CN112630463B - Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage medium - Google Patents
Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage mediumDownload PDFInfo
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- CN112630463B CN112630463BCN202011460614.XACN202011460614ACN112630463BCN 112630463 BCN112630463 BCN 112630463BCN 202011460614 ACN202011460614 ACN 202011460614ACN 112630463 BCN112630463 BCN 112630463B
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- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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Abstract
Description
Technical Field
The application relates to household appliance technologies, in particular to a method and a device for detecting dust fullness of a dust box of a sweeper, the sweeper and a storage medium.
Background
In the related art, the sweeping robot is provided with a pair of infrared light emitting tubes and light absorbing tubes on the machine body at two sides of the dust box, and detects that the dust box is full of dust by adopting an infrared correlation method, but because dust is easily attached to the wall of the dust box and dust is also easily attached to the infrared transceiver body, the attached dust may block a light path, and the problem of false alarm is caused.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for detecting dust fullness of a dust box of a sweeper, the sweeper and a storage medium.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a method for detecting fullness of a dust box of a sweeper, including: at the current moment, acquiring a first induction voltage value output by a sensor on the sweeper; the sweeper comprises a sweeper body, a dust baffle, a sensor, a magnet, a magnetic field sensor and a power supply, wherein the magnet is arranged at a specific position on the dust baffle of the sweeper body, the sensor is arranged at a complete machine position corresponding to the specific position, and the sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value; acquiring a second induced voltage value, wherein the second induced voltage value is an induced voltage value output by the sensor at the last moment; and determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
In a second aspect, an embodiment of the present application provides a device for detecting fullness of a dust box of a sweeper, the device includes: the first acquisition module is used for acquiring a first induction voltage value output by a sensor on the sweeper at the current moment; the sweeper comprises a sweeper body, a dust baffle, a sensor, a magnet, a magnetic field sensor and a power supply, wherein the magnet is arranged at a specific position on the dust baffle of the sweeper body, the sensor is arranged at a complete machine position corresponding to the specific position, and the sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value; the second acquisition module is used for acquiring a second induced voltage value, wherein the second induced voltage value is an induced voltage value output by the sensor at the previous moment; and the first determining module is used for determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
In a third aspect, an embodiment of the present application provides a sweeper, including: the magnet is arranged at a specific position of the dust baffle and is used for generating a magnetic field with specific magnetic field intensity; the sensor is arranged at the position of the whole machine corresponding to the specific position and used for acquiring an induced voltage value corresponding to the change of the magnetic field between the magnet and the sensor according to the magnetic field with the specific magnetic field intensity generated by the magnet; the controller is used for acquiring a first induction voltage value output by a sensor on the sweeper at the current moment; acquiring a second induced voltage value, wherein the second induced voltage value is an induced voltage value output by the sensor at the last moment; and determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the method for detecting dust fullness in a dust box of a sweeper described above.
In the technical scheme that this application embodiment provided, set up magnet through the particular position on sweeping floor machine's shelves dirt board set up the sensor on the complete machine position that the particular position corresponds, the sensor turns into induced voltage value with the magnetic field variation between magnet and the sensor, when acquireing the induced voltage value of sensor on the current moment and the last moment machine of sweeping floor, whether the dirt box is full of dust is confirmed according to the induced voltage value that acquires, namely, whether the dirt box is full of dust is confirmed through the induced voltage value of sensor output, do not receive the influence of adhering to the dust on the wall of dirt box, can improve the accuracy that detects, avoid the adnexed dust of dirt box to block the wrong report problem that the light path leads to.
Drawings
Fig. 1 is a schematic flow chart of an implementation of a method for detecting fullness of a dust box of a sweeper according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating another implementation of a method for detecting fullness in a dust box of a sweeper according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an implementation of another method for detecting fullness of a dust box of a sweeper according to an embodiment of the present application;
fig. 4 is a schematic flow chart illustrating an implementation of a method for detecting fullness of a dust box of a sweeper according to an embodiment of the present application;
fig. 5A is a schematic view illustrating an arrangement of a magnet on the sweeper provided in the embodiment of the present application;
fig. 5B is a schematic diagram of a sensor arrangement on the sweeper provided in the embodiment of the present application;
fig. 6 is a schematic diagram of induced voltage values output by the linear hall sensor when the fan of the sweeper provided by the embodiment of the application is in 4 different gears;
fig. 7 is a schematic flow chart of a method for detecting dust fullness in a dust box of a sweeper in a process of adjusting a fan of the sweeper from agear 1 to agear 2 according to the embodiment of the application;
fig. 8 is a schematic structural diagram of a device for detecting dust fullness in a dust box of a sweeper provided in the embodiment of the present application;
fig. 9 is a schematic structural diagram of a sweeper provided in the embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described in detail with reference to the drawings and the embodiments, the described embodiments should not be considered as limiting the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.
Where similar language of "first/second" appears in the specification, the following description is added, and where reference is made to the term "first \ second \ third" merely to distinguish between similar items and not to imply a particular ordering with respect to the items, it is to be understood that "first \ second \ third" may be interchanged with a particular sequence or order as permitted, to enable the embodiments of the application described herein to be performed in an order other than that illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.
In the related art, the upper panel of the sweeper is generally not see-through for aesthetic reasons. If the dust box of the sweeper needs to be observed whether to be full of dust or not, the upper panel needs to be lifted. This brings certain inconvenience to the use of the sweeper.
Some floor sweeper manufacturers have considered this need and have attempted to solve this problem using several technical solutions. For example, XX corporation has marketed sweepers that use infrared correlation to detect fullness. The method is that a group of opposite infrared light emitting tubes and light absorbing tubes are arranged on the machine body at two sides of the dust box. When the dust is full, the light path is blocked, and therefore detection is achieved. However, the sweeping robot adopts an infrared correlation method to detect the dust fullness and has the following defects: dust is easily attached to the wall of the dust box, dust is also easily attached to the infrared transceiver body, and when the attached dust blocks the optical path, the problem of false alarm is easily caused.
Based on the above problem, an embodiment of the present application provides a method for detecting dust fullness in a dust box of a sweeper, as shown in fig. 1, the implementation flow of the method includes:
step S101: at the current moment, acquiring a first induction voltage value output by a sensor on the sweeper; the magnetic field sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value.
Here, the type of the magnet is not particularly limited, and the type of the magnet may be hard magnetic, for example, alnico magnet, or other hard magnetic such as ferrite; the type of magnet may also be soft magnetic, for example, silicon steel sheet, or other soft magnetic. Similarly, the shape and size of the magnet are not specifically limited, and the magnet may be a cylinder, a rectangular parallelepiped, or a cube, but the shape and size of the magnet may be the same as those of the dust-blocking plate or may be the same as those of some of the dust-blocking plates.
In one possible embodiment, the dust deflector of the sweeper can be replaced by a magnet when the shape, size and shape of the magnet are identical.
In one possible embodiment, the principle of the sensor outputting the first induced voltage value is that a magnet disposed at a specific location on the dust shield generates a magnetic field of a specific magnetic induction strength, and the sensor in the magnetic field of the specific magnetic field strength induces an electromotive force of a specific magnitude.
In one example, the first sensed voltage value output by the sensor is related to a state of the dust deflector. Specifically, since the magnet is disposed on the dust deflector and moves together with the dust deflector, the dust deflector is at different heights without changing the position of the sensor, that is, the distance between the magnet and the sensor changes according to the state change of the dust deflector, and the distance between the magnet and the sensor is related to the first induced voltage value output by the sensor, so that the first induced voltage value output by the sensor is related to the state of the dust deflector.
In some possible embodiments, at the current moment, the first induced voltage value output by the sensor on the sweeper is obtained, where the first induced voltage value output by the sensor on the sweeper is transmitted to the controller of the sweeper, and the controller of the sweeper receives the first induced voltage value output by the sensor of the sweeper at the current moment.
Step S102: and acquiring a second induction voltage value, wherein the second induction voltage value is an induction voltage value output by the sensor at the last moment.
In some possible embodiments, the second induced voltage value is obtained, where the sensor on the sweeper transmits the output second induced voltage value to the controller of the sweeper, and the controller of the sweeper receives the second induced voltage value output by the sensor of the sweeper at the current moment.
Step S103: and determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
When the dust box of the sweeper is full of dust, the height of the dust baffle cannot be changed along with the change of the air volume of the sweeper; when the dust box of the sweeper is not full of dust, the height of the dust baffle is changed along with the change of the air volume of the sweeper. In one example, when the sweeper is normally operated with an empty dust box, the dust baffle of the sweeper can move freely, and when different suction forces are set for the sweeper and the fan of the sweeper is operated at different gears, the air volume passing through the dust baffle is different, and the height of the dust baffle is different.
In some possible embodiments, determining whether the dust box of the sweeper is full of dust according to the first induced voltage value and the second induced voltage value may be comparing the first induced voltage value with the second induced voltage value, and determining whether the dust box of the sweeper is full of dust according to the comparison result.
In one example, determining whether the dust box of the sweeper is full according to the comparison result may be determining that the dust box of the sweeper is full when the comparison result is that the first induced voltage value and the second induced voltage value are the same; and when the comparison result shows that the first induction voltage value is different from the second induction voltage value, determining that the dust box of the sweeper is not full of dust.
In practical applications, the controller in the sweeper can be implemented in steps S101 to S103, and the controller can be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor.
In this application embodiment case, set up magnet through the particular position on the fender dirt board of machine of sweeping the floor set up the sensor on the complete machine position that the particular position corresponds, the sensor turns into induced voltage value with the magnetic field variation between magnet and the sensor, when acquireing the induced voltage value of sensor on the machine of sweeping the floor at present moment and last moment, confirm whether the dirt box is full of dust according to the induced voltage value that acquires, promptly, whether the dirt box is full of dust is confirmed through the induced voltage value of sensor output, do not receive the influence of adhering to the dust on the wall of dirt box, can improve the accuracy that detects, avoid the adnexed dust of dirt box to block the wrong report problem that the light path leads to.
Fig. 2 is a schematic view of an implementation process of another method for detecting fullness in a dust box of a sweeper provided by an embodiment of the present application, and as shown in fig. 2, the process includes:
step S201: at the current moment, acquiring a first induced voltage value output by a sensor on the sweeper and a first air volume state of the sweeper; the magnetic field sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value.
Here, the first air volume state of the sweeper represents a state that a fan of the sweeper is operated at a corresponding air volume gear according to the suction force set to the sweeper at the current time. For example, the suction force set for the sweeper at the current time is the maximum suction force, and the first air volume state of the sweeper indicates a state that a fan of the sweeper is operated at a gear 4 (a gear with the maximum air volume).
In a possible implementation manner, the obtaining of the first air volume state of the sweeper can be implemented by monitoring an air volume gear of a fan at the current time and a suction force set by a user by a controller of the sweeper, and determining the first air volume state of the sweeper according to the air volume gear of the fan at the current time and the suction force set by the user. Here, the implementation manner of determining the first air volume state of the sweeper according to the air volume gear of the fan at the current time and the suction magnitude set by the user may be that the controller of the sweeper determines the first air volume state of the sweeper according to a correspondence relationship between the air volume gear, the suction magnitude set by the user, and the air volume state of the sweeper, which is established in advance.
Step S202: acquiring a second induction voltage and a second air volume state; the second induced voltage value is an induced voltage value output by the sensor at the last moment; the second air volume state is the air volume state of the sweeper at the previous moment.
Here, the second air volume state of the sweeper represents a state that the fan of the sweeper is operated at a corresponding air volume gear according to the set suction force of the sweeper at the previous moment. For example, the suction force set to the sweeper at the previous time is the minimum suction force, and the first air volume state of the sweeper indicates that the fan of the sweeper is operated in the gear 1 (the gear with the minimum air volume).
In a possible implementation manner, the obtaining of the second air volume state of the sweeper can be implemented by monitoring an air volume gear of a fan at the previous moment and a suction force set by a user by a controller of the sweeper, and determining the second air volume state of the sweeper according to the air volume gear of the fan at the previous moment and the suction force set by the user. Here, the implementation manner of determining the second air volume state of the sweeper according to the air volume gear of the fan at the previous moment and the suction magnitude set by the user may be that the controller of the sweeper determines the second air volume state of the sweeper according to a correspondence relationship between the air volume gear, the suction magnitude set by the user, and the air volume state of the sweeper, which is established in advance.
Step S203: and under the condition that the first air volume state is different from the second air volume state, determining whether a dust box of the sweeper is full or not according to the first induction voltage value and the second induction voltage value.
Here, the first air volume state and the second air volume state are different, which means that the sweeper is in different air volume gears at the current time and the previous time. For example, the air volume shift for the first air volume state may beshift 1, and the air volume shift for the second air volume state may beshift 3.
In a possible implementation manner, when the first air volume state and the second air volume state are different, whether a dust box of the sweeper is full is determined according to the first induced voltage value and the second induced voltage value, and whether the dust box of the sweeper is full may be determined according to a comparison result by comparing the first induced voltage value and the second induced voltage value when the first air volume state and the second air volume state are different.
In the embodiment of the application, whether the dust box of the sweeper is full of dust is determined according to the first induction voltage value and the second induction voltage value under the condition that the first air volume state and the second air volume state are different, namely, when the air volume of the sweeper is different, whether the dust box of the sweeper is full of dust is determined according to the output induction voltage of the sensor, the phenomenon of misjudgment that whether the dust box of the sweeper is full of dust is determined according to the output induction voltage of the sensor when the air volume of the sweeper is the same is eliminated, and whether the dust box of the sweeper is full of dust is more accurately determined.
Fig. 3 is a schematic view of an implementation process of another method for detecting fullness in a dust box of a sweeper provided by an embodiment of the present application, and as shown in fig. 3, the process includes:
step S301: at the current moment, acquiring a first induced voltage value output by a sensor on the sweeper and a first air volume state of the sweeper; the magnetic field sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value.
Step S302: acquiring a second induction voltage and a second air volume state; the second induced voltage value is an induced voltage value output by the sensor at the last moment; the second air volume state is the air volume state of the sweeper at the previous moment.
Step S303: and judging whether the first induction voltage value and the second induction voltage value meet preset conditions or not under the condition that the first air volume state and the second air volume state are different, and obtaining a judgment result.
Here, the preset condition may be that an absolute value of a difference between the first induced voltage value and the second induced voltage value is less than a first preset threshold. In one example, the first predetermined threshold is determined based on the type of magnet on the sweeper, the range of motion of the magnet on the dust deflector, and the like. The first preset threshold may be 0 or 0.01.
In some possible embodiments, when the first air volume state is different from the second air volume state, determining whether the first induced voltage value and the second induced voltage value satisfy a preset condition to obtain a determination result, or when the first air volume state is different from the second air volume state, determining whether an absolute value of a difference between the first induced voltage value and the second induced voltage value is smaller than a first preset threshold to obtain a determination result.
Step S304: and determining whether the dust box of the sweeper is full of dust according to the judgment result.
In some possible embodiments, determining whether the dust box of the sweeper is full of dust according to the determination result may be determining that the dust box of the sweeper is full of dust when an absolute value of a difference between the first induced voltage value and the second induced voltage value is smaller than a first preset threshold; and under the condition that the absolute value of the difference value of the first induction voltage value and the second induction voltage value is greater than or equal to a first preset threshold value, determining that the dust box of the sweeper is not full of dust.
In the embodiment of the application, whether the dust box of the sweeper is full of dust can be determined according to whether the first induced voltage value and the second induced voltage value meet the preset condition, and the preset condition is determined according to the type of the magnet on the sweeper, the moving range of the magnet on the dust baffle and other conditions, so that whether the dust box of the sweeper is full of dust can be determined according to the actual state of the sweeper.
Fig. 4 is a schematic view of an implementation process of a method for detecting fullness of a dust box of a sweeper according to an embodiment of the present application, where as shown in fig. 4, the process includes:
step S401: at the current moment, acquiring a first induced voltage value output by a sensor on the sweeper and a first air volume state of the sweeper; the magnetic field sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value.
Step S402: acquiring a second induction voltage and a second air volume state; the second induced voltage value is an induced voltage value output by the sensor at the last moment; the second air volume state is the air volume state of the sweeper at the previous moment.
Step S403: and judging whether the first induction voltage value and the second induction voltage value meet preset conditions or not under the condition that the first air volume state and the second air volume state are different, and obtaining a judgment result.
Step S404: and under the condition that the judgment result is that the preset condition is met, determining that the magnetic field between the magnet and the sensor is not changed.
In a possible embodiment, in the case that the determination result is that the preset condition is satisfied, it may be determined that the magnetic field between the magnet and the sensor is not changed, that is, it may be determined that the height of the magnet (dust deflector) is not changed, in the case that an absolute value of a difference between the first induced voltage value and the second induced voltage value is smaller than a first preset threshold value.
Step S405: determining that the dust bin is dusty without a change in the magnetic field between the magnet and the sensor.
In one possible implementation, step S405 includes: determining that the height of the dust guard is unchanged under the condition that the magnetic field between the magnet and the sensor is unchanged; and when the height of the dust baffle is not changed, determining that the dust box is full of dust.
Step S406: and determining that the magnetic field between the magnet and the sensor changes when the judgment result is that the preset condition is not met.
In one possible embodiment, the determination of the change in the magnetic field between the magnet and the sensor may be performed when the determination result indicates that the preset condition is not satisfied, and the determination of the change in the magnetic field between the magnet and the sensor, that is, the determination of the change in the height of the magnet (dust deflector) may be performed when the absolute value of the difference between the first induced voltage value and the second induced voltage value is equal to or greater than a first preset threshold value.
Step S407: determining that the dust bin is not full when a magnetic field between the magnet and the sensor changes.
In one possible implementation, step S407 includes: determining that the height of the dust deflector changes when the magnetic field between the magnet and the sensor changes; when the height of the dust baffle changes, the dust box is determined to be not full of dust.
Step S408: and sending out a reminding message of dust fullness of the dust box under the condition that the dust box of the sweeper is determined to be full of dust.
Here, the implementation manner of sending the notification message of dust box full dust may be to send a sound to notify "dust box full dust", or to prompt through an indicator light with a specific color, which is not specifically limited herein.
In this application embodiment, can change whether the dust box that comes the machine of sweeping the floor according to the magnetic field between magnet and the sensor is full of dust to the full warning of dust box dust, consequently, can directly confirm whether the dust box of the machine of sweeping the floor is full of dust according to the magnetic field between magnet and the sensor, and carry out intelligence when the dust box dust is full and remind.
In one possible embodiment, the dust box can be used to determine whether it is full by detecting the state of the dust guard. And a magnet is arranged on the dust board, a linear Hall sensor is arranged at the position of the whole machine corresponding to the magnet, and the linear Hall sensor is connected with a main control board of the sweeper.
Here, referring to fig. 5A and 5B, the magnet installation position of the sweeper and the installation position of the sensor may correspond to a specific position on the dust guard of the sweeper, which may beposition 50, and a complete machine position corresponding to the specific position, which may beposition 51. Of course, the specific position on the dust guard of the sweeper can be theposition 52 symmetrical to theposition 50, and the whole machine position corresponding to the specific position can be theposition 53 symmetrical to theposition 51, as long as theposition 52 on the dust guard corresponds to theposition 53 of the whole machine position. Here, theoverall position specific position specific position
In a possible implementation mode, the dust box of the sweeper is empty, and the dust blocking sheet moves freely when the sweeper works normally. The sweeper sets up different suction, and the fan operation is in different gears, and the amount of wind through the dirt blocking piece is different, and the height of dirt blocking piece is different. When the dust box is full, the dust blocking sheet is blocked by garbage and cannot move freely, and the output of the linear Hall sensor cannot change along with the change of the gear of the fan.
In this application embodiment, the fan gear that the quick-witted setting 4 suctions of sweeping the floor correspond, the quick-witted condition that the dirt box is not full of sweeping the floor, and the output induced voltage value of linear hall sensor refers to fig. 6, as shown in fig. 6, and the abscissa shows time, and the unit can be mS (millisecond), and the ordinate can be mV (millivolt), and the fan gear that 4 suctions correspond includes:gear 1,gear 2,gear 3,gear 4 and fan off state, under the not full condition of machine of sweeping the floor dust box, when machine of sweeping the floor was in fan off state,gear 1,gear 2,gear 3 andgear 4, the induced voltage value of linear hall sensor output was 1.7V (volt), 1.8V, 1.95V, 2.01V and 2.06V respectively. It can be seen that, under the condition that the dust box of the sweeper is not full, the heights of the dust baffles are different for different fan gears (air volumes), and the corresponding inductive voltage values output by the linear hall sensors are different.
The embodiment of the application provides a method for detecting dust fullness of a dust box of a sweeper in the process of adjusting a fan of the sweeper from agear 1 to agear 2, and as shown in fig. 7, the method comprises the following steps:
step S701: the user adjusts the fan togear 1.
Step S702: the controller of the sweeper detects that the induction voltage value output by the linear Hall sensor is h1 when the fan is in thegear 1.
Step S703: the user adjusts the fan togear 2.
Step S704: the controller of the sweeper detects that the induction voltage value output by the linear Hall sensor is h2 when the fan is in thegear 2.
Step S705: the controller of the sweeper judges whether the difference value between h1 and h2 is greater than a second preset threshold value, if so, the step S706 is carried out; if not, the process proceeds to step S707.
Step S706: the sweeper outputs prompt information that the dust box is not full.
Step S707: the sweeper outputs the prompt message of dust fullness of the dust box.
Based on the foregoing embodiments, the embodiments of the present application provide a device for detecting dust fullness in a dust box of a sweeper, and each module included in the device can be implemented by a controller in the sweeper. Fig. 8 is a schematic structural diagram of a device for detecting dust fullness in a dust box of a sweeper according to an embodiment of the present application, and as shown in fig. 8, a device 800 for detecting dust fullness in a dust box of a sweeper includes:
a first obtaining module 801, configured to obtain, at a current moment, a first induced voltage value output by a sensor on the sweeper; the sweeper comprises a sweeper body, a dust baffle, a sensor, a magnet, a magnetic field sensor and a power supply, wherein the magnet is arranged at a specific position on the dust baffle of the sweeper body, the sensor is arranged at a complete machine position corresponding to the specific position, and the sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value;
a second obtaining module 802, configured to obtain a second induced voltage value, where the second induced voltage value is an induced voltage value output by the sensor at a previous time;
the first determining module 803 is configured to determine whether the dust box of the sweeper is full of dust according to the first induced voltage value and the second induced voltage value.
In some embodiments, the device 800 for detecting the dust bin fullness of the sweeper further comprises: a third obtaining module 804, configured to obtain a first air volume state of the sweeper at the current time; a fourth obtaining module 805, configured to obtain a second air volume state, where the second air volume state is an air volume state of the sweeper at a previous time. The first determining module 803 is configured to determine whether the dust box of the sweeper is full of dust according to the first induced voltage value and the second induced voltage value when the first air volume state and the second air volume state are different.
In some embodiments, the first determining module 803 is configured to determine whether the first induced voltage value and the second induced voltage value meet a preset condition, so as to obtain a determination result; and determining whether the dust box of the sweeper is full of dust according to the judgment result.
In some embodiments, the first determining module 803 is configured to determine that the magnetic field between the magnet and the sensor is not changed if the determination result is that the preset condition is met; determining that the dust bin is dusty if the magnetic field between the magnet and the sensor has not changed; determining that the magnetic field between the magnet and the sensor changes when the judgment result is that the preset condition is not met; determining that the dust bin is not full when a magnetic field between the magnet and the sensor changes.
In some embodiments, the device 800 for detecting the dust bin fullness of the sweeper further comprises: and the reminding module 806 is configured to send out a reminding message that the dust box of the sweeper is full of dust when it is determined that the dust box of the sweeper is full of dust.
In practical applications, the first obtaining module 801, the second obtaining module 802, the first determining module 803, the third obtaining module 804, the fourth obtaining module 805, and the reminding module 806 may be implemented by a processor in a device for creating a pattern template, where the processor may be at least one of an ASIC, a DSP, a DSPD, a PLD, an FPGA, a CPU, a controller, a microcontroller, and a microprocessor.
The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be noted that, in the embodiment of the present application, if the method described above is implemented in the form of a software functional module and sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
Correspondingly, an embodiment of the present application provides a sweeper, fig. 9 is a schematic view of a composition structure of the sweeper provided in the embodiment of the present application, and as shown in fig. 9, the sweeper 900 includes: a magnet 901 disposed at a specific position of the dust guard for generating a magnetic field of a specific magnetic induction intensity; the sensor 902 is arranged at the position of the whole machine corresponding to the specific position and is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value; the controller 903 is used for acquiring a first induced voltage value output by a sensor on the sweeper at the current moment; acquiring a second induced voltage value, wherein the second induced voltage value is an induced voltage value output by the sensor at the last moment; and determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
In some possible embodiments, the sensor is a linear hall sensor; the magnet is a cylindrical magnet.
Here, the linear hall sensor includes a hall element, a linear amplifier, and an emitter follower for sensing a value of an induced voltage generated on the sensor within a set distance by the magnet and the linear hall sensor. The shape of the magnet may be a cylindrical magnet, or may be a rectangular parallelepiped or square, as long as the south and north poles of the magnet are at opposite ends, i.e., not U-shaped or otherwise.
In some possible embodiments, the magnet comprises a south pole and a north pole, and the closer the south pole of the magnet is to the sensor, the larger the value of the induced voltage output by the sensor; the closer the distance between the north pole of the magnet and the sensor is, the smaller the value of the induced voltage output by the sensor is.
In one example, only one of the south pole and the north pole of the magnet arranged in the sweeper faces the sensor, and when the south pole faces the sensor, the closer the south pole of the magnet is to the sensor, the larger the induced voltage value output by the sensor; when the north pole faces the sensor, the closer the north pole of the magnet is to the sensor, the smaller the value of the induced voltage output by the sensor.
In some possible embodiments, for the fixed position of the magnet and the sensor, the values of the induced voltages output by the sensor corresponding to different types of magnets are different.
In one example, for a particular type of magnet, when the south pole is at zero distance from the sensor, the value of the induced voltage output by the sensor may be 3.0V; when the distance between the north pole and the sensor is zero, the value of the induced voltage output by the sensor may be 0.3V. For different types of magnets, when the distance between the south pole and the sensor is zero, the value of the induced voltage output by the sensor can be 2.5V; when the distance between the north pole and the sensor is zero, the value of the induced voltage output by the sensor may be 0.2V.
Correspondingly, the present application provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps in the above-mentioned method embodiments.
Here, it should be noted that: the above description of the storage medium embodiment is similar to the description of the method embodiment described above, with similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the storage medium of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the device is only a logical functional division, and other division ways may be implemented in practice, such as: multiple modules may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be electrical, mechanical or other forms.
In addition, all functional modules in the embodiments of the present application may be integrated into one processor, or each module may be separately regarded as one module, or two or more modules may be integrated into one module; the integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated module described above in the present application may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present application, in essence or parts contributing to the related art, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling the sweeper to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of detecting a dust bin fullness of a sweeper, the method comprising:
at the current moment, acquiring a first induced voltage value output by a sensor on the sweeper and a first air volume state of the sweeper; the sweeper comprises a sweeper body, a dust baffle, a sensor, a magnet, a magnetic field sensor and a power supply, wherein the magnet is arranged at a specific position on the dust baffle of the sweeper body, the sensor is arranged at a complete machine position corresponding to the specific position, and the sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value;
acquiring a second induced voltage value and a second air volume state, wherein the second induced voltage value is an induced voltage value output by the sensor at the last moment; the second air volume state is the air volume state of the sweeper at the previous moment;
and under the condition that the first air volume state and the second air volume state are different, determining whether a dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
2. The method of claim 1, wherein said determining if a dust box of the sweeper is full from the first and second induced voltage values comprises:
judging whether the first induction voltage value and the second induction voltage value meet preset conditions or not to obtain a judgment result;
and determining whether the dust box of the sweeper is full of dust according to the judgment result.
3. The method of claim 2, wherein determining whether a dust bin of the sweeper is full according to the determination comprises:
determining that the magnetic field between the magnet and the sensor is not changed under the condition that the judgment result is that the preset condition is met; determining that the dust bin is dusty if the magnetic field between the magnet and the sensor has not changed;
determining that the magnetic field between the magnet and the sensor changes when the judgment result is that the preset condition is not met; determining that the dust bin is not full when a magnetic field between the magnet and the sensor changes.
4. The method according to any one of claims 1 to 3, further comprising:
and sending out a reminding message of dust fullness of the dust box under the condition that the dust box of the sweeper is determined to be full of dust.
5. The utility model provides a detect full device of quick-witted dirt box dust of sweeping floor which characterized in that, the device includes:
the first acquisition module is used for acquiring a first induction voltage value output by a sensor on the sweeper at the current moment; the sweeper comprises a sweeper body, a dust baffle, a sensor, a magnet, a magnetic field sensor and a power supply, wherein the magnet is arranged at a specific position on the dust baffle of the sweeper body, the sensor is arranged at a complete machine position corresponding to the specific position, and the sensor is used for converting the magnetic field change between the magnet and the sensor into an induced voltage value;
the second acquisition module is used for acquiring a second induced voltage value, wherein the second induced voltage value is an induced voltage value output by the sensor at the previous moment;
the third acquisition module is used for acquiring a first air volume state of the sweeper at the current moment;
the fourth acquisition module is used for acquiring a second air volume state, wherein the second air volume state is the air volume state of the sweeper at the previous moment;
and the first determining module is used for determining whether the dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value under the condition that the first air volume state and the second air volume state are different.
6. A sweeper is characterized by comprising:
the magnet is arranged at a specific position of the dust baffle and is used for generating a magnetic field with specific magnetic induction intensity;
the sensor is arranged at the position of the whole machine corresponding to the specific position and used for converting the magnetic field change between the magnet and the sensor into an induced voltage value;
the controller is used for acquiring a first induction voltage value output by a sensor on the sweeper and a first air volume state of the sweeper at the current moment; acquiring a second induced voltage value and a second air volume state, wherein the second induced voltage value is an induced voltage value output by the sensor at the last moment; the second air volume state is the air volume state of the sweeper at the previous moment; and under the condition that the first air volume state and the second air volume state are different, determining whether a dust box of the sweeper is full of dust or not according to the first induction voltage value and the second induction voltage value.
7. The sweeper of claim 6, wherein the sensor is a linear hall sensor.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of detecting fullness in a dust bin of a sweeper of any one of claims 1 to 4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011460614.XACN112630463B (en) | 2020-12-11 | 2020-12-11 | Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage medium |
| PCT/CN2021/081919WO2022121147A1 (en) | 2020-12-11 | 2021-03-19 | Method and device for detecting whether sweeper dust box is full, sweeper and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011460614.XACN112630463B (en) | 2020-12-11 | 2020-12-11 | Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage medium |
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| CN112630463A CN112630463A (en) | 2021-04-09 |
| CN112630463Btrue CN112630463B (en) | 2021-11-23 |
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| CN202011460614.XAActiveCN112630463B (en) | 2020-12-11 | 2020-12-11 | Method and device for detecting dust fullness of dust box of sweeper, sweeper and storage medium |
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| Country | Link |
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| CN (1) | CN112630463B (en) |
| WO (1) | WO2022121147A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114947607B (en)* | 2022-04-19 | 2024-02-23 | 安克创新科技股份有限公司 | Dust box dust fullness detection method and device, dust collection device and automatic cleaning equipment |
| CN115349776B (en)* | 2022-08-10 | 2024-05-03 | 成都市联洲国际技术有限公司 | Method and device for detecting state of sweeper, sweeper and storage medium |
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| WO2022121147A1 (en) | 2022-06-16 |
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