包括控制元件，所述检测模块与所述控制元件电连接；
    其中，所述控制元件用于根据所述检测模块所检测到的状态信息对所述清洁设备进行相应控制；其中，所述状态信息包括有水状态和无水状态。
  51. 根据权利要求50所述的清洁设备，其特征在于，所述控制元件包括线路板，所述检测腔体的侧部具有开口，所述开口处设有侧盖，所述侧盖的一侧与所述检测腔体的开口端密封可拆卸地连接，所述侧盖的另一侧形成容纳所述线路板的容纳空间。
  52. 根据权利要求50所述的清洁设备，其特征在于，所述清洁设备还包括：报警装置；所述报警装置与所述控制元件电连接；
    当所述液流通道处于无水状态时，所述控制元件控制所述报警装置发出报警信号。
  53. 根据权利要求50所述的清洁设备，其特征在于，所述检测模块包括：液位检测传感器。
  54. 根据权利要求53所述的清洁设备，其特征在于，所述检测模块为接触式液位检测传感器，所述接触式液位检测传感器包括感测电极，所述感测电极伸入所述液流通道内，并用于与所述液流通道内的液体接触。
  55. 根据权利要求53所述的清洁设备，其特征在于，所述检测模块为非接触式液位传感器，所述非接触式液位传感器设于所述液流通道外壁。
  56. 一种清洁设备控制方法，所述清洁设备包括储液装置，喷液装置，连接于所述储液装置和所述喷液装置之间的液流通道，检测模块，以及控制元件，其特征在于，所述方法包括：
    所述控制元件获取设置在液流通道的检测模块所检测到的液流通道的状态信息，其中，所述状态信息包括有水状态和无水状态；
    所述控制元件根据所述状态信息对所述清洁设备进行相应控制。
  57. 根据权利要求56所述的清洁设备的控制方法，其特征在于，所述控制元件根据所述状态信息对所述清洁设备进行相应控制，包括：
    当所述状态信息为无水状态时，控制元件控制报警装置报警；
    和/或，当所述状态信息为无水状态时，控制元件控制清洁设备关机。
  58. 一种存储有计算机程序的计算机可读存储介质，其特征在于，所述计算机程序被执行时能够实现权利要求56或57所述方法中的步骤。
  59. 一种清洁设备，其特征在于，包括：依次连接的地刷、抽吸通道和回收桶；清洁对象上的污浊液体由所述地刷上的吸嘴抽吸并经所述抽吸通道送入所述回收桶内；
    所述清洁设备还包括：处理系统和第一检测器件；所述第一检测器件部分或全部设置于所述污浊液体的流通路径上，用于检测所述污浊液体的物理属性值并提供给所述处理系统；
    所述处理系统，用于根据所述物理属性值确定所述清洁对象的清洁程度。
  60. 根据权利要求59所述的清洁设备，其特征在于，所述地刷的腔体、所述地刷的吸嘴、所述抽吸通道和所述回收桶中的至少一个部位设置有至少一个所述第一检测器件。
  61. 根据权利要求59或60所述的清洁设备，其特征在于，所述第一检测器件包括：光源和光检测器；
    其中，所述光源发出的光信号经所述污浊液体后到达所述光检测器；所述光检测器将到达的光信号转换成第一电信号并输出至所述处理系统；所述 第一电信号反应所述污浊液体的光学属性；
    所述处理系统具体用于：根据所述第一电信号计算所述污浊液体的光学属性值，根据所述光学属性值确定所述清洁对象的清洁程度。
  62. 根据权利要求61所述的清洁设备，其特征在于，所述光源与所述光检测器相对设置，所述光源发出的光信号经所述污浊液体透射后到达所述光检测器；
    或者，
    所述光源与所述光检测器同侧设置，所述光源发出的光信号经所述污浊液体反射后到达所述光检测器。
  63. 根据权利要求61所述的清洁设备，其特征在于，所述光源为LED光源；所述光检测器为色彩传感器；所述色彩传感器将到达的光信号转换为RGB电压并输出至所述处理系统；
    所述处理系统具体用于：根据所述RGB电压，计算所述污浊液体的颜色；根据所述污浊液体的颜色确定所述清洁对象的清洁程度。
  64. 根据权利要求61所述的清洁设备，其特征在于，所述处理系统还用于：
    在所述清洁设备对所述清洁对象执行清洁任务之前，调整所述光源的亮度，直至所述光检测器输出的参考电信号满足设定要求；
    若所述光源的亮度被调至最大时，所述光检测器输出的参考电信号仍不满足所述设定要求，则输出第一提示信息，以提示用户清洁所述污浊液体的流通路径。
  65. 根据权利要求61所述的清洁设备，其特征在于，所述处理系统在确定所述清洁对象的清洁程度时，具体用于：将所述光学属性值在已知的光学属性值与清洁等级的对应关系中进行匹配，以确定所述清洁对象的清洁等级。
  66. 根据权利要求59或60所述的清洁设备，其特征在于，所述第一检测器件包括：第一导电体组和第一检测电路；其中，所述第一导电体组设置 于所述污浊液体的流通路径上；
    所述第一检测电路电连接于所述第一导电体组与所述处理系统之间，用于在所述第一导电体组与所述污浊液体接触时产生第二电信号并输出至所述处理系统，所述第二电信号反应所述污浊液体的电学属性；
    所述处理系统具体用于：根据所述第二电信号确定所述清洁对象的清洁程度。
  67. 根据权利要求66所述的清洁设备，其特征在于，所述第一导电体组包括：互不接触的导电体A和导电体B；所述第一检测电路包括：电压检测电路；
    其中，所述电压检测电路的供电端与所述导电体A电连接；所述电压检测电路的接地端和输出端分别与所述导电体B电连接，且所述电压检测电路的输出端电连接于所述处理系统。
  68. 根据权利要求67所述的清洁设备，其特征在于，所述第一检测电路还包括：缓冲电路；
    所述缓冲电路的输入端与所述电压检测电路的输出端电连接；所述缓冲电路的输出端电连接于所述处理系统。
  69. 根据权利要求68所述的清洁设备，其特征在于，所述缓冲电路包括：运算放大器和RC滤波电路；
    其中，所述运算放大器的同相输入端与所述电压检测电路的输出端电连接，且其反相输入端与其输出端电连接；
    所述RC滤波电路由电阻R1和电容C1串联组成，且并联于所述运输放大器的输出端与地之间，且所述电阻R1和电容C1的串接点与所述处理系统电连接。
  70. 根据权利要求68所述的清洁设备，其特征在于，所述第一检测电路，还包括：可变电阻电路；
    所述可变电阻电路的第一端与所述电压检测电路中的基准采样电阻电连接，其第二端与所述处理系统电连接，且其第三端接地；
    所述处理系统还用于：调整所述可变电阻电路的阻值，以将所述第一检测电路的整体阻值调整为基准阻值。
  71. 根据权利要求70所述的清洁设备，其特征在于，所述可变电阻电路包括：多个串联的可选采样电阻，所述多个可选采样电阻串接于所述基准采样电阻与地之间，在每个电阻串接点处并联有一个N-MOS管，每个N-MOS管的漏极与所述串接点电连接；
    其中，每个N-MOS管的源极作为所述第三端接地，且每个N-MOS管的栅极作为所述第二端分别与所述处理系统电连接。
  72. 根据权利要求66所述的清洁设备，其特征在于，所述处理系统，具体用于：根据所述第二电信号与基准电信号之间的差异，确定所述清洁对象的清洁程度。
  73. 根据权利要求72所述的清洁设备，其特征在于，所述处理系统包括：处理器；
    所述处理器具体用于：将所述第二电信号与基准电信号之间的差异，在已知的电信号差异与清洁度等级之间的对应关系中进行匹配，以确定所述清洁对象的清洁度等级。
  74. 根据权利要求73所述的清洁设备，其特征在于，所述处理系统还包括：差分运算电路；
    所述差分运算电路的第一输入端连接于所述第一检测电路的输出端，用于接收所述第二电信号；所述差分运算电路的第二输入端接收所述基准电信号；所述差分运算电路的输出端与所述处理器电连接，用于将所述第二电信号与所述基准电信号之间的差值输出至所述处理器。
  75. 根据权利要求72所述的清洁设备，其特征在于，还包括：与所述地刷的喷嘴依次连接的出水管道和溶液桶；所述溶液桶内的干净液体经所述出水管道送入所述喷嘴以供所述喷嘴喷洒至所述清洁对象上；
    所述清洁设备还包括：第二导电体组和第二检测电路；其中，所述第二导电体组设置于所述干净液体的流通路径上；
    所述第二检测电路电连接于所述第二导电体组与所述处理系统之间，用于在所述第二导电体组与所述干净液体接触时产生所述基准电信号并输出至所述处理系统。
  76. 根据权利要求61所述的清洁设备，其特征在于，所述第一检测器件还包括：第一导电体组和第一检测电路；其中，所述第一导电体组设置于所述污浊液体的流通路径上；
    所述第一检测电路电连接于所述第一导电体组与所述处理系统之间，用于在所述第一导电体组与所述污浊液体接触时产生第二电信号并输出至所述处理系统，所述第二电信号反应所述污浊液体的电学属性；
    所述处理系统具体用于：根据所述第二电信号和所述光学属性值，确定所述清洁对象的清洁程度。
  77. 根据权利要求59或60所述的清洁设备，其特征在于，所述处理系统还用于：根据所述清洁对象的清洁程度，调整所述清洁设备的工作状态。
  78. 根据权利要求77所述的清洁设备，其特征在于，所述处理系统在调整所述清洁设备的工作状态时，具体用于执行以下至少一种操作：
    根据所述清洁对象的清洁程度，将所述清洁设备的水泵的功率调节至与所述清洁对象的清洁程度适配的功率；
    根据所述清洁对象的清洁程度，将所述清洁设备的主电机和/或地刷电机的功率调整至与所述清洁对象的清洁程度适配的功率；
    根据所述清洁对象的清洁程度，将所述清洁设备的任务执行时间调整至与所述清洁对象的清洁程度适配的时间。
  79. 一种清洁度检测方法，适用于清洁设备，其特征在于，包括：
    接收第一检测器件提供的清洁对象上的污浊液体的物理属性值；
    根据所述污浊液体的物理属性值确定所述清洁对象的清洁程度；
    其中，所述污浊液体由所述清洁设备的地刷上的吸嘴抽吸并经所述清洁设备上的抽吸通道送入所述清洁设备的回收桶内，所述第一检测器件部分或全部设置于所述污浊液体的流通路径上。
  80. 根据权利要求79所述的方法，其特征在于，所述根据所述物理属性值确定所述清洁对象的清洁程度，包括：
    根据所述第一检测器件提供的第一电信号，计算所述污浊液体的光学属性值，其中，所述第一电信号反应所述污浊液体的光学属性；
    根据所述污浊液体的光学属性值，确定所述清洁对象的清洁程度。
  81. 根据权利要求79所述的方法，其特征在于，所述根据所述物理属性值确定所述清洁对象的清洁程度，包括：
    根据所述第一检测器件提供的第二电信号，确定所述清洁对象的清洁程度；其中，所述第二电信号反应所述污浊液体的电学属性。
  82. 根据权利要求80所述的方法，其特征在于，所述根据所述污浊液体的光学属性值，确定所述清洁对象的清洁程度，包括：
    根据所述污浊液体的光学属性值以及所述第一检测器件提供的第二电信号，确定所述清洁对象的清洁程度；
    其中，所述第二电信号反应所述污浊液体的电学属性。
  83. 根据权利要求79-82任一项所述的方法，其特征在于，还包括：
    根据所述清洁对象的清洁程度，调整所述清洁设备的工作状态。
  84. 根据权利要求83所述的方法，其特征在于，所述根据所述清洁对象的清洁程度，调整所述清洁设备的工作状态，包括以下至少一种操作：
    根据所述清洁对象的清洁程度，将所述清洁设备的水泵的功率调节至与所述清洁对象的清洁程度适配的功率；
    根据所述清洁对象的清洁程度，将所述清洁设备的主电机和/或地刷电机的功率调整至与所述清洁对象的清洁程度适配的功率；
    根据所述清洁对象的清洁程度，将所述清洁设备的任务执行时间调整至与所述清洁对象的清洁程度适配的时间。
  85. 一种存储有计算机指令的计算机可读存储介质，其特征在于，当所述计算机指令被一个或多个处理器执行时，致使所述一个或多个处理器执行权利要求79-84任一项所述方法中的步骤。
  86. 一种作业方法，适用于可移动设备，所述可移动设备包括：对外喷洒第一液体的流体供应装置，负责回收由第一液体产生的第二液体的回收装置；其特征在于，所述方法包括：
    响应指示所述可移动设备停止作业的指令，控制所述流体供应装置停止向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的所述第二液体，并在满足设定条件时控制所述回收装置停止回收所述目标对象上的第二液体。
  87. 根据权利要求86所述的方法，其特征在于，在响应指示所述可移动设备停止作业的指令之前，还包括：
    检测所述可移动设备上的停止作业的按键的状态；并在检测到所述停止作业的按键被按下时，确定收到指示所述可移动设备停止作业的指令；
    或者，
    监听所述可移动设备接收的语音指令；并在监听到所述可移动设备接收到指示所述可移动设备停止作业的语音指令时，确定收到指示所述可移动设备停止作业的指令。
  88. 根据权利要求86所述的方法，其特征在于，所述控制所述流体供应装置停止喷洒第一液体，包括：停止向所述流体供应装置的水泵输送第一驱动信号，以使所述流体供应装置停止作业。
  89. 根据权利要求86所述的方法，其特征在于，所述控制所述回收装置继续回收所述目标对象上的第二液体，包括：
    向所述回收装置的电机输出第二驱动信号，以控制所述回收装置继续回收所述目标对象上的第二液体。
  90. 根据权利要求89所述的方法，其特征在于，所述第二驱动信号的参数值与在所述响应指示所述可移动设备停止作业的指令之前向所述回收装置输出的驱动信号的参数值相同或不同。
  91. 根据权利要求89所述的方法，其特征在于，所述向所述回收装置的电机输出第二驱动信号，包括：
    根据所述流体供应装置在所述可移动设备响应指示所述可移动设备停止作业的指令之前的喷洒量，确定所述第二驱动信号所需的第一目标参数值；并按照所述第一目标参数值，向所述回收装置输出所述第二驱动信号；
    和/或，
    根据所述目标对象的湿度，确定所述第二驱动信号所需的第二目标参数值；并按照所述第二目标参数值，向所述回收装置输出所述第二驱动信号。
  92. 根据权利要求89所述的方法，其特征在于，所述向所述回收装置的电机输出第二驱动信号，包括：
    根据预设的第三目标参数值，生成所述第二驱动信号；其中，所述第三目标参数值不同于在所述响应指示所述可移动设备停止作业的指令之前向所述回收装置输出的驱动信号的参数值；
    按照所述第三目标参数值，向所述回收装置的电机输出所述第二驱动信号。
  93. 根据权利要求86所述的方法，其特征在于，在满足设定条件时控制所述回收装置停止回收所述目标对象上的第二液体，包括以下至少一种操作：
    在所述回收装置继续回收所述第二液体的时长达到设定时长时，控制所述回收装置停止回收所述第二液体；
    在所述目标对象的湿度小于或等于设定湿度阈值时，控制所述回收装置停止回收所述第二液体。
  94. 根据权利要求86所述的方法，其特征在于，所述可移动设备为清洁设备，所述清洁设备还包括：清洁组件；所述方法还包括以下任一操作：
    响应指示所述设备停止作业的指令，控制所述清洁组件停止作业；
    响应指示所述设备停止作业的指令，控制所述清洁组件继续作业，并在满足所述设定条件后控制所述清洁组件停止作业。
  95. 根据权利要求94所述的方法，其特征在于，所述控制所述清洁组件继续作业，包括：
    向所述清洁组件的电机输送第三驱动信号，以控制所述清洁组件继续作 业；其中，所述第三驱动信号的参数值与在所述响应指示所述可移动设备停止作业的指令之前向所述清洁组件的电机输出的驱动信号的参数值相同或不同。
  96. 一种作业方法，适用于可移动设备，所述可移动设备包括：对外喷洒第一液体的流体供应装置，负责回收由第一液体产生的第二液体的回收装置，其特征在于，所述方法包括：
    响应指示所述可移动设备停止作业的指令，控制所述流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的第二液体，并在满足设定条件时控制所述流体供应装置和所述回收装置同时停止作业。
  97. 一种可移动设备，其特征在于，包括：对外喷洒第一液体的流体供应装置、负责回收由第一液体产生的第二液体的回收装置以及控制系统；控制系统与所述流体供应装置和所述回收装置电连接；
    所述控制系统，用于响应指示所述可移动设备停止作业的指令，控制所述流体供应装置停止向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的所述第二液体，并在满足设定条件时控制所述回收装置停止回收所述目标对象上的第二液体。
  98. 一种可移动设备，其特征在于，包括：对外喷洒第一液体的流体供应装置、负责回收由第一液体产生的第二液体的回收装置以及控制系统；控制系统与所述流体供应装置和所述回收装置电连接；
    所述控制系统，用于响应指示所述可移动设备停止作业的指令，控制所述流体供应装置以降低后的喷洒量继续向目标对象喷洒第一液体，并控制所述回收装置继续回收所述目标对象上的第二液体，并在满足设定条件时控制所述流体供应装置和所述回收装置同时停止作业。
  99. 一种清洁设备的语音交互方法，其特征在于，包括：
    获取针对所述清洁设备的语音交互触发事件；
    将所述清洁设备上的负载的工作噪声控制在设定范围内；
    控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作。
  100. 根据权利要求99所述的方法，其特征在于，所述语音交互操作包括：语音消息播放操作以及语音指令收录操作中的至少一种。
  101. 根据权利要求99所述的方法，其特征在于，将所述清洁设备上的负载的工作噪声控制在设定范围内，包括：
    控制所述负载的工作回路处于断开状态，以将所述负载的工作噪声控制在设定范围内；或者，
    控制所述负载的功率小于设定的功率阈值，以将所述负载的工作噪声控制在设定范围内。
  102. 根据权利要求101所述的方法，其特征在于，控制所述负载的工作回路处于断开状态，包括：
    若所述负载处于工作状态，则切断所述负载的工作回路；
    若所述负载处于开机后的非工作状态，则延迟接通所述负载的工作回路。
  103. 根据权利要求102所述的方法，其特征在于，若所述负载处于工作状态，控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作，包括：
    在所述工作回路被切断后，若所述负载停止动作，则向所述音频组件发送与所述语音交互触发事件对应的语音交互指令；或者，
    在所述工作回路被切断的时间达到设定时长后，向所述音频组件发送与所述语音交互触发事件对应的语音交互指令。
  104. 根据权利要求102所述的方法，其特征在于，若所述负载处于开机后的非工作状态，控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作，包括：
    在延迟接通所述负载的工作回路的过程中，向所述音频组件发送与所述语音交互触发事件对应的语音交互指令。
  105. 根据权利要求101所述的方法，其特征在于，控制所述负载的功率小于设定的功率阈值，包括：
    若所述负载处于工作状态，则降低所述负载的功率；
    控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作，包括：
    在所述负载的功率降低至第一功率阈值之后，向所述音频组件发送与所述语音交互触发事件对应的语音交互指令。
  106. 根据权利要求101所述的方法，其特征在于，控制所述负载的功率小于设定的功率阈值，包括：
    若所述负载处于开机后的非工作状态，则接通所述负载的回路，并按照设定的功率上升速度升高所述负载的功率；
    控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作，包括：
    在所述负载的功率升高至第二功率阈值之前，向所述音频组件发送与所述语音交互触发事件对应的语音交互指令。
  107. 根据权利要求101-106任一项所述的方法，其特征在于，控制所述清洁设备上的音频组件执行与所述语音交互触发事件对应的语音交互操作之后，还包括：
    接收所述语音交互操作的结束消息；
    判断所述语音语音交互触发事件是否为关机事件；
    若为否，则控制所述负载的工作回路处于接通状态，或者控制所述负载的功率大于或者等于所述设定的功率阈值。
  108. 根据权利要求99-106任一项所述的方法，其特征在于，所述负载包括：所述清洁设备上的主电机、滚刷电机、水泵以及行动轮中的至少一种。
  109. 根据权利要求99-106任一项所述的方法，其特征在于，所述语音交互触发事件包括以下至少一种：
    清洁设备的开机事件、清洁设备的关机事件、清洁设备的主电机故障事 件、清洁设备的滚刷电机故障事件、清洁设备的充电器故障事件、清洁设备的灰尘传感器故障事件、清洁设备的配网事件、清洁设备的物联事件、清洁设备的电池余量更新事件、清洁设备的溶液桶的剩余水量更新事件、清洁设备的回收桶的可用容量更新事件、清洁设备的滚刷电机堵转事件、清洁设备的滚刷未安装事件、清洁设备的水泵故障事件、清洁设备的行动轮状态更新事件中以及清洁设备的语音收录功能唤醒事件。
  110. 一种清洁设备，其特征在于，包括：本体，所述本体上安装有负载、控制器和音频组件；
    所述控制器，用于：响应针对所述清洁设备的语音交互触发事件，将所述清洁设备上的负载的工作噪声控制在设定范围内，并向所述音频组件发送语音交互指令；
    所述音频组件，用于：根据所述语音交互指令，执行与所述语音交互触发事件对应的语音交互操作。
  111. 根据权利要求110所述的清洁设备，其特征在于，将所述清洁设备上的负载的工作噪声控制在设定范围内，包括：
    控制所述负载的工作回路处于断开状态，以将所述负载的工作噪声控制在设定范围内；
    或者，控制所述负载的功率小于设定的功率阈值，以将所述负载的工作噪声控制在设定范围内。
  112. 根据权利要求110所述的清洁设备，其特征在于，所述语音交互触发事件包括：
    配网事件，所述控制器，用于：响应清洁设备的配网事件，向所述音频组件发送播报配网成功的语音交互指令；
    或者物联事件，所述控制器，用于：响应清洁设备的物联事件，向所述音频组件发送播报物联成功的语音交互指令。
  113. 根据权利要求110所述的清洁设备，其特征在于，所述语音交互触发事件包括：
    开机事件，所述控制器，用于：响应所述开机事件，延迟接通所述负载的工作回路，并向所述音频组件发送播报开机提示消息的语音交互指令；或者，接通所述负载的回路，按照设定的功率上升速度升高所述负载的功率，并在所述负载的功率升高至第二功率阈值之前，向所述音频组件发送播报开机提示消息的语音交互指令；
    或者关机事件，所述控制器，用于：响应所述关机事件，切断所述负载的工作回路；在所述负载停止动作时，或者，在所述负载的工作回路被切断的时间达到设定时长后，向所述音频组件发送播报关机提示消息的语音交互指令。
  114. 根据权利要求110所述的清洁设备，其特征在于，所述语音交互触发事件包括：
    主电机故障事件，所述控制器，用于：响应清洁设备的主电机的故障，向所述音频组件发送播报主电机故障的语音交互指令；
    或者滚刷电机故障事件，所述控制器，用于：响应清洁设备的滚刷电机的故障，向所述音频组件发送播报滚刷电机故障的语音交互指令；
    或者充电器故障事件，所述控制器，用于：响应清洁设备的充电器故障事件，向所述音频组件发送播报充电器故障的语音交互指令；
    或者水泵故障事件，所述控制器，用于：响应清洁设备的水泵故障事件，向所述音频组件发送播报水泵故障的语音交互指令；
    或者灰尘传感器故障事件，所述控制器，用于：响应清洁设备的灰尘传感器故障事件，向所述音频组件发送播报灰尘传感器故障的语音交互指令。
  115. 根据权利要求110所述的清洁设备，其特征在于，所述本体上还安装有：溶液桶以及液位检测装置；
    所述液位检测装置，用于检测所述溶液桶的液位，并将检测到的液位值发送至所述控制器；
    所述控制器，用于：根据所述液位值判断所述溶液桶的剩余水量是否小于设定的水量阈值，若为是，则将所述负载的工作噪声控制在所述设定范围 内，并向所述音频组件发送播报溶液桶剩余水量和/或溶液桶缺水提示的语音交互指令。
  116. 根据权利要求110所述的清洁设备，其特征在于，所述本体上还安装有：回收桶以及液位检测装置；
    所述液位检测装置，用于检测所述回收桶的液位，并将检测到的液位值发送至所述控制器；
    所述控制器，用于：根据所述溶液值判断所述回收桶的可用容量是否大于设定的容量阈值，若为是，则将所述负载的工作噪声控制在所述设定范围内，并向所述音频组件发送播报回收桶可用容量和/或回收桶水满提示的语音交互指令。
  117. 根据权利要求110所述的清洁设备，其特征在于，所述控制器还用于：
    获取所述清洁设备上的电池组件的电池余量，在所述电池余量小于设定的电量阈值时，将所述负载的工作噪声控制在设定范围内，并向所述音频组件发送播报电量预警的语音交互指令；或者，
    获取所述滚刷电机的转动状态，在所述滚刷电机出现堵转时，将所述负载的工作噪声控制在设定范围内，并向所述音频组件发送播报滚刷电机堵转的语音交互指令；或者
    获取所述滚刷电机的安装状态，在所述滚刷未安装时，将所述负载的工作噪声控制在设定范围内，并向所述音频组件发送播报滚刷电机未安装的语音交互指令。
  118. 根据权利要求110所述的清洁设备，其特征在于，所述控制器，还用于：响应语音收录功能唤醒事件，将所述负载的工作噪声控制在设定范围内，并向所述音频组件发送录入外部音频信号的语音交互指令。
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