WO2023124369A1

WO2023124369A1 - Self-cleaning control method for cleaning device, cleaning device, and cleaning system

Info

Publication number: WO2023124369A1
Application number: PCT/CN2022/124492
Authority: WO
Inventors: 柳康; 蔡元力
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-12-30
Filing date: 2022-10-11
Publication date: 2023-07-06

Abstract

A self-cleaning control method for a cleaning device, a cleaning device, and a cleaning system. The cleaning device comprises a wastewater tank (30), a rotating component (34) and a first motor (33) connected to the rotating component (34), located inside the wastewater tank (30), a second motor (31) located outside the wastewater tank (30) and configured to generate a negative pressure, a liquid storage member and a liquid spraying member (112) connected to the liquid storage member, and a cleaning member (113) and a third motor connected to the cleaning member (113). The method comprises: acquiring a self-cleaning start signal of the cleaning device, the self-cleaning start signal being used to start the cleaning device, so that the cleaning device enters a self-cleaning mode (S202); in response to the self-cleaning start signal, starting operation of the third motor, so as to cause the cleaning member (113) to rotate, and starting the liquid spraying member (112), so as to spray a liquid onto the cleaning member (113) (S204); closing the liquid spraying member (112) to stop spraying the liquid onto the cleaning member (113) (S206); starting operation of the second motor (31), so as to pump the liquid that has been used to clean the cleaning member (113) to the wastewater tank (30) (S208); starting the first motor (33) so as to cause the rotating component (34) to rotate, so as to perform water-gas separation on a gas-liquid mixture inside the wastewater tank (30), the first motor (33) being started before the second motor (31) (S210).

Description

Self-cleaning control method for cleaning equipment, cleaning equipment and cleaning system

This application claims the priority of the following patent application: a Chinese patent application filed with the China Patent Office on December 30, 2021, with the application number 202111670440.4, and the title of the invention is "Control method of cleaning equipment, cleaning equipment, cleaning system and electronic device" , and a Chinese patent application submitted to the China Patent Office on July 07, 2022, with the application number 202210795087.0, and the title of the invention is "self-cleaning control method for cleaning equipment, cleaning equipment and cleaning system"; the entire content of the above patent application is incorporated by reference incorporated in this application.

【Technical field】

The present application relates to the field of smart home, in particular, to a self-cleaning control method for cleaning equipment, cleaning equipment and a cleaning system.

【Background technique】

At present, in the process of cleaning with cleaning equipment (for example, floor scrubber), the negative pressure generated by the main motor can suck the liquid near the cleaning parts (for example, rolling brush) into the sewage tank, and the liquid is sucked into the waste water tank. When the sewage tank is drained, a part of the gas is also inhaled, and the inhaled gas will carry a part of the liquid to form water vapor. If it is not handled in time, water vapor will enter the main motor, which will cause damage to the main motor.

It can be seen that the self-cleaning control method of the cleaning equipment in the related art has the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor.

【Content of invention】

The embodiment of the present application provides a self-cleaning control method for cleaning equipment, cleaning equipment and a cleaning system to at least solve the problem of the self-cleaning control method for cleaning equipment in the related art due to the water vapor sucked into the sewage tank entering the main motor. The problem that the main motor is easily damaged.

According to an aspect of the embodiments of the present application, a self-cleaning control method for cleaning equipment is provided, the cleaning equipment includes a sewage tank, a rotating part located inside the sewage tank, and a first motor connected to the rotating part, A second motor for generating negative pressure, a liquid storage part and a liquid spraying part connected to the liquid storage part, a cleaning part and a third motor connected to the cleaning part located outside the waste water tank, the method The method includes the following steps: acquiring a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode; in response to the self-cleaning start signal, start the third The motor works to make the cleaning part rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to The liquid that has cleaned the cleaning element is sucked into the sewage tank; wherein, the method further includes: starting the first motor to rotate the rotating part, so that the gas-liquid mixture in the sewage tank Water and gas separation is performed, and the first motor is started before the second motor.

According to another aspect of the embodiments of the present application, there is also provided a self-cleaning control method for cleaning equipment, the cleaning equipment includes a first sewage tank, a rotating part located inside the first sewage tank, and the rotating part The connected first motor, the second motor located outside the first sewage tank for generating negative pressure, the liquid storage part and the liquid spray part connected with the liquid storage part, the cleaning part and the cleaning part connected The third motor, the base station matched with the cleaning equipment includes a base station motor and a second sewage tank, and the first sewage tank and the second sewage tank are connected through a sewage pipeline; the method includes the following steps: the cleaning The device acquires a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode; in response to the self-cleaning start signal, the cleaning device starts the third motor to work to Make the cleaning part rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to clean the cleaned part The liquid of the cleaning part is sucked into the first sewage tank; wherein, the method further includes: the cleaning device starts the first motor to rotate the rotating part to clean the water in the first sewage tank The gas-liquid mixture is separated from water and gas, and the first motor starts before the second motor; the base station motor generates negative pressure and the liquid in the first sewage tank is sucked into the sewage pipe through the sewage pipe In the second waste water tank.

According to yet another aspect of the embodiments of the present application, there is also provided a cleaning device, including: a sewage tank; a rotating part located inside the sewage tank; a first motor connected to the rotating part; A second motor for generating negative pressure; a liquid storage part; a liquid spray part connected with the liquid storage part; a cleaning part; and a third motor connected with the cleaning part; a control device for obtaining The self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode; in response to the self-cleaning start signal, start the third motor to work, so that all The cleaning part rotates, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to clean the cleaning part The liquid of the parts is sucked into the sewage tank; wherein, the control device is also used to start the first motor to rotate the rotating part, so as to separate the gas-liquid mixture in the sewage tank from water and gas , and the first motor starts before the second motor.

According to yet another aspect of the embodiments of the present application, there is also provided a cleaning system, including: cleaning equipment and a base station matched with the cleaning equipment, wherein the cleaning equipment includes: a first sewage tank; The rotating part inside the sewage tank and the first motor connected with the rotating part; the second motor located outside the first sewage tank for generating negative pressure; the liquid storage part and the spray nozzle connected with the liquid storage part a liquid part; a cleaning part and a third motor connected to the cleaning part; a first control device; wherein the first control device is used to obtain a self-cleaning start signal, wherein the self-cleaning start signal is used for Starting the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, starting the third motor to rotate the cleaning part, and starting the liquid spraying part to spray liquid to the cleaning part; Close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid that has cleaned the cleaning part to the first sewage tank; wherein, the first control The device is also used to start the first motor to rotate the rotating part to separate the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor The base station includes a base station motor; a second sewage tank connected to the first sewage tank through a sewage pipe; a second control device; wherein, the second control device is used to control the base station motor by generating a load The liquid in the first sewage tank is sucked into the second sewage tank through the sewage pipe.

According to yet another aspect of the embodiments of the present application, a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned cleaning device during operation. Self-cleaning control method.

According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned Self-cleaning control method for cleaning equipment.

In the embodiment of the present application, the motor drives the rotating parts on the top of the sewage tank to rotate to separate water and air, and obtains the self-cleaning start signal of the cleaning equipment, wherein the self-cleaning start signal is used to start the cleaning equipment to enter Self-cleaning mode; in response to the self-cleaning start signal, start the third motor (for example, a rolling brush motor) to work to make the cleaning part rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying the cleaning part Spray liquid; activate the second motor (the motor used to generate negative pressure, such as the main motor) to work to suck the liquid that has cleaned the cleaned parts into the recovery tank; activate the first motor (such as the separation motor) to rotate the parts Rotate to separate the gas-liquid mixture in the sewage tank, and the first motor starts before the second motor, because the rotating parts in the sewage tank are driven by the first motor to rotate, so as to separate the gas-liquid in the sewage tank The mixture is separated from water and air, and the separated water is thrown to the wall of the sewage tank under the action of centrifugal force, which can prevent the water vapor in the sewage tank from entering the main motor, reduce the possibility of damage to the main motor, and improve The technical effect of the safe operation of the main motor solves the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor in the self-cleaning control method of the cleaning equipment in the related art.

【Description of drawings】

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a hardware environment of an optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

FIG. 2 is a schematic flowchart of an optional self-cleaning control method for cleaning equipment according to an embodiment of the present application;

Fig. 3 is a partial structural schematic diagram of an optional cleaning device according to an embodiment of the present application;

Fig. 4 is a schematic structural diagram of an optional impeller according to an embodiment of the present application;

Fig. 5 is a schematic structural diagram of an optional cleaning device according to an embodiment of the present application;

Fig. 6 is a schematic flow chart of another optional self-cleaning control method for cleaning equipment according to an embodiment of the present application;

Fig. 7 is a schematic diagram of an optional front and rear roller brush reversal according to an embodiment of the present application;

Fig. 8 is a schematic diagram of an optional forward rotation of the front and rear roller brushes according to the embodiment of the present application;

Fig. 9 is a schematic flowchart of another optional self-cleaning control method for cleaning equipment according to an embodiment of the present application;

Fig. 10 is a schematic flowchart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

Fig. 11 is a schematic structural diagram of an optional cleaning system according to an embodiment of the present application;

Fig. 12 is a schematic flowchart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

Fig. 13 is a structural block diagram of an optional electronic device according to an embodiment of the present application.

【Detailed ways】

Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. In addition, those skilled in the art should know that the following definitions of forward rotation and reverse rotation are as follows: in this application, the rotation of the roller brush when the cleaning device is working normally is the forward direction, and the opposite rotation is the reverse rotation.

According to one aspect of the embodiments of the present application, a method for controlling self-cleaning of a cleaning device is provided. Optionally, in this embodiment, the self-cleaning control method for cleaning devices described above may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a base station 106 as shown in FIG. 1 . As shown in Figure 1, the terminal device 102 can be connected to the cleaning device 104 and/or the base station 106 through the network to control the cleaning device 104, for example, to bind with the cleaning device 104 and configure the cleaning function of the cleaning device 104 . The cleaning device 104 and the base station 106 can be connected through a network, or directly connected through an interface and a socket, to determine the current state of the opposite end (for example, power status, working state, location information, etc.), and to charge the opposite end .

The foregoing network may include but not limited to at least one of the following: a wired network and a wireless network. The above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, wireless fidelity), bluetooth, infrared. The network used by the terminal device 102 to communicate with the cleaning device 104 and/or the base station 106 and the network used by the cleaning device 104 to communicate with the base station 106 may be the same or different. The terminal device 102 may not be limited to PC, mobile phone, tablet computer, etc. The cleaning device 104 may include but not limited to: scrubbing robots, intelligent scrubbers, intelligent cleaning machines integrating washing and mopping, etc. The base station 106 may be The base station of the cleaning equipment 104, for example, a base station of a cleaning robot, a base station of a cleaning robot, and the like.

The self-cleaning control method of the cleaning device in the embodiment of the present application may be executed by the terminal device 102, the cleaning device 104, or the base station 106 alone, or jointly executed by at least two of the terminal device 102, the cleaning device 104, and the base station 106. Wherein, the self-cleaning control method of the cleaning device in the embodiment of the present application executed by the terminal device 102 or the cleaning device 104 may also be executed by a client installed on it.

Taking the self-cleaning control method of the cleaning equipment in this embodiment performed by the cleaning equipment 104 as an example, FIG. 2 is a schematic flowchart of an optional self-cleaning control method of the cleaning equipment according to the embodiment of the present application, as shown in FIG. 2 As shown, the flow of the method may include the following steps:

Step S202, acquiring a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode.

The self-cleaning control method of the cleaning device in this embodiment may be applied in the following scenario: during the self-cleaning process of the cleaning device, the liquid used for self-cleaning is sucked into the sewage tank. When it is necessary to perform self-cleaning on the cleaning device (for example, after cleaning the area, it is detected that the degree of dirt of the cleaning parts is too high, or other scenarios), the cleaning device may obtain a self-cleaning start signal of the cleaning device. The aforementioned self-cleaning start signal can be used to start the cleaning device to enter the self-cleaning mode. In self-cleaning mode, the cleaning device can perform self-cleaning operations. The aforementioned self-cleaning start signal may be automatically generated by the cleaning device, or may be triggered by a user.

When the cleaning of the area is completed, the cleaning parts of the cleaning device are too dirty, or in other situations, the cleaning device can send out a self-cleaning prompt message. After receiving the above prompt information, the user can trigger the generation of the self-cleaning start signal. There are many ways for the user to trigger the generation of the self-cleaning start signal. Correspondingly, the cleaning device can obtain the above-mentioned self-cleaning start signal in various ways.

For example, a user can perform a trigger operation on a specific area on the touch screen of the cleaning device. The cleaning device may generate an operational self-cleaning initiation signal in response to the detected trigger operation. For another example, the user can trigger the generation of a self-cleaning start signal by performing a trigger operation on a specific area in the device operation interface of the terminal device associated with the cleaning device, and send the generated self-cleaning start signal to the cleaning device through the network, and the cleaning device The self-cleaning initiation signal may be received. For another example, the user may trigger the sending of a self-cleaning start signal to the cleaning device by operating a button or a corresponding area on the remote control device, and the cleaning device may receive the self-cleaning start signal sent by the remote control device.

Optionally, the self-cleaning start signal may also be obtained through other methods, and the above-mentioned triggering operation may include but not limited to at least one of the following: a click operation, a double-click operation, a slide operation, or other operations. In this embodiment, there is no limitation on the manner of acquiring the self-cleaning start signal.

Step S204, in response to the self-cleaning start signal, start the third motor to rotate the cleaning element, and activate the liquid spraying element to spray liquid to the cleaning element.

Cleaning equipment includes liquid storage parts (such as clean water tanks) and liquid spraying parts (such as liquid distributors, water pumps, etc.) The third motor (for example, a rolling brush motor), wherein the cleaning part is a part used by the cleaning equipment to clean the area, which can be driven by the third motor to rotate at a certain speed, and the liquid spray part can store the liquid The liquid stored in the parts is sprayed onto the cleaning parts to clean the cleaning parts.

The cleaning device may include a sewage tank, and the sewage tank may include a box body and a box cover, and the bottom of the box body may also have a connection (for example, a sewage suction pipe) that allows liquid to be sucked into the sewage tank. The box body and the box cover are detachable structures, so that the box body and the box cover can be disassembled, and the sewage in the box can be poured out. The tank cover of the cleaning device can be provided with a filter component, which can be positioned on the tank cover of the sewage tank, or, be arranged on the main body of the cleaning equipment and connected to the position of the tank cover of the sewage tank, and the filter component can be HEPA ( High efficiency particular air Filter, Hypa, high-efficiency air filter), filter cotton, etc., can also be other filter components. The filtering component can first filter the gas sucked into the sewage tank, and then discharge it into the air, so as to reduce the possible impact on the air.

A second motor can be provided outside the sewage tank, and the second motor can generate negative pressure to suck the liquid on the surface to be cleaned into the sewage tank, which can be called the main motor of the cleaning device (it can be a negative pressure generator). If no other components are provided, because part of the liquid is atomized under the effect of negative pressure, etc., and mixed with the inhaled gas, what the second motor sucks into the waste water tank is a gas-liquid mixture. If the gas-liquid mixture is not treated, the gas-liquid mixture may enter the second motor, causing the second motor to be damaged by the sucked gas-liquid mixture. Moreover, the gas-liquid mixture will also reach the filter element, and too much liquid will wet the filter element, affecting the filtering effect of the filter element.

In this embodiment, a rotating part and a first motor connected to the rotating part can be arranged inside the sewage tank, and the first motor can be arranged on the tank cover of the sewage tank. After the first motor is energized, if the first motor is Start, it will drive the rotating component to rotate (rotate), the rotating component can be an impeller, a stirring wheel, or other components that can separate water and air through rotation. Correspondingly, the first motor can be called a separation motor. When the first motor drives the rotating part to rotate, the rotating rotating part will drive the gas-liquid mixture sucked into the sewage tank to rotate. Under the action of centrifugal force, the liquid and gas are separated, and the liquid is thrown to the bottom of the sewage tank. On the inner wall, the gas can be excluded into the air through the filter element, so as to realize the separation of water and gas.

For example, as shown in FIG. 3 , the scrubber may include a sewage tank 30 , a main motor 31 and a Hypa assembly 32 . The sewage tank 30 may contain a separation motor 33 and an impeller 34, and the structure of the impeller 34 may be as shown in FIG. 4 . The separation motor 33 is used to drive the impeller 34 to rotate. When the scrubber is running, the impeller 34 can cooperate with the main motor 31 to separate water and air through the rotation of the impeller 34 to achieve better water and air separation effect.

In response to the self-cleaning start signal, in order to clean the cleaning parts, the cleaning device can start the third motor to rotate the cleaning parts, and activate the liquid spraying part to spray liquid to the cleaning parts. The cleaning piece can be cleaned by spraying liquid to the cleaning piece, and the cleaning piece can be evenly cleaned by rotating the cleaning piece, thereby improving the self-cleaning efficiency of the cleaning piece.

Step S206, closing the liquid spraying member to stop spraying liquid to the cleaning member.

In order to ensure the cleanliness of the cleaning part after self-cleaning, the self-cleaning operation may include one or more rounds of spraying liquid to the cleaning part through the liquid spraying part, and the amount of sprayed liquid or the spraying time may be fixed. After spraying is complete, the spray member can be turned off to stop spraying the cleaning member.

Step S208, start the second motor to work to suck the liquid that has cleaned the cleaning piece to the sewage tank.

In the process of spraying liquid to the cleaning part through the liquid spraying part, the second motor can be in the running state. to the waste water tank. In order to ensure the cleaning effect of the cleaning parts, after the liquid spraying part is turned off, the second motor can be started to work, and the started second motor can suck the liquid that has cleaned the cleaning parts to the sewage tank.

Step S210, start the first motor to rotate the rotating part, so as to separate the gas-liquid mixture in the waste water tank, and the first motor is started before the second motor.

In this embodiment, in the self-cleaning mode, the cleaning device can also start the first motor, and the started first motor can drive the rotating parts to rotate, so as to separate the gas-liquid mixture in the sewage tank from water and gas. When starting the first motor, the cleaning device can directly start the second motor. Since the rotation speed of the first motor has a process from zero to stable, correspondingly, the current passing through the first motor has a process from large to small. If the second motor is started directly after starting the first motor, the gas-liquid mixture sucked into the waste water tank cannot be guaranteed to be effectively separated due to the instability of the running state of the first motor just started. In this embodiment, the first motor can be controlled to start before the second motor, and the first motor can also be controlled to be turned off later than the second motor.

For example, the main motor sucks sewage into the sewage tank by generating negative pressure, and the water-air separation motor starts to drive the impeller and the movable bottom plate to rotate to achieve the effect of water-air separation. The separation motor starts with the main motor first, which can avoid the failure of the separation motor, water vapor entering the main motor, and affecting the service life of the main motor. The separation motor is turned off later than the main motor to ensure separation efficiency and prevent water vapor from entering the main motor.

Through the above steps S202 to S210, the self-cleaning start signal of the cleaning device is obtained, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to work, so that the cleaning The parts rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid that has cleaned the cleaning part to the sewage tank; start the first motor to The rotating parts are rotated to separate the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor, which solves the problem of the self-cleaning control method of the cleaning equipment in the related art due to suction into the sewage tank The water vapor entering the main motor causes the main motor to be easily damaged, which reduces the possibility of damage to the main motor and improves the safety of the main motor operation.

In an exemplary embodiment, during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the starting sequence of the third motor and the first motor can be configured according to needs, and the third motor can be started before the first motor , or, the first motor starts before the third motor.

As an optional embodiment, the third motor is a motor that drives the cleaning parts to rotate, the first motor is a separation motor, and the first motor is used to drive the rotating parts to separate the gas-liquid mixture in the sewage tank from water and gas, and the sewage The gas-liquid mixture in the tank is mainly sucked by the negative pressure generated by the second motor, and the second motor can be started after the liquid spraying part stops spraying liquid to the cleaning part. In order to ensure the rationality of resource utilization, the third motor can be controlled to start before the first motor.

As another optional implementation, considering that the gas-liquid mixture in the sewage tank may also be brought in during the rotation of the cleaning parts, in order to ensure the comprehensiveness of water-gas separation and improve the safety of the second motor operation , the first motor can be controlled to start before the third motor.

Through this embodiment, the starting sequence of the first motor and the third motor can be configured according to needs, which can improve the flexibility of the self-cleaning process.

In an exemplary embodiment, after acquiring the self-cleaning start signal of the cleaning device, the above method further includes:

S11, acquiring the target state parameter of the waste water tank, wherein the target state parameter represents the installation state of the waste water tank;

S12. When it is determined according to the target state parameter that the sewage tank is not installed, send a first prompt message through the cleaning device, wherein the first prompt message is used to prompt that the sewage tank is not installed.

In this embodiment, the sewage tank can be a detachable structure, which can be connected with the main body of the cleaning device through a connecting piece (for example, a contact piece, etc.), so as to supply power to the components in the sewage tank. Energizing the first motor may refer to: supplying power to the connecting piece connected to the waste water tank, or in other words, energizing the connecting piece. In order to avoid sewage splashing due to non-installation of the sewage tank, after the self-cleaning start signal is obtained, the target state parameter of the sewage tank can be detected first, and this parameter can be used to indicate the installation state of the sewage tank.

Optionally, the target state parameter can be expressed in various ways. For example, the voltage of the current sampling resistor (which can be the first resistor) connected in series with the first motor on the sewage tank can be detected to obtain the first voltage value, the first voltage value can be the target state parameter, and the first voltage value is not zero. Indicates that the waste water tank has been installed, otherwise, it indicates that the waste water tank has not been installed. For another example, image acquisition may be performed by an image acquisition device, and target recognition is performed on the collected image, and the recognized installation status of the waste water tank is the target status parameter. In this embodiment, there is no limitation on the target state parameter.

If it is determined according to the target state parameters that the sewage tank is not installed, the cleaning device may issue a voice through the speaker, text or symbols on the touch screen, or other methods to send out a first prompt message to indicate that the sewage tank is not installed. In addition, within the first time period after sending out the first prompt message, the cleaning device may continue to obtain the target state parameter until it is determined according to the target state parameter that the waste water tank has been installed, or the first time period (the end moment) is reached .

Correspondingly, in response to the self-cleaning start signal, start the third motor to work, including:

S13, when it is determined according to the target state parameter that the sewage tank has been installed, in response to a self-cleaning start signal, control the cleaning device to perform a self-cleaning operation.

If it is determined according to the target state parameter that the waste water tank has been installed, then the self-cleaning mode may be entered in response to the self-cleaning start signal. In the self-cleaning mode, the above-mentioned third motor can be started to work.

Through this embodiment, by detecting whether the sewage tank is installed, the low self-cleaning efficiency caused by overflowing sewage can be avoided, and the occurrence of damage to cleaning equipment can be reduced.

In an exemplary embodiment, the execution process of the self-cleaning mode includes one or more cleaning time periods, and different time periods are used to realize different self-cleaning functions. The above-mentioned one or more cleaning time periods may include sequentially A time period of at least one of the following:

(1) The first cleaning period

During the first cleaning time period, the third motor and the liquid spraying member operate, while the first motor and the second motor can be turned off, and this time period is mainly used for cleaning the cleaning member. For example, the self-cleaning process may include a roller brush cleaning period, during which the roller brush motor (also called the ground brush motor) and the water pump work, while the separation motor and the main motor may not work.

(2) The second cleaning period

During the second cleaning period, the first motor, the second motor and the third motor are all running, and the liquid spraying member can be turned off. In the part where the second cleaning time period is adjacent to the first cleaning time period, there may be a process of starting the first motor and the second motor and turning off the liquid spraying member. The start-up sequence of the first motor and the second motor can be similar to that in the foregoing embodiments, and the liquid spraying member can start the first motor and the second motor before starting the first motor and the second motor, or start the first motor. The motor and the second motor are then turned off, which is not limited in this embodiment.

For example, the self-cleaning process may include a pipeline cleaning period, which may be located after the roller comb cleaning period. During the pipeline cleaning period, the ground brush motor continues to work, the water pump stops first, the separation motor runs, and the main motor runs afterward.

(3) The third cleaning period

During the third cleaning time period, the third motor and the spraying member are operated, and the first motor and the second motor are turned off. In the part where the third cleaning time period is adjacent to the second cleaning time period, there may be a process of turning off the first motor and the second motor and starting the liquid spraying member. The turn-off sequence of the first motor and the second motor can be similar to that in the foregoing embodiments, and the liquid spray member can turn off parts of the first motor and the second motor, or turn off the first motor before turning off the first motor and the second motor. The motor and the second motor are then started, which is not limited in this embodiment.

Optionally, during the third cleaning time period and the first cleaning time period, the operating parameters of each component in the cleaning device may be the same or different, and the different operating parameters may include but are not limited to at least one of the following : running time, operating parameters of one or more motors (running direction, running power, running time, etc.) .

For example, the self-cleaning process may include an intelligent detection period, which may be located after the pipeline cleaning period. During the intelligent detection period, the ground brush motor continues to work, the water pump works, the main motor stops, and the motor stops after being separated.

(4) The fourth cleaning period

During the fourth cleaning period, the first motor, the second motor and the third motor are all running, and the liquid spraying member is turned off. Similar to the aforementioned second cleaning period, in the part adjacent to the fourth cleaning period and the third cleaning period, there may be a process of starting the first motor and the second motor and closing the liquid spraying member. What has already been explained will not be repeated here. In the fourth cleaning time period and the second cleaning time period, the operating parameters of the various components in the cleaning equipment may be the same or different, and the different operating parameters may include but are not limited to at least one of the following: operating time, Operating parameters (running direction, running power, running time, etc.) of one or more motors among the first to third motors.

Specifically, the above-mentioned first cleaning time period is the roller brush cleaning time period, the above-mentioned second cleaning time period is the pipeline cleaning time period, the above-mentioned third cleaning time period is the intelligent detection time period, and the above-mentioned fourth cleaning time period is the deep cleaning time period part.

For example, the self-cleaning process may include a deep cleaning period, which may be located after the intelligent detection period. During the deep cleaning period, the ground brush motor continues to work, the water pump stops first, the separation motor runs, and the main motor runs afterward.

It should be noted that at least some of the above steps S204 to S210 may be performed during the first cleaning time period to the fourth time period, that is, during the self-cleaning process, the above steps S204 to S210 may be performed at least once. The third cleaning time period and the fourth time period may or may not be executed, for example, whether to execute is determined according to the degree of dirt of the cleaning parts.

Through this embodiment, by configuring the self-cleaning process to include one or more cleaning time periods, the flexibility of self-cleaning configuration can be improved, and the efficiency of self-cleaning can be improved at the same time.

The self-cleaning control method of the cleaning device in the embodiment of the present application will be explained below with reference to optional examples. In this optional example, the cleaning equipment is a floor scrubber, the first motor is a separation motor (that is, a water and air separation motor, as shown in Figure 5), the second motor is a main motor (or called a main engine motor), and the cleaning part It is a rolling brush, the third motor is a rolling brush motor, the liquid storage part is a clean water tank, the liquid spraying part is a water pump, and the rotating part is an impeller.

In order to solve the problem of the electric control logic of the water-air separation motor and the water spraying of the main motor, a water-air separation roller brush self-cleaning electric control scheme is provided in this optional example. Combined with Figure 6, the cleaning in this optional example The flow of the self-cleaning control method for equipment may include the following steps:

Step S602, start self-cleaning, judge whether the sewage tank is installed, if yes, execute step S604, otherwise, execute step S612.

If there is water in the fresh water tank and the dirty water tank is not full, the roller brush executes the self-cleaning logic, otherwise, it executes the alarm logic.

Step S604, performing rolling brush cleaning during the rolling brush cleaning period.

Step S606, performing pipeline cleaning during the pipeline cleaning period.

Step S608, during the intelligent detection period, perform intelligent detection, where the intelligent detection may be to detect the cleanliness of the cleaning parts, or to clean the roller brush again.

Step S610, perform deep cleaning during the deep cleaning period.

Step S612, alarm, prompting that the sewage tank is not installed.

After the self-cleaning is completed, the main motor and the roller brush motor can be controlled to stop first, and then stop after separating the motor.

Through this optional example, the impeller is driven by the separation motor to separate water vapor from the water vapor entering the sewage tank, which can prevent water vapor from entering the main motor and ensure the safety of the main engine operation.

In an exemplary embodiment, the above method also includes:

S21. During the first cleaning time period, the third motor drives the cleaning element to rotate forward, and sprays a first amount of liquid on the cleaning element through the liquid spraying element, so as to clean the cleaning element.

During the first cleaning time period, the cleaning element may be driven to rotate forward by the third motor, and a first amount of liquid may be sprayed on the cleaning element by the liquid spraying element to clean the cleaning element.

For example, as shown in Table 1, during the cleaning period of the roller brush, the roller brush motor can rotate normally for 20s, the speed of the roller brush motor is 550r/S, and the liquid spraying part pumps water for the roller brush at 200g/min. At this time, the main motor (also known as vacuum motor) to stop working.

Table 1

Correspondingly, there may be various cleaning gears of the cleaning device. As shown in Table 2, different gears may correspond to different powers of the main motor.

Table 2

According to this embodiment, by driving the cleaning part to rotate forward and pumping water to the cleaning part, the cleaning part can be cleaned conveniently and the cleaning efficiency of the cleaning part can be improved.

In an exemplary embodiment, the above method also includes:

S31, during the second cleaning time period, control the liquid spraying part to stop spraying liquid on the cleaning part, control the first motor to start, and after a certain time delay, control the second motor to start, and continue to drive the cleaning part to rotate through the third motor , to clean the transmission pipeline, wherein the transmission pipeline is a pipeline that transmits the liquid sucked by the second motor to the waste water tank.

During the second cleaning period, the third motor can be used to continuously drive the cleaning element to rotate. At the same time, the liquid spraying element can be controlled to stop spraying liquid on the cleaning element, and then the first motor can be controlled to start. After a certain time delay, the first The operation of the motor is basically stable, and the second motor can be controlled to start. At this time, the liquid after cleaning the cleaning parts can be sucked into the sewage tank, and the sucked liquid can be transferred to the transmission pipeline of the sewage tank for the liquid sucked by the second motor (also known as sewage suction pipe) for cleaning.

Through this embodiment, after the start of the separation motor is controlled, the start of the main motor is controlled for a certain time delay, which can ensure the separation efficiency and prevent water vapor from entering the main motor.

In an exemplary embodiment, the third motor continuously drives the cleaning element to rotate, including:

S41. After the cleaning member is driven to rotate in the forward direction by the third motor for a first preset time period, the cleaning member is driven to rotate forward and reverse alternately at least once by the third motor.

The manner in which the third motor continuously drives the cleaning element to rotate may be to continuously rotate in one direction. In order to ensure the cleanliness of the sewage suction pipeline, the cleaning part can be driven forward by the third motor to rotate for a first preset time period (for example, 10s, or other time lengths), and the rotating speed of the cleaning part can be set according to needs, for example, It can be 550r/S or other speed; then, the third motor drives the cleaning element to rotate forward and reverse alternately at least once, the speed of the cleaning element can be set according to needs, and its value can be less than the rotation speed in the first preset time period, for example , can be 50r/S or other speeds, and the speeds of forward rotation and reverse rotation can be the same or different.

The cleaning part can include a front cleaning part and a rear cleaning part. Within a first preset time period, the front cleaning part and the rear cleaning part can be controlled to rotate along a first direction, and the first direction is the forward and rear cleaning of the front cleaning part. Or, control the front cleaning part to rotate along the first direction, control the rear cleaning part to rotate along the second direction, the first direction is the forward direction of the front cleaning part, and the second direction is the direction of the first direction The opposite direction, and the positive direction of the rear cleaning piece. The cleaning part is driven by the third motor to rotate forward and reverse alternately. The forward rotation can be: the front cleaning part is controlled to rotate along the first direction, the rear cleaning part is controlled to rotate along the second direction, and the reverse rotation can be : controlling the front cleaning part to rotate along the second direction, and controlling the rear cleaning part to rotate along the first direction.

For example, as shown in Table 1, the roller brush can be controlled to rotate normally for 10s. During the normal rotation, the rotating speed of the roller brush motor is 550r/S, the pump water volume of the liquid spraying part is 0, and the power of the main motor is 120W (watts ). After 10s of normal rotation, the roller brush can be controlled to rotate forward and reverse alternately.

Through this embodiment, by first controlling the normal rotation of the cleaning element for a certain period of time, and then controlling the cleaning element to alternately rotate in forward and reverse directions after switching the operating parameters of the components, the cleanliness of the sewage suction pipeline can be ensured.

In an exemplary embodiment, the third motor drives the cleaning member to alternately rotate forward and reverse at least once, including:

S51, the cleaning member is driven by the third motor to perform the following steps of alternating forward and reverse rotation at least once:

The third motor drives the cleaning element to reversely rotate for a second preset duration, wherein, within the second preset duration, the motor power of the second motor is the first power;

The cleaning element is driven forward by the third motor for a third preset duration, wherein, in the first sub-duration of the third preset duration, the motor power of the second motor is the second power, and in the first sub-duration of the third preset duration, the motor power of the second motor is the second power. In the second sub-duration, the motor power of the second motor is the third power, wherein the second power is greater than the third power.

When the cleaning part is driven by the third motor to rotate forward and reverse alternately, it can be rotated in the reverse direction first, and then rotated in the forward direction, or it can be rotated in the forward direction first, and then rotated in the reverse direction; The rotation speed of the direction rotation, the power of the second motor during the reverse rotation and the power of the second motor during the forward rotation can be set according to the needs, and the rotation speed of the reverse rotation and the rotation speed of the forward rotation can be the same or different , can be fixed or changeable; the power of the second motor during reverse rotation and the power of the second motor during forward rotation can be the same or different, can be fixed or change of.

In this embodiment, the cleaning member can be driven by the third motor to perform a forward and reverse rotation alternately in the following manner:

The cleaning part is driven by the third motor to reversely rotate for a second preset time period (for example, 5s). In the second preset time period, the motor power of the second motor is the first power (for example, 150W), and the rotation speed of the cleaning part can be Set it as needed, for example, it can be 50r/S or other speeds.

For example, as shown in Table 1, the brush motor first controls the reverse rotation of the front brush and the reverse of the rear brush for 5 seconds (as shown in Figure 7). During the process of controlling the reverse of the front brush and the reverse of the rear brush, The rotating speed of the roller brush motor is 50r/S, the pump water volume of the liquid spraying part is 0, and the power of the main motor is 150W.

The cleaning part is driven by the third motor to rotate forward for the third preset duration. In the first sub-duration of the third preset duration, the motor power of the second motor is the second power (for example, 250W), and the rotation speed of the cleaning part can be Set according to needs, for example, it can be 50r/S or other rotating speeds; in the second sub-duration of the third preset duration, the motor power of the second motor is the third power (for example, 150W), and the second power is greater than the first Three powers, the rotation speed of the cleaning element can be set according to needs, for example, it can be 50r/S or other rotation speeds.

For example, as shown in Table 1, the roller brush motor can control the forward rotation of the front roller brush and the forward rotation of the rear roller brush for 10s (as shown in Figure 8). The rotating speed of the roller brush motor is 50r/S, the pump water volume of the liquid spraying part is 0, and the power of the main motor is 250W; after 5s after controlling the forward rotation of the front roller brush and the forward rotation of the rear roller brush, the rotation speed of the roller brush motor is 50r /S, the pump water volume of the liquid spraying part is 0, and the power of the main motor is 150W.

Through this embodiment, when cleaning the sewage suction pipeline, the second motor uses different power to generate negative pressure, which can adapt to the amount of sewage to be sucked, and improve the rationality of pipeline cleaning.

In an exemplary embodiment, the above method also includes:

S61. During the third cleaning time period, the third motor drives the cleaning element to rotate forward, and sprays a second amount of liquid on the cleaning element through the liquid spraying element.

During the third cleaning time period, the cleaning element may be driven to rotate forward by the third motor, and a second amount of liquid may be sprayed on the cleaning element by the liquid spraying element to clean the cleaning element. The second liquid amount may be the same as or different from the first liquid amount, which is not limited in this embodiment.

For example, as shown in Table 1, during the intelligent detection period, the roller brush motor can rotate normally for 20s, the speed of the roller brush motor is 550r/S, and the liquid spray part pumps water for the roller brush at 200g/min. At this time, the main motor stops Work.

In an exemplary embodiment, the above method also includes:

S71, within the fourth cleaning time period, control the liquid spraying part to stop spraying liquid on the cleaning part, control the first motor to start, and after a certain time delay, control the second motor to start, and continue to drive the cleaning part to rotate through the third motor , to clean the cleaning parts again.

Similar to the aforementioned second cleaning period, in the fourth cleaning period, the third motor can be used to continuously drive the cleaning element to rotate, and at the same time, the liquid spraying element can be controlled to stop spraying liquid on the cleaning element, and then the first motor can be controlled to start , after a certain time delay, the operation of the first motor is basically stable, and the second motor can be controlled to start. At this time, the liquid after cleaning the cleaning parts can be sucked into the sewage tank, and the sucked liquid can be used for the second motor. The suctioned liquid is transferred to the transfer pipe (also called the suction pipe) of the waste water tank for cleaning again.

S81. After the cleaning member is driven by the third motor to rotate in the forward direction for a fourth preset time period, the cleaning member is driven to rotate forward and reverse alternately at least once by the third motor.

Similar to the foregoing embodiments, when the cleaning element is continuously driven to rotate by the third motor, the cleaning element may first be driven by the third motor to rotate forward for a fourth preset duration (for example, 10s, or other durations), and the cleaning The rotating speed of part can be set as required, for example, can be 550 or other rotating speeds; Then, the rotating speed of cleaning part can be set according to need, and its value can be less than the first The rotation speed within the four preset time periods may be, for example, 50r/S or other rotation speeds, and the rotation speeds of forward rotation and reverse rotation may be the same or different.

For example, as shown in Table 1, in the deep cleaning stage, the roller brush can be controlled to rotate normally for 10 seconds. During the normal rotation, the rotation speed of the roller brush motor is 550r/S, the pump water volume of the liquid spraying part is 0, and the main motor The power is 120W. After 10s of normal rotation, the roller brush can be controlled to rotate forward and reverse alternately.

Through this embodiment, by first controlling the normal rotation of the cleaning element for a certain period of time, and then controlling the cleaning element to rotate forward and reverse alternately after switching the operating parameters of the components, the cleanliness of the self-cleaning equipment can be ensured.

In an exemplary embodiment, the cleaning member is driven by the third motor to alternately rotate forward and reverse at least once, including:

S91, the cleaning member is driven by the third motor to perform the following steps of alternating forward and reverse rotation at least once:

The third motor drives the cleaning element to reversely rotate for a fifth preset duration, wherein, within the fifth preset duration, the rotation speed of the cleaning element is the first rotation speed, and the motor power of the second motor is the fourth power;

The cleaning element is driven by the third motor to rotate positively for the sixth preset duration, wherein, in the third sub-duration of the sixth preset duration, the rotation speed of the cleaning element is the second rotation speed, and in the fourth sub-duration of the sixth preset duration During the duration, the rotation speed of the cleaning element is the third rotation speed, during the fifth sub-duration of the sixth preset duration, the motor power of the second motor is the fifth power, and during the sixth sub-duration of the sixth preset duration, the second The motor power of the second motor is the sixth power.

Similar to the foregoing embodiments, when the cleaning member is driven by the third motor to perform an alternate forward and reverse rotation, the reverse rotation can be performed first, and then the forward rotation can be performed, or the forward rotation can be performed first, and then the reverse rotation can be performed. ; The speed of reverse rotation, the speed of forward rotation, the power of the second motor during reverse rotation and the power of the second motor during forward rotation can be set as required, and the speed of reverse rotation and the speed of forward rotation can be The same or different, can be fixed or variable; the power of the second motor when rotating in the reverse direction and the power of the second motor when rotating in the forward direction can be the same or different, and can be Can be fixed or changeable.

The cleaning part is driven by the third motor to reversely rotate for a fifth preset time period (for example, 5s). In the fifth preset time period, the rotation speed of the cleaning part is the first rotation speed (for example, 50r/S or other rotation speed), and the second The motor power of the motor is the fourth power (for example, 150W).

For example, as shown in Table 1, the brush motor first controls the reverse rotation of the front brush and the reverse of the rear brush for 5 seconds. During the process of controlling the reverse of the front brush and the reverse of the rear brush, the speed of the brush motor is 50r /S, the pump water volume of the liquid spraying part is 0, and the power of the main motor is 150W.

The cleaning element is driven by the third motor to rotate positively for the sixth preset time period, and during the third sub-time period of the sixth preset time length, the rotation speed of the cleaning element is the second speed, and during the fourth sub-time length of the sixth preset time length , the rotation speed of the cleaning element is the third rotation speed, and in the fifth sub-duration of the sixth preset duration, the motor power of the second motor is the fifth power (for example, 250W), and in the sixth sub-duration of the sixth preset duration In the sub-duration, the motor power of the second motor is the sixth power (for example, 150W). Here, the third sub-duration of the sixth preset duration and the fifth sub-duration of the sixth preset duration can be the same, or can be are different, the second rotational speed may be less than the third rotational speed, and the fifth power may be less than the sixth power.

For example, as shown in Table 1, at the node of deep cleaning, the roller brush motor can control the forward rotation of the front roller brush and the forward rotation of the rear roller brush for 20s. In the first 2s of forward rotation and rear roller brush forward rotation, the speed of the roller brush motor is 50r/S, and in the last 18s, the speed of the roller brush motor is 550r/S; In the first 5s, the power of the main motor is 250W, and in the last 15s, the power of the main motor is 150W.

Through this embodiment, when the cleaning equipment is deeply cleaned, the second motor uses different powers to generate negative pressure, and the cleaning parts rotate at different speeds, which can adapt to the amount of sewage to be sucked, and improve the self-cleaning performance of the equipment. Spend.

It should be noted that the aforementioned preset durations, sub-durations, the power of the second motor, and the rotation speed of the cleaning element are just examples, and the actual values can be configured as required, and the configured values can be arbitrary or can be is a value that satisfies the aforementioned size relationship, which is not limited in this embodiment.

In an exemplary embodiment, the above method also includes:

S101, after performing the self-cleaning operation corresponding to the self-cleaning mode, start the drying part of the cleaning device, and drive the cleaning part to rotate forward and reverse alternately at least once through the third motor, so as to dry the cleaning part.

After performing the self-cleaning operation, in order to avoid the moldy and smelly cleaning parts caused by the cleaning parts being too wet, thereby affecting the service life of the cleaning parts, the drying part of the cleaning equipment can be started, and the cleaning parts can be driven by the third motor at least normally Rotate alternately once in reverse to dry clean pieces.

When drying the cleaning piece, the cleaning piece can be controlled to rotate in the reverse direction at first to make the cleaning material on the cleaning piece fluffy, and then the cleaning piece is rotated forward to stabilize the operating state of the cleaning equipment. Optionally, when the cleaning part is dried, the cleaning part can maintain a stable rotation speed (that is, the forward and reverse rotation adopts the same rotation speed, for example, 50r/S), and at the same time, the part voltage of the drying part can also be maintained A stable voltage value (that is, the same voltage value is used for forward and reverse rotation, for example, 2.5v) to improve the convenience of drying the cleaning parts.

Optionally, when starting the drying part and performing forward and reverse rotation, the voltage of the part can be higher than that of the forward and reverse rotation; if the drying process is shut down in the middle, the cleaning part can be controlled to rotate forward for a certain period of time, and then closure.

For example, the drying process of the roller brush is shown in Table 3. The front and rear rollers can be controlled to rotate in reverse first, and then the front and rear rollers can be controlled to rotate forward. If the drying is shut down in the middle, it can be turned forward for 5 seconds before stopping.

table 3

Through this embodiment, after the self-cleaning operation is performed, the cleaning part is dried by the drying part, which can avoid the mold and smell of the cleaning part due to the excessive humidity of the cleaning part, and can improve the service life of the cleaning part.

In an exemplary embodiment, the above method also includes:

S111, after performing the self-cleaning operation corresponding to the self-cleaning mode, control the second motor to turn off, and after a certain time delay, control the first motor to turn off.

After the self-cleaning operation is completed, in order to ensure effective water-air separation, the second motor can be controlled to turn off first. Since the second motor will not stop immediately, there will still be a water-vapor mixture sucked into the sewage tank, which can keep the first motor normal. Work. After a certain time delay, the first motor is controlled to be turned off.

Through this embodiment, by controlling the main motor to be turned off first, and then controlling the separation motor to be turned off, the effect of water-air separation can be ensured, and the safety of the main motor can be improved.

In an exemplary embodiment, during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the above method further includes:

S121, energizing the first motor to start the first motor;

S122. When it is detected that the current passing through the first motor is less than or equal to the first current threshold, determine that the first motor has reached a normal operation state;

S123. When it is detected that the current passing through the first motor is greater than or equal to the second current threshold, determine that the first motor is in an abnormal operation state;

S124. Control the first motor to stop running, and send a second prompt message through the cleaning device, where the second prompt message is used to prompt that the first motor is abnormal.

During the execution of the self-cleaning operation corresponding to the self-cleaning mode, when the first motor needs to be started, the first motor may be powered on to start the first motor. After the first motor is energized, the operating state of the first motor can be determined by detecting the current of the first motor: detecting the current passing through the first motor; when the current of the first motor is less than or equal to the first current threshold, determine the second A motor reaches a normal operating state. The current of the first motor can be detected through a current sampling resistor connected in series with the first motor on the cleaning device. The current is collected according to the current sampling resistor to obtain the current of the first motor. In order to ensure the stable operation of the first motor, it may be determined that the first motor has reached a normal operation state when it is detected that the time when the current of the first motor is less than or equal to the first current threshold reaches the first time threshold.

Optionally, after the first motor is energized, abnormal operation of the first motor may be detected, and the above abnormal state may be, but not limited to, locked rotor or other abnormalities. Detecting the abnormality of the first motor can be realized by detecting the current passing through the first motor: detecting the current passing through the first motor; When the time when the current of a motor is greater than or equal to the second current threshold reaches the second time threshold, it is determined that the first motor is abnormal. The current of the first motor may be detected by the aforementioned current sampling resistor connected in series with the first motor. The current is collected according to the current sampling resistor to obtain the current of the first motor.

If it is detected that the first motor is abnormal, in order to ensure the safe operation of the first motor, the first motor may be directly controlled to stop running. Optionally, a voice can also be sent out through a speaker, a prompt message can be sent out through text or symbols on the touch screen, or in other ways, so as to prompt that the first motor is abnormal.

Through this embodiment, by detecting the separation motor, and after detecting an abnormality, controlling the separation motor to stop running and sending out abnormality prompt information, the safety of the separation motor operation can be improved, and the timeliness of abnormality prompting can be improved.

S131, when the liquid level of the liquid in the sewage tank reaches the target liquid level, send a third prompt message through the cleaning device, where the third prompt message is used to prompt that the liquid in the sewage tank is full;

S132. Control the second motor to stop running, and after a certain time delay, control the first motor to stop running.

In order to avoid excessive liquid in the waste water tank causing re-suction of liquid to cause liquid overflow, the liquid level of the liquid in the waste water tank can also be determined in a variety of ways.

For example, the voltage of the current sampling resistor (that is, the second resistor) connected in parallel with the first motor on the waste water tank can be detected to obtain the second voltage value. Two pole pieces can be arranged on the tank cover of the sewage tank, and the two pole pieces can be used to detect the liquid level of the liquid in the sewage tank. If the liquid level of the liquid in the sewage tank exceeds the target liquid level, the pole pieces are turned on , the resistance after being connected in parallel with the current sampling resistor is small, and the second voltage value is lower than the first voltage threshold, indicating that the liquid in the waste water tank is full. If the liquid level of the liquid in the sewage tank does not reach the target liquid level, the pole pieces are not conducted, and the second voltage value is greater than the first voltage threshold, indicating that the liquid in the sewage tank is not full.

For another example, a photoelectric sensor can be arranged in the sewage tank, and the photoelectric sensor can include a transmitter and a receiver, and the transmitter and the receiver can be arranged at relative positions on the outside or inside of the sewage tank, so as to ensure that the light signal emitted by the transmitter is received Received by the transmitter, the position set by the transmitter and receiver can be the position of the target liquid level. If the liquid level of the liquid in the sewage tank reaches the target liquid level, the signal strength of the optical signal received by the receiver (which can be expressed by the voltage value converted from the optical signal received by the receiver) is weak (less than the signal strength threshold, for example, less than the voltage threshold), indicating that the liquid in the sewage tank is full, otherwise, the signal strength of the optical signal received by the receiver is stronger (greater than or equal to the signal strength threshold, for example, greater than or equal to the voltage threshold), Indicates that the recovery tank is not full of liquid.

If it is determined that the liquid in the sewage tank is full, that is, the target liquid level is reached, the liquid cannot be sucked in further, otherwise, the liquid will overflow, thereby affecting the effect of area cleaning. The cleaning device can send out a voice through the speaker, through text or symbols on the touch screen, or send out a third prompt message in other ways to prompt that the sewage tank is full.

In addition, in order to avoid polluting the ground due to sewage overflow, the second motor can be controlled to stop running. At this time, no operation may be performed on the first motor, that is, the first motor still operates normally. In order to save power consumption, it is also possible to control the first motor to stop running at the same time, or the first motor and the second motor to stop running successively.

Optionally, in order to avoid incomplete water-gas separation due to the first motor and the second motor stopping at the same time, or because the first motor stops running first (it takes a certain time for the motor to completely stop from power supply stop), the second Within a certain period of time after the motor stops running, the first motor is controlled to run normally. And after delaying for a certain time (for example, 5 seconds), it can be considered that the second motor has completely stopped rotating, and the second motor no longer sucks sewage in the sewage tank, and there is no need to separate water and air by the first motor. Control the first motor to stop running. Here, controlling the motor to stop running may refer to stopping power supply to the motor.

Through this embodiment, when it is detected that the liquid in the sewage tank is full, the control first stops the main motor, and then stops the separation motor, which can ensure the effect of water-air separation.

The self-cleaning control method of the cleaning device in the embodiment of the present application will be explained below with reference to optional examples. In this optional example, the cleaning equipment is a floor scrubber, the first motor is a separation motor, the second motor is the main motor, the cleaning part is a roller brush, the third motor is a roller brush motor, the liquid storage part is a clean water tank, and the liquid spray The part is a water pump, and the rotating part is an impeller.

In order to solve the problem of the electric control logic of the water-air separation motor and the water spraying of the main motor, this optional example provides a solution using a single water tank for active separation and self-cleaning logic, which can be self-cleaning with only a single sewage tank In the case of a good water-gas separation effect is achieved. As shown in FIG. 6 , FIG. 9 is a schematic flowchart of another optional self-cleaning control method for cleaning equipment according to an embodiment of the present application. As shown in FIG. 9 , the process of the method may include the following steps:

Step S902, power on the separation motor.

Step S904, determine whether the sewage tank is installed, if yes, execute step S910, otherwise, execute step S906.

Step S906, alarm, prompting that the water tank is not installed.

Step S908, power off the separation motor.

Step S910, the motor of the rolling brush is started, and the rolling brush rotates.

Step S912, start the water pump to spray water.

Step S914, after delaying or quantitative spraying, the water pump stops. Spraying a certain amount of water can be used to scrub the roller brush.

Step S916, start the main motor.

The main motor is started, and the sewage pipe and the inner wall of the sewage tank are cleaned by using the clean water after cleaning the roller brush.

Step S918, delay.

Step S920, the main motor stops.

Step S922, loop several times.

Step S924, the roller brush motor stops, and the roller brush stops rotating.

After the cycle ends, the roller brush motor can be controlled to stop to control the roller brush to stop.

Step S926, the separation motor is stopped.

Through this optional example, in the case of self-cleaning of a single water tank, it can ensure the complete separation of water and air, avoid the Hypa components from being wet, and improve the self-cleaning efficiency.

According to another aspect of the embodiments of the present application, a self-cleaning control method for cleaning equipment is also provided. Optionally, in this embodiment, the self-cleaning control method for cleaning devices described above may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a base station 106 as shown in FIG. 1 . What has already been described will not be repeated here.

The self-cleaning control method of the cleaning device in the embodiment of the present application may be jointly executed by the cleaning device 104 and the base station 106 . FIG. 10 is a schematic flowchart of another optional self-cleaning control method for cleaning equipment according to an embodiment of the present application. As shown in FIG. 10 , the process of the method may include the following steps:

Step S1002, the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the cleaning device starts the third motor to rotate the cleaning element, start The liquid spraying part is used to spray liquid to the cleaning part; the liquid spraying part is turned off to stop spraying liquid to the cleaning part; the second motor is started to work to suck the liquid that has cleaned the cleaning part to the first sewage tank; the cleaning device starts the first motor to The rotating part is rotated to separate the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor.

The self-cleaning control method of the cleaning equipment in this embodiment can be applied in the following scenarios: during the self-cleaning process of the cleaning equipment, the liquid used for self-cleaning is sucked into the waste water tank of the cleaning equipment, and passed through the The motor of the base station sucks the liquid in the waste water tank of the cleaning equipment into the waste water tank of the base station through a connection (for example, a sewage pipe) between the waste water tank of the cleaning equipment and the waste water tank of the base station. Wherein, in the case of no contradiction, the structure and processing logic of the cleaning device are similar to those in the foregoing embodiments. For cleaning equipment, the sewage tank on the cleaning equipment is the first sewage tank.

In this embodiment, the cleaning device can obtain the self-cleaning signal, and the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; The liquid part is used to spray liquid to the cleaning part; the liquid spray part is turned off to stop spraying liquid to the cleaning part; the second motor is started to work to suck the liquid cleaned from the cleaned part to the first sewage tank; the first motor is started to rotate the part Rotate to separate the gas-liquid mixture in the first sewage tank, and the first motor starts before the second motor. The manner in which the cleaning device executes the above steps is similar to that in the foregoing embodiments, and details are not repeated here.

In step S1004, the motor of the base station sucks the liquid in the first sewage tank into the second sewage tank through the sewage pipe by generating negative pressure.

During the self-cleaning process of the cleaning equipment, if it is detected that the first sewage tank is full (the detection method is the same as or similar to that in the previous embodiment), a prompt message can be sent to the user, indicating that the sewage tank is full, and the user can manually clean it Liquid in the first recovery tank. Before the user finishes cleaning the first sewage tank and puts it on the cleaning device, the cleaning device is in a waiting state, which reduces the efficiency of self-cleaning.

In this embodiment, the base station corresponding to the cleaning equipment can be provided with a base station motor and a second sewage tank, the first sewage tank and the second sewage tank can be connected through connecting parts such as sewage pipes, and the base station motor can generate negative pressure The liquid in the first sewage tank is sucked into the second sewage tank through the above-mentioned connecting piece. One end of the sewage pipe can be connected to the bottom of the first sewage tank, and the other end can be connected to the bottom, side, top or other positions of the second sewage tank.

In addition, a sewage valve can be provided at the position where the sewage pipe is connected with the first sewage tank and/or the second sewage tank, and the sewage valve can be opened and closed by an electric switch, thereby controlling whether the liquid in the first sewage tank is allowed to pass through The sewage pipe discharges into the second waste water tank.

For example, during the self-cleaning operation of the cleaning equipment, the motor of the base station generates negative pressure and sucks the liquid in the first sewage tank into the second sewage tank through the sewage pipe. However, the sewage in the first sewage tank is automatically discharged into the second sewage tank without the need for the user to manually clean the first sewage tank, which can improve the efficiency of self-cleaning.

Optionally, considering the portability of the cleaning equipment and the fluency of the self-cleaning process, compared with the first sewage tank, the second sewage tank can adopt a sewage tank with a larger volume, for example, the volume of the second sewage tank can be larger than that of the first sewage tank. The volume of a sewage tank.

Through the above steps S1002 to S1004, the cleaning device obtains the self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to work, so that the cleaning parts Rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid of the cleaned cleaning part to the first sewage tank; start the first motor To make the rotating parts rotate to separate the gas-liquid mixture in the first sewage tank, and the first motor starts before the second motor; the base motor on the base station matched with the cleaning equipment generates negative pressure first sewage The liquid in the tank is sucked into the second sewage tank through the sewage pipe, which solves the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor in the self-cleaning control method of the cleaning equipment in the related art. The possibility of damage to the main motor is reduced, and the safety of the operation of the main motor is improved.

In an exemplary embodiment, after the cleaning device controls the liquid spraying member to stop performing the liquid spraying operation, the base station can start the base station motor; after the cleaning device controls the second motor to stop running, the base station controls the base station motor to stop after a certain time delay. run.

During the self-cleaning operation, the motor of the base station can cooperate with the second motor to suck the sewage in the first sewage tank into the second sewage tank. After the liquid spraying part is controlled to stop the liquid spraying operation, the base station can start the base station motor, and the started base station motor can suck the sewage in the first sewage tank into the second sewage tank. Within a certain period of time after starting the motor of the base station, the motor of the base station can be controlled to run normally. After a certain time delay, it can be considered that the liquid in the first waste water tank has been completely sucked into the second waste water tank, and at this time, the motor of the base station can be controlled to stop running. Here, controlling the motor to stop running may refer to stopping power supply to the motor.

Through this embodiment, by sucking the sewage generated by self-cleaning into the sewage tank of the cleaning equipment, at the same time, the liquid sucked into the sewage tank of the cleaning equipment is discharged into the sewage tank of the base station through the control of the base station motor, so that the cleaning equipment can be improved. Self-cleaning efficiency, and improving the self-cleaning effect of cleaning equipment.

In an exemplary embodiment, after obtaining the self-cleaning start signal, the sewage valve of the sewage pipeline can be opened, the base station can start the base station motor, and after a certain delay, control the base station motor to stop running.

After acquiring the self-cleaning start signal, the cleaning device can directly perform the self-cleaning operation. However, after area cleaning is performed, liquid may remain in the first recovery tank, resulting in a reduction in the available capacity of the first recovery tank. The liquid in the first waste water tank can be drained into the second waste water tank of the base station before performing the self-cleaning operation.

The cleaning equipment can first open the sewage valve of the sewage pipe, and then the base station starts the base motor, and the base motor can suck the liquid in the first sewage tank through the sewage pipe into the second sewage tank by generating negative pressure. After the base station motor runs for a certain period of time, it can be considered that the liquid in the first sewage tank has all been sucked into the second sewage tank, and the base station motor is controlled to stop running.

During the operation of the second motor, the motor of the base station may always be in a running state. After controlling the second motor to stop running, control the base motor to stop running, or control the base motor to continue running for a period of time to ensure that the liquid in the first sewage tank has been completely sucked into the second sewage tank, and then control the base motor to stop running.

For example, as shown in Figure 11, in addition to the parts shown in Figure 3, the floor washing machine can also include: sewage valve 111 (effect is the same as the aforementioned sewage valve), water pump 112, rolling brush 113, sewage pipeline 114, and floor washing The base station matched with the machine host includes: base station sewage tank 115 and base station motor 116. In the self-cleaning process, the water pump 112 sprays water to the roller brush 113 to perform the self-cleaning operation, the main motor 33 generates negative pressure to suck the sewage generated by the self-cleaning operation into the sewage tank 30, and the separation motor 33 is used to drive the impeller 34 at the same time Rotate to separate water and air. At the same time, the pipeline valve 111 can be in an open state, and the base station motor 116 generates a negative pressure to discharge the sewage in the sewage tank 30 to the base station sewage tank 115 through the sewage pipeline 114 .

Through this embodiment, before starting the self-cleaning operation, the liquid in the sewage tank of the cleaning device is first discharged into the sewage tank of the base station, which can improve the fluency of the self-cleaning process.

This optional example provides a scheme that uses active separation of two water tanks and cooperates with self-cleaning logic. When the sewage tank is separated by an active impeller, the impeller cooperates with the main motor to achieve a better water-air separation effect. With reference to FIG. 12 , FIG. 12 is a schematic flowchart of another optional self-cleaning control method for cleaning equipment according to an embodiment of the present application. As shown in FIG. 12 , the process of the method may include the following steps:

Step S1202, power on the separation motor.

Step S1204, determine whether the sewage tank is installed, if yes, execute step S1210, otherwise, execute step S1206.

Step S1206, alarm, prompting that the water tank is not installed.

Step S1208, power off the separation motor.

Step S1210, start to open the blowdown valve.

Step S1212, delay.

Step S1214, start the motor of the base station.

Step S1216, delay.

Delay operation can ensure that the sewage in the non-water tank has been pumped to the sewage tank of the base station by the base station motor through the sewage pipe.

Step S1218, the motor of the base station is stopped.

Step S1220, the motor of the rolling brush is started, and the rolling brush rotates.

Step S1222, start the water pump to spray water.

Step S1224, after delaying or quantitative spraying, the water pump stops.

Step S1226, start the motor of the base station.

Step S1228, start the main motor.

The dual motors are started, and the clean water after cleaning the roller brush is used to clean the sewage pipe and the inner wall of the sewage tank, and finally pump the water to the sewage tank of the base station through the sewage pipe.

Step S1230, delay.

Step S1232, the main motor stops.

Step S1234, delay.

Step S1236, the motor of the base station is stopped.

Step S1238, loop several times.

Step S1240, the roller brush motor stops, and the roller brush stops rotating.

Step S1242, the separation motor is stopped.

Step S1244, close the blowdown valve.

Through this optional example, two water tanks are used for self-cleaning. In the case of ensuring the separation of water and air from the self-cleaning sewage, due to the storage of more sewage, it can be solved when using a single water tank for self-cleaning. The volume of the water tank is small, so that the user needs to frequently deal with the sewage in the water tank, which can improve the self-cleaning efficiency of the washing machine.

It should be noted that the cleaning equipment proposed in this application is applicable to both single-roller equipment with one roller brush and double-roller equipment with two roller brushes, and will not be discussed in detail here.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM (Read-Only Memory, Read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute this Apply the method described in each example.

According to still another aspect of the embodiment of the present application, a cleaning device for implementing the self-cleaning control method of the cleaning device described above is also provided. In this embodiment, the cleaning device described above can be applied to the terminal In the hardware environment formed by the device 102, the cleaning device 104 and the base station 106. What has already been described will not be repeated here. Among them, the cleaning equipment includes:

Sewage tank;

Rotating parts located inside the recovery tank;

a first motor connected to the rotating part;

a second electric motor for generating negative pressure located outside the recovery tank;

liquid storage;

The liquid injection part connected with the liquid storage part;

cleaning parts; and,

A third motor connected to the cleaning element;

The control device is used to obtain the self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning element, Start the liquid spraying part to spray liquid to the cleaning part; turn off the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to suck the liquid that has cleaned the cleaning part to the sewage tank;

Wherein, the control device is also used to start the first motor to rotate the rotating parts to separate the gas-liquid mixture in the waste water tank, and the first motor is started before the second motor.

It should be noted that the above-mentioned control device may be a controller on the cleaning device, a control unit, etc., which may be used to control other components on the cleaning device to perform the self-cleaning control method for the cleaning device described in any one of the above embodiments The manner of controlling each component to perform self-cleaning is similar to that in the foregoing embodiments, which has already been described and will not be repeated here.

Through the above-mentioned cleaning device, the self-cleaning start signal of the cleaning device is obtained, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to work to make the cleaning piece rotate, Activate the liquid spray part to spray liquid on the cleaning part; turn off the liquid spray part to stop spraying liquid on the cleaning part; start the second motor to work to suck the liquid from the cleaned part to the recovery tank; start the first motor to rotate the part Rotate to separate the gas-liquid mixture in the sewage tank, and the first motor starts before the second motor, which solves the problem of the self-cleaning control method of the cleaning equipment in the related art due to the water vapor sucked into the sewage tank. The problem that the main motor is easily damaged due to the main motor reduces the possibility of damage to the main motor and improves the safety of the main motor operation.

According to yet another aspect of the embodiment of the present application, a cleaning system for implementing the self-cleaning control method of the cleaning equipment described above is also provided. In this embodiment, the above cleaning system can be applied to the terminal In the hardware environment formed by the device 102, the cleaning device 104 and the base station 106. What has already been described will not be repeated here. Wherein, the cleaning system may include: cleaning equipment, a base station matched with the cleaning equipment, wherein,

The cleaning equipment includes: a first sewage tank; a rotating part located inside the first sewage tank and a first motor connected with the rotating part; a second motor located outside the first sewage tank for generating negative pressure; a liquid storage part and a The liquid spraying part connected with the liquid storage part; the cleaning part and the third motor connected with the cleaning part; the first control device;

Wherein, the first control device is used to obtain the self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, start the third motor to make the cleaning piece rotate , start the liquid spraying part to spray liquid to the cleaning part; turn off the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid that has cleaned the cleaning part to the first sewage tank; start the first motor to Rotating the rotating part to separate the gas-liquid mixture in the first waste water tank, and the first motor starts before the second motor;

The base station includes a base station motor; a second sewage tank connected to the first sewage tank through a sewage pipe; a second control device;

Wherein, the second control device is used to control the motor of the base station to suck the liquid in the first sewage tank through the sewage pipe into the second sewage tank by generating negative pressure.

It should be noted that the above-mentioned first control device may be a controller, a control unit, etc. on the cleaning equipment, which may be used to control other components on the cleaning equipment to perform the self-cleaning of the cleaning equipment described in any one of the above embodiments The control method and the way of controlling each component to perform self-cleaning are similar to those in the foregoing embodiments, which have already been described and will not be repeated here. The above-mentioned second control device can be a controller, a control unit, etc. on the base station, which can be used to control other components on the base station to execute the self-cleaning control method of the cleaning equipment described in any one of the above-mentioned embodiments, and control each component to perform The manner of self-cleaning is similar to that in the foregoing embodiments, which has already been described and will not be repeated here.

Through the above-mentioned cleaning system, the cleaning device obtains the self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, start the third motor to make the cleaning parts rotate, start The liquid spray part is used to spray liquid to the cleaning part; the liquid spray part is turned off to stop spraying liquid to the cleaning part; the second motor is started to work to suck the liquid of the cleaned part to the first sewage tank; the first motor is started to rotate The components rotate to separate the gas-liquid mixture in the first sewage tank, and the first motor starts before the second motor; the base motor on the base station that matches the cleaning equipment generates negative pressure through the negative pressure in the first sewage tank The liquid is sucked into the second sewage tank through the sewage pipe, which solves the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor in the self-cleaning control method of the cleaning equipment in the related art, and reduces the main motor. The possibility of motor damage improves the safety of the main motor operation.

According to still another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned self-cleaning control methods for cleaning equipment in the embodiments of the present application.

Optionally, in this embodiment, the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.

As an optional implementation, the storage medium is configured to store program codes for performing the following steps:

S1, obtaining the self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode;

S2, in response to the self-cleaning start signal, start the third motor to rotate the cleaning part, and start the liquid spraying part to spray liquid to the cleaning part;

S3, closing the liquid spraying part to stop spraying liquid to the cleaning part;

S4, start the second motor to work to suck the liquid of the cleaned parts to the sewage tank;

S5, start the first motor to rotate the rotating part to separate the gas-liquid mixture in the waste water tank, and start the first motor before the second motor.

As another optional implementation, the storage medium is configured to store program codes for performing the following steps:

S1, the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning part and start the liquid spraying part to spray liquid to the cleaning parts; close the liquid spraying parts to stop spraying liquid to the cleaning parts; start the second motor to work to suck the liquid that has cleaned the cleaning parts to the first sewage tank; start the first motor to rotate the rotating parts, The gas-liquid mixture in the first sewage tank is separated from water and gas, and the first motor is started before the second motor;

S2, the base station motor on the base station matched with the cleaning equipment generates negative pressure and sucks the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, which will not be repeated in this embodiment.

Optionally, in this embodiment, the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.

According to yet another aspect of the embodiments of the present application, an electronic device for implementing the above self-cleaning control method for cleaning equipment is also provided, and the electronic device may be a server, a terminal, or a combination thereof.

Fig. 13 is a structural block diagram of an optional electronic device according to an embodiment of the present application. 1304 and memory 1306 complete mutual communication through communication bus 1308, wherein,

memory 1306, for storing computer programs;

When the processor 1302 is used to execute the computer program stored on the memory 1306, the following steps are implemented:

Optionally, when the processor 1302 is also configured to execute the computer program stored on the memory 1306, the following steps are implemented:

Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 13 , but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic device and other devices.

The above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

Above-mentioned processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, and details are not repeated in this embodiment.

Those of ordinary skill in the art can understand that the structure shown in Figure 13 is only a schematic representation, and the device implementing the self-cleaning control method for the above-mentioned cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android phone, an iOS phone, etc.) , Tablet PC, PDA, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment. FIG. 13 does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or fewer components (such as a network interface, a display device, etc.) than those shown in FIG. 13 , or have a different configuration from that shown in FIG. 13 .

Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.

The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.

If the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.

In the above-mentioned embodiments of the present application, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Wherein, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

The above description is only the preferred embodiment of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. These improvements and modifications are also It should be regarded as the protection scope of this application.

In addition, it should be noted that the technical details mentioned in one of the above embodiments are still valid in other embodiments, and will not be repeated here to reduce repetition.

Claims

A self-cleaning control method for cleaning equipment, characterized in that the cleaning equipment includes a sewage tank, a rotating part located inside the sewage tank, a first motor connected to the rotating part, and a motor located outside the sewage tank A second motor for generating negative pressure, a liquid storage part and a liquid spraying part connected to the liquid storage part, a cleaning part and a third motor connected to the cleaning part, the method includes the following steps:

Obtaining a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode;

In response to the self-cleaning activation signal, the third motor is activated to rotate the cleaning element, and the liquid spraying element is activated to spray liquid to the cleaning element;

closing the liquid spraying member to stop spraying liquid to the cleaning member;

Start the second motor to work to suck the liquid that has cleaned the cleaning element to the waste water tank;

Wherein, the method further includes: starting the first motor to rotate the rotating part to separate the gas-liquid mixture in the waste water tank, and the first motor is prior to the second The motor starts.
The method according to claim 1, characterized in that, during the self-cleaning operation corresponding to the self-cleaning mode, the third motor starts before the first motor, or the first The motor is started prior to the third motor.
The method according to claim 1, wherein the execution process of the self-cleaning mode includes a time period of at least one of the following sequence:

A first cleaning time period, wherein, during the first cleaning time period, the third motor and the liquid spraying member are operated, and the first motor and the second motor are turned off;

A second cleaning time period, wherein, during the second cleaning time period, the first motor, the second motor and the third motor are all running, and the liquid spraying member is turned off;

a third cleaning time period, wherein, during the third cleaning time period, the third motor and the liquid spraying member are operated, and the first motor and the second motor are turned off;

A fourth cleaning time period, wherein, during the fourth cleaning time period, the first motor, the second motor and the third motor are all running, and the liquid spraying member is turned off.
The method according to claim 3, characterized in that the method further comprises:

During the first cleaning time period, the cleaning element is driven to rotate forward by the third motor, and a first amount of liquid is sprayed on the cleaning element by the liquid spraying element to clean the cleaning element. parts for cleaning.
The method according to claim 3, characterized in that the method further comprises:

During the second cleaning period, control the liquid spraying member to stop spraying liquid on the cleaning member, control the first motor to start, and after a certain time delay, control the second motor to start, and pass The third motor continuously drives the cleaning member to rotate to clean the transmission pipeline, wherein the transmission pipeline is a pipeline that transmits the liquid sucked by the second motor to the sewage tank.
The method according to claim 5, wherein the continuously driving the cleaning element to rotate by the third motor comprises:

After the cleaning element is driven to rotate forward by the third motor for a first preset period of time, the cleaning element is driven by the third motor to alternately rotate forward and reverse at least once.
The method according to claim 6, wherein the driving the cleaning element to alternately rotate forward and reverse at least once by the third motor comprises:

The cleaning member is driven by the third motor to perform the following steps of alternating forward and reverse rotation at least once:

The third motor drives the cleaning element to reversely rotate for a second preset time period, wherein, within the second preset time period, the motor power of the second motor is the first power;

The cleaning member is driven to rotate forward by the third motor for a third preset duration, wherein, in the first sub-duration of the third preset duration, the motor power of the second motor is the second power, In the second sub-duration of the third preset duration, the motor power of the second motor is a third power, wherein the second power is greater than the third power.
The method according to claim 3, characterized in that the method further comprises:

During the third cleaning period, the cleaning element is driven to rotate forward by the third motor, and a second amount of liquid is sprayed on the cleaning element by the liquid spraying element.
The method according to claim 3, characterized in that the method further comprises:

During the fourth cleaning period, control the liquid spraying member to stop spraying liquid on the cleaning member, control the first motor to start, and after a certain time delay, control the second motor to start, and pass The third motor continuously drives the cleaning element to rotate, so as to clean the cleaning element again.
The method according to claim 9, wherein the continuously driving the cleaning element to rotate by the third motor comprises:

After the cleaning element is driven to rotate forward by the third motor for a fourth preset period of time, the cleaning element is driven by the third motor to alternately rotate forward and reverse at least once.
The method according to claim 10, wherein the driving the cleaning member to rotate forward and reverse alternately at least once by the third motor comprises:

The cleaning member is driven by the third motor to perform the following steps of alternating forward and reverse rotation at least once:

The cleaning element is driven by the third motor to reversely rotate for a fifth preset duration, wherein, within the fifth preset duration, the rotation speed of the cleaning element is the first rotation speed, and the motor of the second motor The power is the fourth power;

The cleaning element is driven by the third motor to rotate forward for a sixth preset duration, wherein, in the third sub-duration of the sixth preset duration, the rotation speed of the cleaning element is the second rotation speed, and during the In the fourth sub-duration of the sixth preset duration, the rotation speed of the cleaning element is the third rotation speed, and in the fifth sub-duration of the sixth preset duration, the motor power of the second motor is the fifth Power, in the sixth sub-duration of the sixth preset duration, the motor power of the second motor is the sixth power.
The method according to claim 1, further comprising:

After performing the self-cleaning operation corresponding to the self-cleaning mode, start the drying part of the cleaning device, and use the third motor to drive the cleaning part to rotate forward and reverse alternately at least once, so as to dry the cleaning parts.
The method according to claim 1, further comprising:

After performing the self-cleaning operation corresponding to the self-cleaning mode, the second motor is controlled to be turned off, and after a certain time delay, the first motor is controlled to be turned off.
The method according to claim 1, characterized in that,

After the acquisition of the self-cleaning start signal of the cleaning equipment, the method further includes: acquiring a target state parameter of the sewage tank, wherein the target state parameter represents the installation state of the sewage tank; When the target state parameter determines that the sewage tank is not installed, the cleaning device sends a first prompt message, wherein the first prompt message is used to prompt that the sewage tank is not installed;

The starting of the third motor in response to the self-cleaning start signal includes: in response to the self-cleaning start signal, controlling The cleaning device performs the self-cleaning operation.
The method according to claim 1, wherein during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further comprises:

energizing the first motor to start the first motor;

When it is detected that the current passing through the first motor is less than or equal to a first current threshold, determining that the first motor has reached a normal operation state;

When it is detected that the current passing through the first motor is greater than or equal to the second current threshold, it is determined that the first motor is in an abnormal operation state; the first motor is controlled to stop running, and the cleaning device sends a first Two prompt information, wherein the second prompt information is used to prompt that the first motor is abnormal.
The method according to any one of claims 1 to 15, wherein, during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further comprises:

When the liquid level of the liquid in the sewage tank reaches the target liquid level, the cleaning device sends a third prompt message, wherein the third prompt message is used to prompt that the liquid in the sewage tank is full ;

The second motor is controlled to stop running, and after a certain time delay, the first motor is controlled to stop running.
A self-cleaning control method for cleaning equipment, characterized in that the cleaning equipment includes a first sewage tank, a rotating part located inside the first sewage tank, a first motor connected to the rotating part, and a first motor located in the first sewage tank. The second motor for generating negative pressure outside the first sewage tank, the liquid storage part and the liquid spray part connected with the liquid storage part, the cleaning part and the third motor connected with the cleaning part are connected with the cleaning The base station matched with the equipment includes a base station motor and a second sewage tank, and the first sewage tank and the second sewage tank are connected through a sewage pipeline; the method includes the following steps:

The cleaning device acquires a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode;

In response to the self-cleaning activation signal, the cleaning device activates the third motor to rotate the cleaning element, activates the liquid spraying element to spray liquid to the cleaning element; turns off the liquid spraying element to stop spraying liquid to the cleaning piece; start the second motor to work to suck the liquid that has cleaned the cleaning piece to the first sewage tank;

Wherein, the method further includes: the cleaning device starts the first motor to rotate the rotating part to separate the gas-liquid mixture in the first sewage tank from water and gas, and the first motor Start before the second motor; the base station motor sucks the liquid in the first sewage tank through the sewage pipe into the second sewage tank by generating negative pressure.
A cleaning device, characterized in that it comprises:

Sewage tank;

a rotating part located inside the waste water tank;

a first motor connected to the rotating part;

a second motor for generating negative pressure located outside of said waste water tank;

liquid storage;

a liquid spraying part connected to the liquid storage part;

cleaning parts; and,

a third motor connected to the cleaning element;

A control device, configured to acquire a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode; in response to the self-cleaning start signal, start the first Three motors work to make the cleaning part rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid that has cleaned the cleaning element into the recovery tank;

Wherein, the control device is also used to start the first motor to rotate the rotating part, so as to separate the gas-liquid mixture in the waste water tank, and the first motor is prior to the The second motor starts.
A cleaning system, characterized by comprising: cleaning equipment and a base station matching the cleaning equipment, wherein,

The cleaning equipment includes: a first sewage tank; a rotating part located inside the first sewage tank and a first motor connected to the rotating part; a first motor for generating negative pressure located outside the first sewage tank Two motors; a liquid storage part and a liquid spraying part connected with the liquid storage part; a cleaning part and a third motor connected with the cleaning part; a first control device;

Wherein, the first control device is used to obtain a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device into a self-cleaning mode; in response to the self-cleaning start signal, start the The third motor works to rotate the cleaning part, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor operative to pump liquid that has cleaned the cleaning element into the first recovery tank;

Wherein, the first control device is also used to start the first motor to rotate the rotating part, so as to separate the gas-liquid mixture in the first waste water tank, and the first motor first starting with the second motor;

The base station includes a base station motor; a second sewage tank connected to the first sewage tank through a sewage pipe; a second control device;

Wherein, the second control device is used to control the motor of the base station to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe by generating negative pressure.
A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein, when the program is run, the method according to any one of claims 1 to 17 is executed.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 17 through the computer program .