CN114073458B - Cleaning system, cleaning control method, cleaning base station, storage medium, and product program - Google Patents
Cleaning system, cleaning control method, cleaning base station, storage medium, and product program Download PDFInfo
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- CN114073458B CN114073458B CN202110239355.6A CN202110239355A CN114073458B CN 114073458 B CN114073458 B CN 114073458B CN 202110239355 A CN202110239355 A CN 202110239355A CN 114073458 B CN114073458 B CN 114073458B
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- 238000004140 cleaning Methods 0.000 title claims abstract description 778
- 238000000034 method Methods 0.000 title claims abstract description 89
- 238000003860 storage Methods 0.000 title claims abstract description 11
- 239000007788 liquid Substances 0.000 claims abstract description 142
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 123
- 238000002347 injection Methods 0.000 claims abstract description 45
- 239000007924 injection Substances 0.000 claims abstract description 45
- 230000006870 function Effects 0.000 claims description 20
- 239000000428 dust Substances 0.000 claims description 19
- 238000005086 pumping Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000018044 dehydration Effects 0.000 claims description 10
- 238000006297 dehydration reaction Methods 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 29
- 238000013461 design Methods 0.000 description 23
- 241000894006 Bacteria Species 0.000 description 8
- 238000012360 testing method Methods 0.000 description 7
- 238000007605 air drying Methods 0.000 description 6
- 239000003344 environmental pollutant Substances 0.000 description 6
- 231100000719 pollutant Toxicity 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000009395 breeding Methods 0.000 description 2
- 230000001488 breeding effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Abstract
The application provides a cleaning system, a cleaning control method, a cleaning base station, a storage medium and a product program. The method comprises the following steps: after detecting a self-cleaning instruction input by a user, the controller controls the water injection pump to inject cleaning liquid into the cleaning tank and controls the cleaning motor to drive the cleaning piece to rotate in the cleaning tank; if the controller determines that the water level of the cleaning liquid is greater than or equal to the first water level and/or the duration of injecting the cleaning liquid is greater than or equal to the first duration, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning tank; and if the controller determines that the time length of the cleaning piece rotating in the cleaning tank is longer than or equal to the second time length, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning tank. The cleaning device is used for improving the cleaning effect of the cleaning piece and further improving the cleaning effect of the cleaning equipment.
Description
Technical Field
The present application relates to an apparatus control technology, and more particularly, to a cleaning system, a cleaning control method, a cleaning base station, a storage medium, and a product program.
Background
The cleaning robot may be used to clean a floor. Currently, a cleaning robot includes a cleaning base station and a cleaning device independent from the cleaning base station.
In the related art, a cloth is provided on the cleaning apparatus, and the cloth is used for mopping the floor. Be provided with a plurality of floor and a plurality of apopore on the basic station, when needs are cleaned the rag, place the rag on a plurality of floor, control a plurality of apopore and spray water to the rag, control a plurality of floor rotations simultaneously, at a plurality of rotatory in-process of floor, a plurality of floor scrape the rag, realize the cleanness to the rag.
In the related art, the water spraying from the water outlet holes to the rag is controlled, and the rib plates are controlled to scrape the rag, so that only the dirt on the surface of the rag can be cleaned, the cleaning effect of the rag is poor, and the cleaning effect of the cleaning device is poor.
Disclosure of Invention
The application provides a cleaning system, a cleaning control method, a cleaning base station, a storage medium and a product program. The cleaning device is used for improving the cleaning effect of the cleaning piece and further improving the cleaning effect of the cleaning equipment.
In a first aspect, the present application provides a cleaning system comprising: cleaning the base station and the cleaning equipment; wherein,
The cleaning base station comprises a controller, a water injection pump, a water suction pump, a fan and a cleaning pool; the controller is respectively connected with the water injection pump, the water suction pump and the fan, and the water injection pump and the water suction pump are also respectively connected with the cleaning pool;
the cleaning device comprises a cleaning piece and a cleaning motor; the cleaning piece comprises a rolling piece and a mopping piece, and the cleaning motor comprises a first motor and a second motor; the rolling piece is connected with the first motor, and the mopping piece is connected with the second motor;
the cleaning base station controls the cleaning device to perform a self-cleaning operation.
In the cleaning system provided by the application, the cleaning base station comprises the controller, the water injection pump, the water suction pump, the fan and the cleaning pool, the cleaning equipment comprises the cleaning piece and the cleaning motor, the cleaning piece comprises the rolling piece and the cleaning piece, and the cleaning motor comprises the first motor and the second motor, so that the rolling piece and the cleaning piece can rotate in the cleaning pool filled with cleaning liquid in the process that the cleaning base station controls the cleaning equipment to perform self-cleaning operation, the cleaning effect of the cleaning piece can be improved, and the cleaning effect of the cleaning equipment is further improved.
In one possible design, the cleaning element further comprises a suction opening and a blocking element, which blocks the suction opening before the cleaning device performs a self-cleaning operation.
According to the application, before the cleaning device performs self-cleaning operation, the dust collection opening is blocked by the blocking piece, so that the safety of the cleaning device can be improved, and the problem that the motor in the cleaning device is damaged if the water level of the cleaning liquid in the cleaning tank is over the dust collection opening when the dust collection function of the cleaning device is started before the cleaning liquid is injected into the cleaning tank is avoided.
In a second aspect, the present application provides a cleaning control method applied to the cleaning system in the first aspect, the method comprising:
after the controller detects a self-cleaning instruction, controlling the water injection pump to inject cleaning liquid into the cleaning tank and controlling the cleaning motor to drive the cleaning piece to rotate in the cleaning tank;
if the controller determines that the water level of the cleaning liquid is greater than or equal to the first water level and/or the duration of injecting the cleaning liquid is greater than or equal to the first duration, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning tank;
and if the controller determines that the time length of the cleaning piece rotating in the cleaning tank is longer than or equal to the second time length, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning tank.
In the cleaning control method provided by the application, the cleaning pool comprises the cleaning liquid, and after the time period for controlling the cleaning motor to drive the cleaning piece to rotate in the cleaning pool is longer than or equal to the second time period, the cleaning motor is controlled to stop driving the cleaning piece to rotate in the cleaning pool, so that the cleaning effect on the cleaning piece can be improved, and the cleaning effect on the cleaning equipment is further improved.
In one possible design, the controller controls the cleaning motor to rotate the cleaning member in the cleaning tank, comprising:
the controller respectively sends a first instruction to the first motor and a second instruction to the second motor, wherein the first instruction is used for controlling the first motor to drive the rolling element to rotate in the cleaning pool, and the second instruction is used for controlling the second motor to drive the cleaning element to rotate in the cleaning pool.
In one possible design, after the controller controls the cleaning motor to stop driving the cleaning member to rotate in the cleaning tank, the cleaning device further comprises:
the controller controls the water suction pump to pump the polluted liquid in the cleaning pool;
and if the controller determines that the liquid amount of the polluted liquid is smaller than the preset value, controlling the fan to air-dry the cleaning piece.
In the cleaning control method provided by the application, after the controller controls the cleaning motor to stop driving the cleaning piece to rotate in the cleaning tank, the controller controls the water suction pump to pump the polluted liquid in the cleaning tank, so that the polluted liquid can be prevented from generating pollutants such as bacteria in the cleaning tank and polluting the cleaning tank. Further, the control fan can be used for air-drying the cleaning piece, so that the cleaning piece can be kept dry, stains are prevented from being adhered to the cleaning piece easily under the wet condition, and the cleaning function of the cleaning piece is improved.
In one possible design, the controller determines that the amount of the contaminated liquid is less than a preset value, comprising:
the controller obtains the water level of the polluted liquid;
if the water level is equal to the second water level, it is determined that the liquid amount of the contaminated liquid is less than the preset value.
In the cleaning control method provided by the application, if the water level is equal to the second water level, the liquid amount of the polluted liquid is determined to be smaller than the preset value, so that no polluted liquid in the cleaning tank can be ensured, and pollutants such as bacteria and the like are prevented from being generated in the cleaning tank by the polluted liquid to pollute the cleaning tank.
In one possible design, the controller determines that the amount of the contaminated liquid is less than a preset value, comprising:
the controller obtains the pumping time of the pumping pump for pumping the polluted liquid;
if the water pumping time period is equal to the third time period, determining that the liquid amount of the polluted liquid is smaller than a preset value.
In the cleaning control method provided by the application, if the water pumping time is equal to the third time, the liquid amount of the polluted liquid is determined to be smaller than the preset value, so that no polluted liquid in the cleaning pool can be ensured, and the polluted liquid is prevented from generating pollutants such as bacteria and the like in the cleaning pool to pollute the cleaning pool.
In one possible design, after the controller controls the blower to air dry the cleaning member, the method further comprises:
The controller detects whether the cleaning device is in the cleaning base station;
if yes, acquiring the electric quantity of the cleaning equipment;
if the electric quantity is greater than or equal to the preset electric quantity, controlling the state of the cleaning base station to be a standby state;
and if the electric quantity is smaller than the preset electric quantity, controlling the cleaning base station to charge the cleaning equipment.
In the cleaning control method provided by the application, after the controller controls the fan to air-dry the cleaning piece, if the cleaning equipment is in the cleaning base station and the electric quantity of the cleaning equipment is smaller than the preset electric quantity, the cleaning base station is controlled to charge the cleaning equipment, so that the user experience can be improved, the situation that the cleaning equipment does not have electric quantity when a user uses the cleaning equipment to perform cleaning operation is avoided, and the user is required to charge the cleaning equipment again or update the standby battery of the cleaning equipment is avoided.
In one possible design, the method further comprises, prior to the controller controlling the blower to air dry the cleaning member:
the controller controls the cleaning motor to drive the cleaning piece to rotationally dehydrate in the cleaning tank, and controls the water suction pump to pump polluted liquid generated in the dehydration process of the cleaning piece in the cleaning tank.
According to the cleaning control method provided by the application, before the controller controls the fan to air-dry the cleaning piece, the controller controls the cleaning motor to drive the cleaning piece to rotationally dehydrate in the cleaning pool, so that the problem that the cleaning piece is easy to adhere to stains under the wet condition due to insufficient dehydration of the cleaning piece in the second time period can be avoided, and the cleaning function of the cleaning piece is improved.
In one possible design, the controller, after detecting the self-cleaning instruction, the method further comprises:
the controller detects whether the cleaning equipment is in a working state;
if yes, the cleaning function of the cleaning equipment is controlled to be closed;
if not, the cleaning device is controlled to execute self-cleaning operation.
In the cleaning control method provided by the application, after the controller detects the self-cleaning instruction, if the cleaning equipment is detected to be in a working state, the cleaning function of the cleaning equipment is controlled to be closed, so that the safety of the cleaning equipment can be improved, and the problem that the motor in the cleaning equipment is damaged if the water level of the cleaning liquid in the cleaning tank exceeds the dust collection opening when the dust collection function of the cleaning equipment is opened before the cleaning liquid is injected into the cleaning tank is avoided.
In one possible design, the controller controls the cleaning apparatus to perform a self-cleaning operation, comprising:
the controller controls the cleaning apparatus to repeatedly perform the self-cleaning operation N times, N being an integer greater than or equal to 1.
In the cleaning control method provided by the application, the controller controls the cleaning device to repeatedly execute the self-cleaning operation for N times, so that the cleaning effect on the cleaning piece can be further improved, and the cleaning effect on the cleaning device is enhanced.
In a third aspect, the present application provides a cleaning base station comprising: a controller and a memory;
the memory stores computer-executable instructions;
the controller executes computer-executable instructions stored in the memory, causing the controller to execute the cleaning control method according to any one of the above second aspects.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a controller, implement the cleaning control method of any one of the above second aspects.
In a fifth aspect, the present application provides a computer program product comprising a computer program which when executed by a controller implements the cleaning control method of any one of the above second aspects.
The embodiment of the application provides a cleaning system, a cleaning control method, a cleaning base station, a storage medium and a product program, wherein the method comprises the following steps: controlling a water injection pump to inject cleaning liquid into the cleaning tank and controlling a cleaning motor to drive the cleaning piece to rotate in the cleaning tank; if the water level of the cleaning liquid is determined to be greater than or equal to the first water level and/or the duration of injecting the cleaning liquid is determined to be greater than or equal to the first duration, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning tank; and if the time period for the cleaning piece to rotate in the cleaning tank is longer than or equal to the second time period, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning tank. In the method, the cleaning tank comprises the cleaning liquid, and after the time period for controlling the cleaning motor to drive the cleaning piece to rotate in the cleaning tank is longer than or equal to the second time period, the cleaning motor is controlled to stop driving the cleaning piece to rotate in the cleaning tank, so that the cleaning effect on the cleaning piece can be improved, and the cleaning effect on the cleaning equipment is further improved.
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.
FIG. 1 is a schematic diagram of a cleaning system according to an embodiment of the present application;
FIG. 2 is a schematic view of another embodiment of a cleaning system;
FIG. 3 is a schematic flow chart of a cleaning control method according to an embodiment of the present application;
FIG. 4 is a second schematic flow chart of a cleaning control method according to an embodiment of the present application;
fig. 5 is a schematic flow chart III of a cleaning control method according to an embodiment of the present application;
fig. 6 is a schematic hardware structure of a cleaning base station according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related art, the water spraying of the plurality of water outlets to the rag is controlled, the plurality of rib plates are controlled to scrape the rag, so that only the stains on the surface of the rag can be cleaned, the cleaning effect of the rag is poor, and the cleaning effect of the cleaning equipment is poor. In order to improve the cleaning effect of cleaning members (e.g., rags) in the cleaning apparatus and thus the cleaning apparatus in the present application, the inventors thought that a cleaning tank is provided in a cleaning base station, cleaning liquid is injected into the cleaning tank, and the cleaning members in the cleaning apparatus are washed with the cleaning liquid, so that the cleaning effect of the cleaning members and thus the cleaning apparatus is improved.
The following describes a cleaning system according to an embodiment of the present application with reference to fig. 1, and in particular, please refer to the embodiment of fig. 1.
Fig. 1 is a schematic structural diagram of a cleaning system according to an embodiment of the present application. As shown in fig. 1, the cleaning system includes: cleaning the base station 10 and the cleaning device 20; wherein,
the cleaning base station 10 comprises a controller 101, a water injection pump 102, a water suction pump 103, a fan 104 and a cleaning pool 105; the controller 101 is respectively connected with the water injection pump 102, the water suction pump 103 and the fan 104, and the water injection pump 102 and the water suction pump 103 are respectively connected with the cleaning tank 105;
the cleaning apparatus 20 includes a cleaning member 201 and a cleaning motor 202; the cleaning member 201 includes a rolling member 2011 and a wiping member 2012, and the cleaning motor 202 includes a first motor 2021 and a second motor 2022; the rolling element 2011 is connected with the first motor 2021, and the dragging element 2012 is connected with the second motor 2022;
the cleaning base station 10 controls the cleaning device 20 to perform a self-cleaning operation.
The cleaning device 20 may be connected or disconnected from the cleaning base station 10. When the cleaning device 20 is connected to the cleaning base station 10, the connection may be achieved through a wired network or a wireless network. For example, the wired network may include coaxial cable, twisted pair wire, fiber optic, and the like. For example, the wireless network may be a 2G network, a 3G network, a 4G network, or a 5G network, a wireless fidelity (Wireless Fidelity, WIFI for short), or the like.
When the cleaning apparatus 20 is connected to the cleaning base station 10 through a wired network, the controller 101 is connected to the first motor 2021 and the second motor 2022, respectively, and the cleaning base station 10 controls the cleaning apparatus 20 to perform a self-cleaning operation. The cleaning device 20 performs a cleaning operation when the cleaning device 20 is not connected to the cleaning base station 10.
Alternatively, the cleaning device 20 may be any one of a dust collector, a mite-removing instrument, a mop, a sweeping robot, and the like.
For example, the cleaning device 20 is a floor sweeping robot, the cleaning device 20 performing a self-cleaning operation enables cleaning of stains in the cleaning device 20, and the cleaning device 20 performing a cleaning operation may, for example, clean stains in a room.
Optionally, the cleaning member 201 may further include other cleaning components besides the rolling member 2011 and the wiping member 2012, and the cleaning motor 202 further includes a motor connected to the other cleaning components in addition to the first motor 2021 and the second motor 2022, which will not be described in detail herein.
The rolling member 2011 may be a rolling brush, and the wiping member 2012 may be a cleaning cloth.
In the cleaning system provided in the embodiment of fig. 1, the cleaning base station includes a controller, a water injection pump, a water pump, a fan and a cleaning pool, the cleaning device includes a cleaning member and a cleaning motor, the cleaning member includes a rolling member and a cleaning member, the cleaning motor includes a first motor and a second motor, and the rolling member and the cleaning member can rotate in the cleaning pool filled with cleaning liquid in the process of controlling the cleaning device to perform self-cleaning operation by the cleaning base station, so that the cleaning effect on the cleaning member can be improved, and the cleaning effect on the cleaning device is improved.
Fig. 2 is a schematic diagram of another structure of a cleaning system according to an embodiment of the present application. On the basis of fig. 1, as shown in fig. 2, the cleaning member 201 further includes a dust suction opening 2013 and a blocking member 2014, the blocking member 2014 blocking the dust suction opening 2013 before the cleaning apparatus 20 performs a self-cleaning operation.
The blocking member 2014 blocks the dust collection opening 2013 before the cleaning device 20 performs a self-cleaning operation, which can improve the safety of the cleaning device 20, and prevent the problem of damage to the motor in the cleaning device 20 if the water level of the cleaning liquid in the cleaning tank 105 is over the dust collection opening 2013 when the dust collection function of the cleaning device 20 is turned on before the cleaning liquid is injected into the cleaning tank 105.
The following describes in detail a cleaning control method provided by the present application and how the cleaning control method provided by the present application solves the above technical problems with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 3 is a schematic flow chart of a cleaning control method according to an embodiment of the application. As shown in fig. 3, the method includes:
S301, after a self-cleaning instruction is detected, controlling a water injection pump to inject cleaning liquid into the cleaning pool, and controlling a cleaning motor to drive the cleaning piece to rotate in the cleaning pool.
The execution body of the embodiment of the present application is a controller in a cleaning base station, and the cleaning control method provided by the present application is described below by taking the execution body as an example of the controller.
Alternatively, the self-cleaning instruction may be generated after the user performs a pressing operation on the self-cleaning switch, or may be sent to the cleaning base station or the cleaning device by the user through a handheld control device (e.g., a remote controller).
Alternatively, the self-cleaning switch may be provided on the cleaning base station or on the cleaning device.
When the self-cleaning switch is arranged at the cleaning base station, if a user presses the self-cleaning switch, the self-cleaning switch generates a self-cleaning instruction and transmits the self-cleaning instruction to the controller, so that the controller can detect the self-cleaning instruction input by the user.
When the self-cleaning switch is arranged on the cleaning equipment, if a user presses the self-cleaning switch, the self-cleaning switch generates a self-cleaning instruction and sends the self-cleaning instruction to the controller.
The cleaning liquid may be, for example, clean water, water containing a cleaning agent (such as a detergent and a degerming agent), or the like.
Optionally, controlling the water injection pump to inject cleaning liquid into the cleaning tank comprises: and sending an injection command to the water injection pump to control the water injection pump to inject cleaning liquid into the cleaning tank.
Optionally, controlling the cleaning motor to drive the cleaning member to rotate in the cleaning tank includes: and sending a rotation instruction to the cleaning motor so as to control the cleaning motor to drive the cleaning piece to rotate in the cleaning pool. Optionally, the rotation command may further include a rotation speed. For example, the rotation speed may be 20 rpm, 30 rpm, or the like, and the present application is not limited thereto.
Further, the rotation of the cleaning member in the cleaning tank may include: the cleaning member is partially immersed in the cleaning liquid in the cleaning tank, and the cleaning member is entirely immersed in the cleaning liquid in the cleaning tank.
S302, if the water level of the cleaning liquid is determined to be greater than or equal to the first water level and/or the duration of injecting the cleaning liquid is determined to be greater than or equal to the first duration T3, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning tank.
The injection of cleaning liquid into the cleaning tank can be stopped by controlling the water injection pump in the following 3 ways.
In the mode 1, a photoelectric sensor is arranged in a cleaning base station, the water level of cleaning liquid is collected through the photoelectric sensor, a controller obtains the water level collected by the photoelectric sensor, and when the water level of the cleaning liquid is determined to be greater than or equal to a first water level, a water injection pump is controlled to stop injecting the cleaning liquid into a cleaning pool.
In mode 2, when the water injection pump is controlled to inject the cleaning liquid into the cleaning tank, the controller starts timing, and when the time period of injecting the cleaning liquid is determined to be greater than or equal to the first time period T3, the water injection pump is controlled to stop injecting the cleaning liquid into the cleaning tank.
In the mode 3, when the water level of the cleaning liquid is determined to be greater than or equal to the first water level and the time period of entering the cleaning liquid is determined to be greater than or equal to the first time period T3, the water injection pump is controlled to stop injecting the cleaning liquid into the cleaning tank.
The first water level may indicate that the volume of cleaning liquid is equal to a preset volume. Alternatively, the predetermined volume may be less than or equal to the volume of the cleaning tank.
Alternatively, the first time period T3 may be equal to a ratio of the preset volume L1 to the flow rate Q1 of the water injection pump, or may be a time period determined according to an actual test.
Optionally, controlling the water injection pump to stop injecting cleaning liquid into the cleaning tank includes: and sending an injection stopping command to the water injection pump so as to control the water injection pump to stop injecting the cleaning liquid into the cleaning tank.
And S303, if the time length of the cleaning piece rotating in the cleaning pool is greater than or equal to the second time length T4, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning pool.
Specifically, when the cleaning motor is controlled to drive the cleaning piece to rotate in the cleaning tank, the controller starts timing, and when the time length of the cleaning piece rotating in the cleaning tank is determined to be greater than or equal to the second time length T4, the cleaning motor is controlled to stop driving the cleaning piece to rotate in the cleaning tank.
For example, the second time period T4 may be 2 minutes, 3 minutes, or the like, and specifically, the specific value of the second time period T4 may be determined according to an actual experimental test.
Alternatively, the second time period T4 may be greater than or equal to the first time period T3.
Optionally, controlling the cleaning motor to stop driving the cleaning member to rotate in the cleaning tank includes: and sending a stopping instruction to the cleaning motor so as to control the cleaning motor to stop driving the cleaning piece to rotate in the cleaning pool.
In the cleaning control method provided in the embodiment of fig. 3, the water injection pump is controlled to inject cleaning liquid into the cleaning tank, and the cleaning motor is controlled to drive the cleaning piece to rotate in the cleaning tank; if the water level of the cleaning liquid is determined to be greater than or equal to the first water level and/or the duration of injecting the cleaning liquid is determined to be greater than or equal to the first time duration T3, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning tank; if the time length of the cleaning piece rotating in the cleaning pool is determined to be greater than or equal to the second time length T4, the cleaning motor is controlled to stop driving the cleaning piece to rotate in the cleaning pool, so that the cleaning effect of the cleaning piece can be improved, and the cleaning effect of the cleaning equipment is further improved.
Unlike the prior art, in the prior art, control a plurality of apopores and to the rag water spray to control a plurality of floor scrape the rag, only can clean the spot on rag surface, more deep spot still stay on it in the rag, if the user uses the cleaning equipment after the self-cleaning is accomplished in the room to carry out cleaning operation, can cause secondary pollution in the room, influence user's health. In the application, the cleaning motor is controlled to drive the cleaning piece to rotate in the cleaning pool filled with the cleaning liquid for a second time period T4, so that the cleaning piece can clean stains in deeper layers, secondary pollution to the room is avoided, and the health of a user is protected.
On the basis of the above embodiment, the cleaning control method provided by the present application will be further described with reference to the embodiment of fig. 4. Specifically, please refer to the embodiment of fig. 4.
Fig. 4 is a second schematic flow chart of a cleaning control method according to an embodiment of the present application. As shown in fig. 4, the method includes:
s401, detecting a self-cleaning instruction.
In one possible design, prior to S401, it may further include: detecting whether a self-cleaning instruction is input by a user; if yes, executing S401; if not, S412 to S415 are executed.
In another possible design, after S401, it may further include: detecting whether the cleaning equipment is in a working state; if yes, the cleaning function of the cleaning equipment is controlled to be closed; if not, the cleaning device is controlled to execute self-cleaning operation.
The cleaning function can be mite removal function, sweeping function, dust collection function and the like. For example, when the cleaning apparatus is a vacuum cleaner, the cleaning function is a dust collection function.
After the cleaning function of the cleaning device is controlled to be closed, the dust collection opening in the cleaning piece is plugged through the blocking piece in the cleaning piece on the cleaning device, and then the cleaning device is controlled to execute self-cleaning operation.
It should be noted that the controller controlling the cleaning apparatus to perform the self-cleaning operation includes any one or several steps of S402 to S415 as follows.
In the application, after the controller detects the self-cleaning instruction, if the cleaning equipment is detected to be in a working state, the cleaning function of the cleaning equipment is controlled to be closed, so that the safety of the cleaning equipment can be improved, and the problem that the motor in the cleaning equipment is damaged if the water level of the cleaning liquid in the cleaning tank exceeds the dust collection opening when the dust collection function of the cleaning equipment is opened before the cleaning liquid is injected into the cleaning tank is avoided.
In one possible design, the controller may control the cleaning apparatus to perform N self-cleaning operations, N being an integer greater than or equal to 1. Specifically, after detecting the self-cleaning instruction, the controller controls the cleaning apparatus to continuously perform the self-cleaning operation N times.
In the application, the controller controls the cleaning device to repeatedly execute the self-cleaning operation for N times, so that the cleaning effect on the cleaning piece can be further improved, and the cleaning effect on the cleaning device can be enhanced.
In another possible design, the controller controls the cleaning device to perform a self-cleaning operation once after each detection of a self-cleaning instruction.
S402, controlling a water injection pump to inject cleaning liquid into the cleaning pool.
S403, judging whether the water level of the cleaning liquid is greater than or equal to the first water level. And/or determining that the time period for injecting the cleaning liquid is greater than or equal to the first time period T3.
If yes, S404 is executed, otherwise S402 is executed.
S404, controlling the water injection pump to stop injecting the cleaning liquid into the cleaning pool.
S405, controlling the cleaning motor to drive the cleaning piece to rotate in the cleaning pool.
In one possible design, controlling the cleaning motor to rotate the cleaning elements in the cleaning tank includes:
the first instruction is used for controlling the first motor to drive the rolling piece to rotate in the cleaning pool, and the second instruction is used for controlling the second motor to drive the cleaning piece to rotate in the cleaning pool.
S406, judging whether the time period of the cleaning piece rotating in the cleaning pool is greater than or equal to a second time period T4.
If yes, S407 is executed, otherwise S405 is executed.
S407, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning pool.
In one possible design, controlling the cleaning motor to stop driving the cleaning member to rotate in the cleaning tank includes:
and the fourth instruction is used for controlling the second motor to stop driving the cleaning piece to rotate in the cleaning pool.
S408, controlling the water suction pump to pump the polluted liquid in the cleaning pool.
S409, determining whether the liquid amount of the polluted liquid is smaller than a preset value.
If yes, S410 is executed, and if not S408 is executed.
It should be noted that, by determining whether the liquid amount of the contaminated liquid is smaller than the preset value, it is possible to realize detection of whether the cleaning tank has sewage.
In one possible design, determining that the amount of the contaminated liquid is less than the preset value includes:
acquiring the water level of the polluted liquid;
if the water level is equal to the second water level, it is determined that the liquid amount of the contaminated liquid is less than the preset value.
In the application, if the water level is equal to the second water level, the liquid amount of the polluted liquid is determined to be smaller than the preset value, so that no polluted liquid in the cleaning tank can be ensured, and pollutants such as bacteria and the like are prevented from being generated in the cleaning tank by the polluted liquid to pollute the cleaning tank.
It should be noted that, the method for obtaining the water level of the contaminated liquid is similar to the method for obtaining the cleaning liquid, and will not be described here. Wherein, the second water level may be equal to 0, and the corresponding preset value is 0.
In another possible design, determining that the amount of the contaminated liquid is less than the preset value includes:
acquiring the pumping time of the pumping pump for pumping the polluted liquid;
If the pumping time period is equal to the third time period T5, determining that the liquid amount of the polluted liquid is smaller than a preset value.
In the application, if the water pumping time is equal to the third time, the liquid amount of the polluted liquid is determined to be smaller than the preset value, so that no polluted liquid in the cleaning pool can be ensured, and the polluted liquid is prevented from generating pollutants such as bacteria and the like in the cleaning pool to pollute the cleaning pool.
It should be noted that, the method for obtaining the pumping time length is similar to the method for obtaining the first timing time length, and will not be described herein.
The third time period T5 is equal to the ratio of L2 to Q2. Wherein L2 is the liquid amount of the polluted liquid in the cleaning tank, and Q2 is the flow rate of the water pump.
In practical applications, since L2 is generally smaller than L1, when Q2 is the same as Q1, the third period T5 is smaller than the first period T3.
S410, controlling a fan to air-dry the cleaning piece.
Optionally, controlling the fan to air-dry the cleaning member includes: and controlling a fan to air-dry the cleaning piece in the air-drying time period T8. For example, the air-drying period T8 may be 1 minute, 2 minutes, or the like. Specifically, the specific value of the air-drying duration T8 can be obtained according to a plurality of actual test tests.
Optionally, in the process of controlling the fan to air-dry the cleaning member, the air-dry indicator lights flash, and after the air-dry is completed, the air-dry indicator lights are turned off after a preset time period. Alternatively, the preset duration may be 3 minutes, 4 minutes, etc.
In the application, after the controller controls the cleaning motor to stop driving the cleaning piece to rotate in the cleaning tank, the controller controls the water suction pump to pump the polluted liquid in the cleaning tank, so that the polluted liquid can be prevented from generating pollutants such as bacteria in the cleaning tank and polluting the cleaning tank. Further, the control fan can be used for air-drying the cleaning piece, so that the cleaning piece can be kept dry, stains are prevented from being adhered to the cleaning piece easily under the wet condition, and the cleaning function of the cleaning piece is improved.
S411, detecting whether the cleaning device is in the cleaning base station.
If yes, at S412, otherwise S415 is performed.
S412, acquiring the electric quantity of the cleaning equipment.
The electric quantity of the cleaning device is the electric quantity of a battery in the cleaning device, and the battery is fixedly arranged in the cleaning device.
Specifically, the controller may obtain the electric quantity of the cleaning device through the electric quantity sensor. For example, the charge sensor may be provided in the cleaning device or in the cleaning base station. When the power sensor is provided in the cleaning device, the cleaning device transmits power to the cleaning base station so that the controller can acquire the power of the cleaning device. When the electric quantity sensor is arranged in the cleaning base station, the electric quantity sensor is connected with the controller, and a battery in the cleaning device is in contact with the electric quantity sensor, so that the controller can acquire the electric quantity of the cleaning device.
The electrical quantity sensor may be, for example, a current sensor, a voltage sensor, a power sensor, or the like.
S413, judging whether the electric quantity is larger than or equal to a preset electric quantity.
If not, at execution S414, otherwise execution S415 is performed.
Alternatively, the preset power may be 100%, or 30%, or 40%.
In one possible design of the device,
and S414, controlling the cleaning base station to charge the cleaning equipment.
Optionally, in the process of controlling the cleaning base station to charge the cleaning device, the charging indicator lights flash, and when the cleaning device is detected to be fully charged, the charging indicator lights are turned off after a preset time period is long. In one possible design, S413 may also be repeated every time period T2 after determining that the amount of power is greater than or equal to the preset amount of power. The duration T2 may be 2 ms, 30 ms, etc., and the specific value of the duration T2 is not limited herein.
According to the application, the cleaning base station is controlled to charge the cleaning equipment, so that the user experience can be improved, and the situation that the cleaning equipment does not have electric quantity when a user uses the cleaning equipment to perform cleaning operation is avoided, and the user is required to charge the cleaning equipment again or update the standby battery of the cleaning equipment.
S415, controlling the cleaning base station to be in a standby state.
In the cleaning control method provided in the embodiment of fig. 4, the water injection pump is controlled to inject the cleaning liquid into the cleaning tank, the cleaning motor is controlled to drive the cleaning member to rotate in the cleaning tank, and when the rotation time of the cleaning member in the cleaning tank is longer than or equal to the second time T4, the cleaning motor is controlled to stop driving the cleaning member to rotate in the cleaning tank, so that the cleaning effect on the cleaning member can be improved, and the cleaning effect on the cleaning equipment is further improved. Further, the control fan is used for air-drying the cleaning piece, so that the cleaning piece can be kept dry, and bacteria are prevented from breeding.
On the basis of the above embodiment, the cleaning control method provided in the embodiment of the present application is further described in detail below with reference to fig. 5, specifically, please refer to the embodiment of fig. 5.
Fig. 5 is a flowchart illustrating a cleaning control method according to an embodiment of the present application. As shown in fig. 5, the method includes:
s501, detecting a self-cleaning instruction.
S502, controlling a water injection pump to inject cleaning liquid into the cleaning pool.
S503, judging whether the water level of the cleaning liquid is greater than or equal to the first water level. And/or determining that the time period for injecting the cleaning liquid is greater than or equal to the first time period T3.
If yes, S504 is executed, otherwise S502 is executed.
S504, controlling the water injection pump to stop injecting cleaning liquid into the cleaning pool.
S505, controlling the cleaning motor to drive the cleaning piece to rotate in the cleaning pool.
S506, judging whether the time period of the cleaning piece rotating in the cleaning pool is greater than or equal to the second time period T4.
If yes, S507 is executed, otherwise S505 is executed.
S507, controlling the cleaning motor to stop driving the cleaning piece to rotate in the cleaning pool.
S508, controlling a water suction pump to pump polluted liquid in the cleaning pool.
S509, determining whether the liquid amount of the polluted liquid is smaller than a preset value.
If yes, S510 is executed, and if not S508 is executed.
The execution method of S501 to S509 is the same as the execution method of S401 to S409, and the execution process of S501 to S509 will not be described here again.
S510, controlling the cleaning motor to drive the cleaning piece to rotationally dehydrate in the cleaning pool.
In one possible design, the execution method S505 of S510 is the same, and the execution process of S510 is not described here.
In another possible design, the controller may control the cleaning motor to drive the cleaning elements to spin water in the cleaning tank during the spin time period T6. Specifically, the dehydration period T6 may be obtained according to an actual experimental test. For example, the dehydration period T6 may be smaller than the above-described second period T4.
S511, controlling a water suction pump to pump polluted liquid generated in the dewatering process of the cleaning piece in the cleaning pool.
Alternatively, the suction pump may be controlled to suck the contaminated liquid generated during the dehydration of the cleaning member in the cleaning tank for the water suction period T7.
The pumping duration T7 may be a ratio of L3 to Q2. Wherein L3 is the liquid amount of the contaminated liquid generated during the dehydration. Specifically, the specific value of the pumping time period T7 can be obtained according to a plurality of actual test tests.
In one possible design, after S511, it is also possible to perform detection of the presence of contaminated liquid in the cleaning tank, and if so, continue S511 until the contaminated liquid is completely withdrawn.
It should be noted that, the above-mentioned S501-S511 are a complete self-cleaning cycle, and after one self-cleaning cycle is completed, the self-cleaning indicator lights flash, and if a complete self-cleaning cycle needs to be executed, the user needs to input a self-cleaning instruction again, so that the controller executes S501-S511 again, and still another complete self-cleaning cycle is implemented.
According to the application, the controller controls the cleaning motor to drive the cleaning piece to rotationally dehydrate in the cleaning pool, so that the problem that the cleaning piece is easy to adhere to stains under the wet condition due to insufficient dehydration of the cleaning piece in the second time period can be avoided, and the cleaning function of the cleaning piece is improved.
S512, detecting whether the cleaning device is in the cleaning base station.
If yes, S513 is performed, otherwise S514 is performed.
S513, controlling a fan to air-dry the cleaning piece.
Specifically, the execution method of S513 is the same as the execution method of S410, and the execution process of S513 is not described here again.
In one possible design, after S513, it may further include: s411 to S415.
S514, controlling the cleaning base station to be in a standby state.
Specifically, the execution method of S514 is the same as the execution method of S415, and the execution process of S514 is not described here again.
In the cleaning control method provided in the embodiment of fig. 5, the water injection pump is controlled to inject the cleaning liquid into the cleaning tank, the cleaning motor is controlled to drive the cleaning member to rotate in the cleaning tank, and when the rotation time of the cleaning member in the cleaning tank is longer than or equal to the second time T4, the cleaning motor is controlled to stop driving the cleaning member to rotate in the cleaning tank, so that the cleaning effect on the cleaning member can be improved, and the cleaning effect on the cleaning equipment is further improved. Further, after the cleaning motor is controlled to stop driving the cleaning piece to rotate in the cleaning tank, the water suction pump is controlled to pump polluted liquid in the cleaning tank, the cleaning motor is controlled to drive the cleaning piece to rotate in the cleaning tank for dehydration, the water suction pump is controlled to pump polluted liquid generated in the dehydration process of the cleaning piece in the cleaning tank, and the fan is controlled to air-dry the cleaning piece, so that the cleaning piece can be kept dry, and bacteria are prevented from breeding.
Fig. 6 is a schematic hardware structure of a cleaning base station according to an embodiment of the present application. As shown in fig. 6, the cleaning base station 60 includes: a controller 601 and a memory 602,
the controller 601 and the memory 602 are connected via a bus 603.
In a specific implementation, the controller 601 executes computer-executable instructions stored in the memory 602, so that the controller 601 performs the cleaning control method as described above.
The specific implementation process of the controller 601 may refer to the above-mentioned method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
In the embodiment shown in fig. 6 described above, it should be understood that the controller may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose controllers, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. The general controller may be a microcontroller or the controller may be any conventional controller or the like. The steps of the method disclosed in the incorporated application may be embodied directly in hardware controller execution or in a combination of hardware and software modules in the controller.
The memory may comprise high speed RAM memory or may also comprise non-volatile storage NVM, such as disk memory.
The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.
The application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and when the controller executes the computer execution instructions, the cleaning control method is realized.
The application also provides a computer program product comprising a computer program which when executed by a controller implements a cleaning control method as above.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A cleaning control method, the method comprising:
after a controller in the cleaning base station detects a self-cleaning instruction, the controller detects whether the cleaning equipment is in a working state or not;
if the cleaning equipment is detected to be in a working state, the cleaning function of the cleaning equipment is controlled to be closed, and a dust collection opening in a cleaning piece on the cleaning equipment is blocked by a blocking piece in the cleaning piece;
controlling a water injection pump in the cleaning base station to inject cleaning liquid into a cleaning pool in the cleaning base station;
the controller judges whether the water level of the cleaning liquid is greater than or equal to a first water level, and judges whether the duration of injecting the cleaning liquid is greater than or equal to a first duration, wherein the first duration is equal to the ratio of the preset volume to the flow rate of the water injection pump;
the controller controls the water injection pump to stop injecting the cleaning liquid into the cleaning tank if the water level of the cleaning liquid is determined to be greater than or equal to a first water level and the time period of injecting the cleaning liquid is determined to be greater than or equal to a first time period;
The controller controls a cleaning motor in the cleaning equipment to drive the cleaning piece to rotate in the cleaning pool so as to enable the cleaning piece to be soaked in cleaning liquid in the cleaning pool;
the controller judges whether the time length of the cleaning piece rotating in the cleaning pool is greater than or equal to a second time length;
if the controller determines that the time length of the cleaning piece rotating in the cleaning pool is longer than or equal to the second time length, the controller controls the cleaning motor to stop driving the cleaning piece to rotate in the cleaning pool;
the controller controls the water suction pump to pump the polluted liquid in the cleaning pool;
if the controller determines that the liquid amount of the polluted liquid is smaller than a preset value, the controller controls the cleaning motor to drive the cleaning piece to rotationally dehydrate in the cleaning tank;
controlling a water suction pump in the cleaning base station to pump polluted liquid generated by the cleaning piece in the cleaning pool in the dehydration process;
the fan in the cleaning base station is controlled to air-dry the cleaning piece;
the controller detects whether the cleaning device is within the cleaning base station;
if the cleaning device is in the cleaning base station, acquiring the electric quantity of the cleaning device;
Judging whether the electric quantity is larger than or equal to a preset electric quantity or not;
and if the electric quantity is smaller than the preset electric quantity, controlling the cleaning base station to charge the cleaning equipment.
2. The method of claim 1, wherein the controller controlling the cleaning motor to rotate the cleaning element in the cleaning tank comprises:
the controller respectively sends a first instruction to the first motor and a second instruction to the second motor, the first instruction is used for controlling the first motor to drive the rolling piece to rotate in the cleaning pool, and the second instruction is used for controlling the second motor to drive the cleaning piece to rotate in the cleaning pool.
3. The method of claim 1, wherein the controller determining that the amount of the contaminated liquid is less than a preset value comprises:
the controller obtains the water level of the polluted liquid;
and if the water level is equal to the second water level, determining that the liquid quantity of the polluted liquid is smaller than a preset value.
4. The method of claim 1, wherein the controller determining that the amount of the contaminated liquid is less than a preset value comprises:
the controller obtains the pumping time of the pumping pump for pumping the polluted liquid;
And if the water pumping time period is equal to the third time period, determining that the liquid quantity of the polluted liquid is smaller than a preset value.
5. The method according to claim 1, wherein the method further comprises:
and if the electric quantity is larger than or equal to the preset electric quantity, controlling the state of the cleaning base station to be a standby state.
6. The method according to any one of claims 1-5, further comprising:
if not, the cleaning device is controlled to execute self-cleaning operation.
7. The method of claim 6, wherein the controller controlling the cleaning apparatus to perform a self-cleaning operation comprises:
the controller controls the cleaning apparatus to repeatedly perform the self-cleaning operation N times, where N is an integer greater than or equal to 1.
8. A cleaning base station, the cleaning base station comprising: a controller and a memory;
the memory stores computer-executable instructions;
the controller executes the computer-executable instructions stored in the memory, so that the controller executes the cleaning control method according to any one of claims 1 to 7.
9. A cleaning system for implementing the cleaning control method of any one of claims 1 to 7, the cleaning system comprising: cleaning the base station and the cleaning equipment; wherein,
The cleaning base station comprises a controller, a water injection pump, a water suction pump, a fan and a cleaning pool; the controller is respectively connected with the water injection pump, the water suction pump and the fan, and the water injection pump and the water suction pump are also respectively connected with the cleaning pool;
the cleaning device includes a cleaning member and a cleaning motor; the cleaning piece comprises a rolling piece and a mopping piece, and the cleaning motor comprises a first motor and a second motor; the rolling piece is connected with the first motor, and the mopping piece is connected with the second motor;
the cleaning base station controls the cleaning equipment to execute self-cleaning operation;
the cleaning member further includes a dust collection port and a blocking member that blocks the dust collection port before the cleaning apparatus performs a self-cleaning operation.
10. A computer-readable storage medium having stored therein computer-executable instructions that, when executed by a controller, implement the cleaning control method of any one of claims 1 to 7.
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| CN111820824A (en) * | 2019-04-17 | 2020-10-27 | 松下家电(中国)有限公司 | Working method of floor mopping robot |
| WO2021004546A1 (en) * | 2019-07-11 | 2021-01-14 | 苏州宝时得电动工具有限公司 | Cleaner-robot system, control method therefor, and base station |
| CN110367885A (en) * | 2019-08-15 | 2019-10-25 | 云鲸智能科技（东莞）有限公司 | Auto-cleaning method, system and the readable storage medium storing program for executing of clean robot mopping part |
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