CN114631756A

CN114631756A - Self-cleaning method and cleaning system

Info

Publication number: CN114631756A
Application number: CN202210289999.0A
Authority: CN
Inventors: 李娜; 吴志敏; 付静媛
Original assignee: Kingclean Electric Co Ltd
Current assignee: Kingclean Electric Co Ltd; Lexy Electric Green Energy Technology Suzhou Co Ltd
Priority date: 2022-03-23
Filing date: 2022-03-23
Publication date: 2022-06-17
Anticipated expiration: 2042-03-23
Also published as: CN114631756B

Abstract

The present application relates to a self-cleaning method of a cleaning device and a cleaning device, the method comprising: when the cleaning equipment is determined to be in butt joint with the base station and the self-cleaning mode is determined to be started, controlling the charging function to be invalid; controlling to execute a first sub self-cleaning mode for a first number of times; performing the first sub self-cleaning mode includes: controlling a cleaning liquid injection module to inject cleaning liquid; controlling the cleaning liquid injection module to stop injecting the cleaning liquid and controlling the charging function to be effective; controlling the charging function to be invalid; controlling the operation of the suction driving module; and controlling the suction driving module to stop working. So, can charge at the automatically cleaning in-process, can elder generation automatically cleaning a period in low-power, avoid not enough because of the electric quantity, charge for a long time and lead to the dirt longer dwell time in cleaning piece and sewage case, it is follow-up difficult to the clean up or need the longer time to come clean, and can let cleaning piece and cleaning solution fully contact when charging, be convenient for clear up the dirt on the cleaning piece, improve the cleaning effect.

Description

Self-cleaning method and cleaning system

Technical Field

The application relates to the technical field of household appliances, in particular to a self-cleaning method and a cleaning system.

Background

Along with the development of society, the living standard of people is continuously improved, the requirements of people on living and living environments are higher and higher, and the application of intelligent technology and use comfort on cleaning equipment and floor washers is more and more popularized.

Cleaning equipment such as floor cleaning machine on the market at present, when the user wants to start the automatically cleaning mode, if the electric quantity does not reach the required electric quantity of automatically cleaning mode, then the user can't start the automatically cleaning mode, and only after charging to certain electric quantity, the user need press the automatically cleaning mode button once more, just can start the automatically cleaning mode, cause the inconvenience of user operation, and need the certain time because of charging, dirty meeting long time is attached to on the cleaning member this moment, cause the follow-up difficult to the sanitization of cleaning member or give off the stink, and then cause user experience not good.

Disclosure of Invention

Based on this, it is necessary to provide a self-cleaning method and cleaning device to the above technical problem, thereby in whole self-cleaning process, can charge, can be in low-power, automatically clean a period earlier, avoid because of the electric quantity is not enough, it is longer to charge for a long time and lead to the dirt to dwell time in cleaning piece and sewage case, it is clean or need longer time to clean to follow-up be difficult to the clean up, and when charging, can let cleaning piece and cleaning solution fully contact, be convenient for clear up the dirt on the cleaning piece, improve the cleaning effect.

In order to achieve the above objects, in one aspect, the present application provides a self-cleaning method of a cleaning apparatus including a battery module, a clean water tank, a sewage tank, a cleaning member, a cleaning liquid spray module, and a suction driving module, the self-cleaning method including:

when the cleaning equipment is determined to be in butt joint with a base station and the self-cleaning mode is determined to be started, controlling the charging function to be invalid so that the battery module cannot receive electric energy output by the base station;

controlling to execute a first sub self-cleaning mode for a first number of times; controlling to perform the first sub self-cleaning mode includes: controlling the cleaning liquid injection module to inject cleaning liquid; when the first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying cleaning liquid and controlling the charging function to be effective so that the battery module receives electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the first execution times of the current first sub self-cleaning mode; wherein the first number is greater than or equal to 1;

and when determining that the self-cleaning completion condition is met, exiting the self-cleaning mode.

In one embodiment, after the controlling performs the first number of times of the first sub self-cleaning mode, the controlling further includes:

controlling to execute a second sub self-cleaning mode a second number of times, the controlling to execute the second sub self-cleaning mode comprising: controlling the cleaning liquid injection module to inject cleaning liquid; when it is determined that the second preset injection condition is reached; controlling the cleaning liquid injection module to stop injecting the cleaning liquid; controlling the suction driving module to operate to suck the soil through the cleaning member to the sump; when a second preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording a second execution time of the current second sub self-cleaning mode; wherein the second number is greater than or equal to 1.

In one embodiment, before the controlling performs the first number of times of the first sub self-cleaning mode, the controlling further includes:

controlling to execute a third number of times a second sub self-cleaning mode, the controlling to execute the second sub self-cleaning mode comprising: controlling the cleaning liquid injection module to inject cleaning liquid; when it is determined that the second preset injection condition is reached; controlling the cleaning liquid injection module to stop injecting the cleaning liquid; controlling the suction driving module to operate to suck the soil through the cleaning member to the sump; when a second preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording a second execution time of the current second sub self-cleaning mode; wherein the third number is greater than or equal to 1.

In one embodiment, controlling the cleaning liquid spray module to stop spraying the cleaning liquid when it is determined that the first preset spray condition is reached includes:

when the liquid spraying amount is judged to reach a first preset liquid spraying amount, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or,

when the liquid spraying duration is judged to reach a first preset duration, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or,

when judging the humidity of cleaning member reaches first predetermined humidity, control cleaning solution injection module stops to spray the cleaning solution.

In one embodiment, the controlling performs the first sub self-cleaning mode, further comprising:

judging whether the clear water tank is lack of water or not;

when it is determined that the first preset spraying condition is reached, controlling the cleaning solution spraying module to stop spraying the cleaning solution and controlling the charging function to be effective so that the battery module receives the electric power output from the base station, includes:

when judging the clear water tank does not lack water and when confirming to reach first preset injection condition, control the cleaning solution injection module stops to spray the cleaning solution to it is effective to control the function of charging, so that battery module receives the electric energy of basic station output.

In one embodiment, after the determining whether the clean water tank is short of water, the method further includes:

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives the electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; controlling the suction driving module to operate to suck the soil via the cleaning member to the sewage tank when the charging function is disabled; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; and recording the first execution times of the current first sub self-cleaning mode.

In one embodiment, before controlling the operation of the suction driving module if the charging function fails, the method further includes:

judging whether the clear water tank is lack of water or not;

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives the electric energy output by the base station; and when the clear water tank is determined to be refilled with water, controlling the charging function to be invalid.

when the clear water tank is judged to be lack of water, controlling the cleaning liquid injection module to stop injecting the cleaning liquid, recording current injection parameters, and controlling the charging function to be effective so that the battery module receives the electric energy output by the base station; when the clear water tank is determined to be refilled with water, controlling the charging function to be invalid; according to current injection parameter, confirm not to reach when first predetermineeing the injection condition, control the cleaning solution sprays the module and sprays the cleaning solution, and when reaching when first predetermineeing the injection condition, control the cleaning solution sprays the module and stops to spray the cleaning solution.

In one embodiment, before the recording the current first number of times of executing the first sub self-cleaning mode, the method further includes:

judging whether the sewage tank is full of water or not;

if the charging function is disabled, controlling the operation of the suction driving module to suck the dirt passing through the cleaning member to the sewage tank, comprising:

and when the charging function is failed and the sewage amount is not full, controlling the suction driving module to operate so as to suck the sewage passing through the cleaning member to the sewage tank.

when the charging function fails and the sewage water is full, controlling the suction driving module to stop running and controlling the charging function to be effective; and when the sewage tank is determined to be not full of water again, controlling the charging function to be invalid.

when the charging function fails and the sewage water is full, controlling the suction driving module to stop running, recording the current suction parameters, and controlling the charging function to be effective; when the sewage tank is determined to be not full of water again, controlling the charging function to be invalid; controlling the suction driving module to operate according to the current suction parameters; and controlling the suction driving module to stop working when the first preset suction stopping condition is determined to be reached.

controlling the cleaning piece to rotate;

and when the suction driving module stops working, controlling the cleaning piece to stop rotating.

In one embodiment, before controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective to enable the battery module to receive the electric power output by the base station when it is determined that the first preset spraying condition is reached, the method further comprises:

controlling the cleaning member to rotate during the cleaning liquid spraying by the cleaning liquid spraying module;

when a first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying cleaning liquid, controlling the cleaning piece to rotate for a first preset rotating time period, and then controlling the charging function to be effective so that the battery module receives electric energy output by the base station;

if the charging function is failed, controlling the suction driving module to operate to suck the dirt passing through the cleaning member to the sewage tank, including:

if the charging function is invalid, controlling the suction driving module to operate and controlling the cleaning piece to rotate so as to suck the dirt passing through the cleaning piece to the sewage tank;

when determining that a first preset suction stopping condition is reached, controlling the suction driving module to stop working, wherein the suction driving module comprises:

and when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working and controlling the cleaning piece to stop rotating.

In one embodiment, when it is determined that the first preset stop charging condition is reached, controlling the charging function to be disabled includes:

when the charging time reaches a first preset charging stopping time, controlling the charging function to be invalid; or,

and when the first preset charging stopping electric quantity is determined to be reached, controlling the charging function to be invalid.

In one embodiment, when it is determined that the first preset suction stop condition is reached, controlling the suction driving module to stop working comprises:

when the suction stopping time length is determined to reach a first preset suction stopping time length, controlling the suction driving module to stop working; or,

and when the humidity of the cleaning piece is detected to be smaller than a first preset suction stopping humidity, controlling the suction driving module to stop working.

In one embodiment, said exiting the self-cleaning mode upon determining that a self-cleaning completion condition is satisfied comprises:

exiting the self-cleaning mode when it is determined that the first number of times of the first sub self-cleaning mode has been performed; or,

exiting the self-cleaning mode when it is determined that the cleaning member is soiled less than a preset degree of soiling.

exiting the self-cleaning mode when it is determined that the second number of times a second sub self-cleaning mode has been executed; or,

In one embodiment, the base station comprises a water storage tank for providing cleaning liquid to the clean water tank when the cleaning device is docked with the base station; after judging whether clear water tank lacks water, still include:

when the clear water tank is judged to be lack of water and the suction driving module is controlled to stop working, a liquid passage between the water storage tank and the clear water tank is conducted, so that the water storage tank provides cleaning liquid for the clear water tank.

In one embodiment, the base station comprises a waste storage tank for storing dirt in the waste tank when the cleaning device is docked with the base station; after judging whether the sewage tank is full of water, the method further comprises the following steps:

and when the sewage tank is judged to be full of water, a fluid passage between the sewage tank and the sewage storage tank is communicated, and the dirt in the sewage tank is extracted to the sewage storage tank.

In another aspect, a cleaning system is provided, the cleaning system including a cleaning device and a base station, the cleaning device further including: outside battery module, clear water tank, sewage case, cleaning member, cleaning fluid injection module and suction drive module, still include:

the control module is used for controlling the charging function to be invalid when the cleaning equipment is determined to be in butt joint with a base station and the self-cleaning mode is determined to be started, so that the battery module cannot receive electric energy output by the base station;

the control module is also used for controlling the execution of the first sub self-cleaning mode for a first number of times;

the quitting module is used for quitting the self-cleaning mode when the self-cleaning completion condition is determined to be met;

the control module is specifically configured to: controlling the cleaning liquid injection module to inject cleaning liquid; when the first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective so that the battery module receives the electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the first execution times of the current first sub self-cleaning mode; wherein the first number is greater than or equal to 1.

In a further aspect, a cleaning system is provided, comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method according to the first aspect when executing the computer program.

According to the self-cleaning method and the cleaning equipment of the cleaning equipment, when the cleaning equipment is in butt joint with a base station and the self-cleaning mode is determined to be started, the charging function is controlled to be invalid, after the self-cleaning mode is started, the first sub self-cleaning mode is executed for a first number of times, and when the self-cleaning completion condition is determined to be met, the self-cleaning mode is exited; when the first sub self-cleaning mode is executed, firstly controlling the cleaning liquid spraying module to spray cleaning liquid, and then controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective when the first preset spraying condition is determined to be reached so that the battery module receives electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is invalid, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the first execution times of the current first sub self-cleaning mode; thus, after the cleaning liquid is sprayed, the cleaning piece can be soaked, the cleaning piece can be conveniently cleaned subsequently, the charging module is charged in the soaking process, the dirty removing effect can be improved, the charging is carried out after the step of spraying the cleaning liquid is carried out, the electric energy required by spraying the cleaning liquid is less, the situation that the electric quantity is too low and self-cleaning cannot be carried out when a user wants to carry out self-cleaning is avoided, after the cleaning piece is charged for a long time, the cleaning piece becomes dry along with the charging time, and the subsequent cleaning piece is difficult to clean is avoided, the charging can be carried out in the whole self-cleaning process, the cleaning piece can be automatically cleaned for a period of time firstly in the low-electric quantity, the situation that the dirt stays in the cleaning piece and a sewage tank for a long time due to insufficient electric quantity, the dirt is difficult to clean subsequently or needs to clean for a longer time, and the cleaning piece can be fully contacted with the cleaning liquid during the charging, is convenient for clean up the dirt on the cleaning piece and improves the cleaning effect.

Drawings

Fig. 1A is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present disclosure;

fig. 1B is a schematic structural diagram of a base station according to an embodiment of the present application;

fig. 2 is a flowchart of a self-cleaning method according to an embodiment of the present application;

fig. 3 is a flowchart for controlling execution of a first sub self-cleaning mode according to an embodiment of the present application;

FIG. 4 is a flow chart of a self-cleaning method according to another embodiment of the present application;

fig. 5 is a flowchart for controlling execution of the second sub self-cleaning mode according to an embodiment of the present application;

FIG. 6 is a flow chart of a self-cleaning method according to another embodiment of the present application;

FIG. 7 is a flowchart illustrating a self-cleaning method according to another embodiment of the present application;

fig. 8 is a flowchart illustrating a method of controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application;

fig. 9 is a flowchart illustrating a method of controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application;

fig. 10 is a flowchart illustrating a method of controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application;

fig. 11 is a flowchart illustrating a method of controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application;

fig. 12 is a flowchart illustrating a method of controlling to execute a first sub-self-cleaning mode a first number of times according to yet another embodiment of the present application;

FIG. 13 is a block diagram of a cleaning system in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The cleaning system includes: a cleaning device and a base station. FIG. 1A is a schematic diagram of a cleaning apparatus provided herein; fig. 1B is a schematic structural diagram of a base station provided in the present application. As shown in fig. 1A, the cleaning device includes a main body 1, a battery module 3, a handle body 12, a cleaning liquid supply assembly, a sump tank 4, a floor brush assembly 2, and a suction driving module. Specifically, the suction driving module is located in the housing 11 of the body 1. The liquid supply assembly includes a cleaning liquid tank 50 and a cleaning liquid spray module. The handle body 12 is arranged at the upper end of the machine body, the floor brush component 2 is rotatably arranged at the lower end of the machine body, and the clean water tank 50 is detachably arranged on the floor brush component 2; the sewage tank 4 and the battery module 3 are separately detachably mounted at the rear of the body 1, and the sewage tank 4 is disposed below the battery module 3.

The suction driving module is used for providing suction force to treat ground garbage, and particularly, the suction driving module is a suction motor. In the cleaning process, under the action of the suction force of the suction driving module, the mixed fluid of gas, dust and/or liquid flows through the fluid channels in the floor brush assembly 2 and the machine body 1 from the suction inlet of the floor brush assembly 2 in sequence and enters the sewage tank 4, then the gas, the dust and/or the liquid are separated, the dust and/or the liquid are stored in the sewage tank 4, and the separated gas enters the suction driving module from the upper part of the sewage tank 4 and is discharged from the exhaust outlet of the suction driving module.

Wherein, the fluid can be clean airflow or airflow wrapped with garbage; the garbage is at least one of dust, solid garbage (such as cigarette end, paper sheet, rice grain, etc.), and dirty liquid (such as orange juice, dirty water, egg liquid, etc.).

In one embodiment, the cleaning liquid spray module includes a spray nozzle and a pump, the pump is used for guiding the cleaning liquid from the clean water tank 50 to the spray nozzle, the spray nozzle is used as the output end of the cleaning liquid supply assembly, and the cleaning liquid is sprayed to the cleaning member (such as a rolling brush) or the floor, so as to clean and/or care the floor; alternatively, the cleaning solution may be clear water, and may also be a cleaning agent, a care agent, or the like.

Fig. 1B is a schematic structural diagram of a base station according to an embodiment of the present application. The base station 20 is adapted to the cleaning device. In actual use, the cleaning piece can roll and wipe the ground to clean by spraying cleaning liquid to the ground by the nozzle. At the same time, when the cleaning device is mounted on the base station 20, the cleaning liquid sprayed from the nozzles can act on the cleaning elements so that the cleaning elements rotate for self-cleaning. The cleaning equipment is specifically as follows: a floor washing machine.

Fig. 2 is a flowchart of a self-cleaning method according to an embodiment of the present application, and as shown in fig. 2, the self-cleaning method includes:

s101, when the cleaning equipment is determined to be in butt joint with a base station and the self-cleaning mode is determined to be started, the charging function is controlled to be invalid, so that the battery module cannot receive electric energy output by the base station.

Specifically, after the cleaning device is docked with the base station, if a user wants to start the self-cleaning mode, the user presses a self-cleaning mode start button on the cleaning device, the cleaning device responds to the pressing operation of the user, determines to start the self-cleaning mode, and controls the charging function to be invalid, and at this time, the battery module of the cleaning device cannot receive electric energy output by the base station.

Of course, in another embodiment of the present application, after the cleaning device is docked with the base station, the cleaning device may determine whether to automatically start the self-cleaning mode according to the detected degree of contamination of the cleaning member of the cleaning device, and after the automatic self-cleaning mode is started, the charging function is controlled to be disabled, and at this time, the battery module of the cleaning device cannot receive the electric energy output by the base station.

S103, controlling to execute a first sub self-cleaning mode for a first number of times.

Wherein the first number is greater than or equal to 1. Illustratively, the first number may be 1 or 2 or 3. In practical applications, the first number may be preset in advance by the cleaning device; of course, the first number may be determined according to the remaining capacity of the battery module; in addition, the first number may be determined according to the remaining capacity of the battery module and the degree of contamination of the cleaning member.

Fig. 3 is a flowchart for controlling execution of a first sub self-cleaning mode according to an embodiment of the present application.

As shown in fig. 3, controlling to perform the first sub self-cleaning mode includes:

and S1030, controlling the cleaning liquid injection module to inject the cleaning liquid.

The cleaning liquid spray module includes a spray nozzle for guiding the cleaning liquid from the cleaning water tank 50 to the spray nozzle as an output end of the cleaning liquid supply assembly, and a pump, the spray nozzle spraying the cleaning liquid capable of acting on the cleaning member (e.g., a roll brush). A pump is arranged in the cleaning liquid feed path, and when the pump is operated, the cleaning liquid in the cleaning water tank 50 is delivered to the cleaning elements. Specifically, the cleaning liquid injection module is controlled to inject the cleaning liquid by controlling the pump to be in an operating state.

Specifically, the cleaning liquid injection module is controlled to inject the cleaning liquid at a first flow rate value.

And S1032, when the first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid, and controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

Specifically, the cleaning liquid spraying module sprays the cleaning liquid when a first preset spraying condition is not met. When monitoring and reaching first predetermined injection condition, the control cleaning solution sprays the module and stops to spray the cleaning solution, and the control function of charging is effective, at this moment, the electric energy of basic station output can be carried to battery module, in order to charge battery module, after the cleaning solution sprays the cleaning solution through the cleaning solution, the cleaning member is moist, at this moment, when charging battery module, can soak the cleaning member, be convenient for follow-up clean the cleaning member.

And S1034, when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid.

Specifically, when the first preset charging stop condition is not reached, the charging function is controlled to be effective. When the situation that the first preset charging stopping condition is reached is monitored, the charging function is controlled to be invalid, and at the moment, the battery module cannot be charged.

And S1036, if the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank.

Specifically, the charging function is disabled, i.e., the charging is stopped. And when the charging function fails or after the charging function fails, controlling the operation of the suction driving module, and sucking the dirt on the cleaning piece to the sewage tank through the sewage channel after the operation of the suction driving module.

And S1038, controlling the suction driving module to stop working when the first preset suction stopping condition is determined to be reached.

And S1039, recording the first execution times of the current first sub self-cleaning mode.

Specifically, a counter may be set, and the counter is incremented by 1 time each time the first sub self-cleaning mode is completed.

And S105, exiting the self-cleaning mode when the self-cleaning completion condition is determined to be met.

Specifically, the self-cleaning completion condition may include at least one of: the dirt degree of the cleaning piece is smaller than the preset dirt degree of the cleaning piece, or the first sub self-cleaning mode is executed for preset times.

In other words, upon determining that the self-cleaning completion condition is satisfied, the self-cleaning mode is exited including: exiting the self-cleaning mode when it is determined that the first sub self-cleaning mode has been executed a first number of times; alternatively, the self-cleaning mode is exited when it is determined that the cleaning member is soiled less than a preset degree of soiling. When the cleaning piece contamination degree detection sensor is not arranged on the cleaning equipment, the self-cleaning mode can be quitted when the first quantity of times is determined to be executed in the self-cleaning mode, so that self-cleaning can be carried out according to the first quantity of times determined by experimental data, and the cleaning effect is ensured. When the cleaning piece fouling degree detection sensor is arranged on the cleaning equipment, whether the self-cleaning mode exits or not can be determined according to the fouling degree of the cleaning piece, electric energy can be effectively utilized on the basis of keeping the cleaning effect, and unnecessary self-cleaning is avoided.

In the self-cleaning method for the cleaning device provided by this embodiment, when the cleaning device is docked with the base station and the self-cleaning mode is determined to be started, the charging function is controlled to be disabled, after the self-cleaning mode is started, the first sub self-cleaning mode is executed for a first number of times, and when it is determined that the self-cleaning completion condition is met, the self-cleaning mode is exited; when the first sub self-cleaning mode is executed, firstly controlling the cleaning liquid spraying module to spray cleaning liquid, and then controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective when the first preset spraying condition is determined to be reached so that the battery module receives electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is invalid, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording a first execution time of a current first sub self-cleaning mode; so, after spraying the cleaning solution, can soak the cleaning solution, be convenient for follow-up washing to the cleaning solution, and charge to the module that charges at the in-process that soaks, can improve dirty effect of getting rid of, and charge after carrying out the step of spraying the cleaning solution, the electric energy that the spraying cleaning solution needs is less, it wants the automatically cleaning to hang down at the user to have avoided, can't carry out the automatically cleaning, after charging for a long time, the cleaning solution can become dry along with the charge time, cause the condition that follow-up cleaning solution is difficult to the sanitization.

Fig. 4 is a flowchart of a self-cleaning method according to another embodiment of the present application, where the self-cleaning method shown in fig. 4 is different from the self-cleaning method shown in fig. 2 in that, after the step S103 of controlling to execute the first sub self-cleaning mode for a first number of times, the self-cleaning method further includes:

and S104, controlling to execute a second sub self-cleaning mode for a second number of times.

Specifically, the second sub self-cleaning mode may be controlled to be executed for a second number of times when it is determined that the remaining capacity of the battery module satisfies a second preset battery capacity.

In this embodiment, when the remaining capacity of the battery module reaches a second preset battery capacity enough to clean the cleaning member, the second sub self-cleaning mode is controlled to be executed for a second number of times, so as to quickly complete the self-cleaning of the cleaning device.

Fig. 5 is a flowchart for controlling execution of the second sub self-cleaning mode according to an embodiment of the present application.

As shown in fig. 5, controlling to perform the second sub self-cleaning mode includes:

and S1040, controlling the cleaning liquid injection module to inject the cleaning liquid.

Specifically, the cleaning liquid injection module is controlled to inject the cleaning liquid at a second flow rate value.

And S1042, controlling the cleaning liquid injection module to stop injecting the cleaning liquid when the second preset injection condition is determined to be reached.

And S1044, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning member to the sewage tank.

And S1046, controlling the suction driving module to stop working when the second preset suction stopping condition is reached.

And S1048, recording the second execution times of the current second sub self-cleaning mode.

Wherein the second number is greater than or equal to 1.

According to the self-cleaning method provided by the embodiment of the application, after the first sub self-cleaning mode is executed, the second sub self-cleaning mode is also executed, so that when the residual electric quantity of the battery module reaches the preset battery electric quantity enough for cleaning the cleaning piece, the second sub self-cleaning mode is controlled to be executed for a second number of times, and self-cleaning of the cleaning equipment is rapidly completed.

Fig. 6 is a flowchart of a self-cleaning method according to another embodiment of the present application, where the self-cleaning method shown in fig. 6 is different from the self-cleaning method shown in fig. 2, in that before the step S103 of controlling to execute the first sub self-cleaning mode for a first number of times, the self-cleaning method further includes:

and S102, controlling to execute a third number of times of second sub self-cleaning modes.

Wherein the third number is greater than or equal to 1.

Specifically, the third number of times of execution of the second sub self-cleaning mode may be controlled when it is determined that the remaining capacity of the battery module satisfies the first preset battery capacity. The first preset battery level is less than the second preset battery level.

The step of executing the second sub-self-cleaning mode is the same as that shown in fig. 5, and the description thereof is omitted here.

In practical application, when the self-cleaning mode is executed at first, the dirt degree of the cleaning piece is the most serious, at this moment, if the electric quantity of the battery module is enough to execute at least one second sub self-cleaning mode, but the electric quantity needed by the whole self-cleaning mode is not enough to execute, a third number of second sub self-cleaning modes can be executed firstly, the retention time of the dirt on the cleaning piece is shortened, then, when the first sub self-cleaning mode is executed, the battery module can be supplemented with electric energy, the dirt on the cleaning piece can be cleaned in time, the cleaning effect is ensured, and the self-cleaning is not needed to be executed until the residual electric energy of the battery module reaches the electric energy needed by the whole self-cleaning mode.

Fig. 7 is a flowchart of a self-cleaning method according to still another embodiment of the present application, where the self-cleaning method shown in fig. 7 is different from the self-cleaning method shown in fig. 5 in that, before the step S103 of controlling to execute the first sub self-cleaning mode for a first number of times, the self-cleaning method further includes:

Wherein the third number is greater than or equal to 1.

For the embodiments shown in fig. 4, 6, and 7, upon determining that the self-cleaning completion condition is satisfied, exiting the self-cleaning mode includes:

exiting the self-cleaning mode when it is determined that the second sub self-cleaning mode has been executed a second number of times; or,

and when the dirt degree of the cleaning piece is determined to be lower than the preset dirt degree, exiting the self-cleaning mode.

When the cleaning piece dirt degree detection sensor is not arranged on the cleaning equipment, the self-cleaning mode can be quitted when the second sub self-cleaning mode is determined to be executed for the second number of times during the self-cleaning mode, so that self-cleaning can be carried out for the first number of times, the second number of times and the third number of times determined according to experimental data, and the cleaning effect is ensured. When the cleaning piece fouling degree detection sensor is arranged on the cleaning equipment, whether the self-cleaning mode exits or not can be determined according to the fouling degree of the cleaning piece, electric energy can be effectively utilized on the basis of keeping the cleaning effect, and unnecessary self-cleaning is avoided.

In an embodiment of the present application, controlling to execute the first sub self-cleaning mode further includes:

judging whether the clear water tank is lack of water;

when the clear water tank is judged not to be lack of water and the first preset spraying condition is determined to be reached, the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station.

Further, after judging that clear water tank is lack of water, still include:

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; when the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning member to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; and recording the first execution times of the current first sub self-cleaning mode.

Specifically, the first number of times of execution of the current first sub self-cleaning mode may be recorded when it is determined that the clean water tank is refilled with water. Of course, in another embodiment, after the current sub self-cleaning mode is ended, when it is determined that the clean water tank is refilled with water, the next sub self-cleaning mode is started, that is, after the clean water tank is empty of water, when the next sub self-cleaning mode is started, it is necessary to first determine whether the clean water tank is refilled.

This embodiment, when the clear water tank lacks water, can't provide the cleaning solution to the cleaning member, at this moment, stop spraying the cleaning solution, and continue to carry out subsequent charging, the pumping operation, so, when the clear water tank lacks water, can continue to carry out subsequent operation, and need not wait to when the clear water tank does not lack water, just carry out subsequent step, make during the clear water tank continues water, can continue to clean the cleaning member, avoid appearing unable timely continuation and not continuing to clean the cleaning member, lead to the cleaning member because of being in the smelly scheduling problem that wet state caused for a long time.

In the scheme that can carry out, be provided with the float in the clean water tank, be used for installing on the cleaning device on the accommodation space of clean water tank and be provided with the tongue tube, it is concrete, judge whether the clean water tank lacks the step of water and include:

and judging whether the reed switch is triggered by the floater or not so as to judge whether the clear water tank is lack of water or not. Specifically, when the reed switch is triggered by the float, it is determined that the clear water tank is short of water, otherwise, it is determined that the clear water tank is not short of water.

In another implementable scheme, whether the clear water tank is deficient in water can be judged by detecting the working current value of the pump, and specifically, the step of judging whether the clear water tank is deficient in water comprises the following steps:

and judging whether the working current value of the pump is smaller than a preset current value or not so as to judge whether the clear water tank is lack of water or not. Specifically, when the working current value of the pump is smaller than the preset current value, the water shortage of the clean water tank is judged. When the clear water tank is lack of water, the pump normally works, the no-load phenomenon occurs, according to the phenomenon, the working current value of the pump is utilized to judge whether the clear water tank is lack of water, and whether the clear water tank is lack of water is detected without arranging a special detection element.

Fig. 8 is a flowchart illustrating a method for controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application, and as shown in fig. 8, the method for controlling to execute the first sub self-cleaning mode a first number of times includes:

and S8001, controlling the cleaning liquid injection module to inject the cleaning liquid.

And S8003, judging whether the first preset injection condition is reached. If not, the process returns to step S8001. If yes, go to step S8007.

And S8005, judging whether the clear water tank is lack of water. If not, go to step S8003. If yes, go to step S8107.

And S8007, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

And S8009, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

And S8011, determining whether a first preset charging stop condition is met. If so, step S8013 is executed, otherwise, the process returns to step S8009.

And S8013, charging function failure control.

S8015, the operation of the suction driving module is controlled.

S8017, whether the first preset pumping stopping condition is met is judged. If yes, go to step S8019, otherwise, go back to step S8015.

And S8019, controlling the suction driving module to stop working.

S8021, recording the first execution times of the current first sub self-cleaning mode.

S8023, determining whether the first execution count reaches a first number of times. If yes, go to step S8025, otherwise, control to go to the first sub self-cleaning mode again.

S8025, quitting executing the first sub self-cleaning mode for the first number of times.

And S8107, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

And S8109, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

And S8111, judging whether a first preset charging stopping condition is reached. If yes, go to step S8113, otherwise, go back to step S8109.

And S8113, controlling the charging function to be invalid.

And S8115, controlling the operation of the suction driving module.

And S8117, judging whether a first preset pumping stopping condition is reached. If yes, go to step S8119, otherwise, go back to step S8115.

And S8119, controlling the suction driving module to stop working.

And S8120, judging whether the clear water tank is refilled with water or not. If yes, step S8021 is executed, otherwise, it is continuously determined whether the clean water tank is filled with water again.

Preferably, after the step S8119, the method further includes: the charging function is controlled to be effective; when it is determined that the clean water tank refills, the charging function is controlled to be disabled, and step S8021 is executed. Like this, at the clear water tank in-process of adding water, also can charge to the module that charges, need not charge after the automatically cleaning mode finishes again, reduced the required time that charges, guaranteed the electric quantity of the module that charges, and then continued the use for the user and provided convenience.

In another embodiment of the present application, before controlling the operation of the suction driving module if the charging function fails, the method further includes:

judging whether the clear water tank is lack of water;

Preferably, if the charging function fails, before controlling the operation of the suction driving module, the method further includes:

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives the electric energy output by the base station; and when the clear water tank is determined to be refilled with water, the charging control function is disabled.

This embodiment, when the clear water tank lacks water, can't provide the cleaning solution to the cleaning member, at this moment, stop to spray the cleaning solution and charge, so, when the clear water tank lacks water, soak the cleaning member all the time, long time not long time when continuing water, can lengthen the soaking time to the cleaning member, and then increase subsequent clean effect, can guarantee battery module's residual capacity moreover, reduce the required charging time after the automatically cleaning finishes.

Fig. 9 is a flowchart illustrating a method for controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application, and as shown in fig. 9, the method for controlling to execute the first sub self-cleaning mode a first number of times includes:

and S9001, controlling the cleaning liquid injection module to inject the cleaning liquid.

And S9003, judging whether the first preset injection condition is reached. If not, the process returns to step S9001. If yes, go to step S9007.

S9005, judging whether the clear water tank is lack of water. If not, go to step S9003. If yes, go to step S9107.

And S9007, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

And S9009, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

And S9011, judging whether a first preset charging stopping condition is met. If so, step S9013 is executed, and if not, the process returns to step S9009.

And S9013, controlling the charging function to be invalid.

And S9015, controlling the suction driving module to operate.

And S9017, judging whether a first preset suction stopping condition is met. If yes, go to step S9019, otherwise, return to step S9015.

And S9019, controlling the suction driving module to stop working.

S9021, recording the first execution times of the current first sub self-cleaning mode.

S9023, judging whether the first execution times reaches a first number of times. If yes, executing step S9025, otherwise, controlling to execute the first sub self-cleaning mode again.

S9025, quitting executing the first sub self-cleaning mode for the first number of times.

And S9107, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

S9109, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

S9111, judge whether the clear water tank is filled with water again. If yes, go to step S9013, otherwise, go back to step S9109.

judging whether the clear water tank is lack of water;

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, current injection parameters are recorded, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the clear water tank is determined to be refilled with water, the charging function is controlled to be invalid; according to the current spraying parameter, when determining that the first preset spraying condition is not reached, controlling the cleaning liquid spraying module to spray the cleaning liquid, and when reaching the first preset spraying condition, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

Specifically, the injection parameter is the injected amount.

This embodiment, when the clear water tank lacks water, can't provide the cleaning solution to the cleaning member, at this moment, stop spraying the cleaning solution, the record sprays the parameter and charges, thus, when the clear water tank lacks water, soak the cleaning member all the time, long time not very long when continuing water, can lengthen the soaking time to the cleaning member, and then increase subsequent clean effect, and can guarantee battery module's residual capacity, reduce the required charging time after the automatically cleaning finishes, and after the clear water tank continues water, continue to spray the cleaning solution, guarantee the clean effect of single sub-automatically cleaning mode.

Fig. 10 is a flowchart illustrating a method for controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application, and as shown in fig. 10, the method for controlling to execute the first sub self-cleaning mode a first number of times includes:

and S7001, controlling the cleaning liquid spraying module to spray cleaning liquid.

And S7003, judging whether the first preset injection condition is achieved. If not, the process returns to step S7001. If yes, go to step S7007.

And S7005, judging whether the clear water tank is lack of water. If not, step S7003 is executed. If yes, go to step S7107.

And S7007, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

And S7009, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

S7011, determining whether the first preset stop charging condition is reached. If so, step S7013 is executed, otherwise, the process returns to step S7009.

And S7013, controlling the charging function to be invalid.

And S7015, controlling the operation of the suction driving module.

And S7017, judging whether a first preset pumping stopping condition is reached. If so, go to step S7019, otherwise, return to step S7015.

S7019, controlling the suction driving module to stop working.

S7021, recording the first execution times of the current first sub self-cleaning mode.

S7023, determine whether the first execution count reaches a first number of times. If yes, executing step S7025, otherwise, controlling to execute the first sub self-cleaning mode again.

S7025, exiting from executing the first sub self-cleaning mode for the first number of times.

And S7107, controlling the cleaning liquid injection module to stop injecting the cleaning liquid, and recording the current injection parameters.

And S7109, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

And S7111, judging whether the clear water tank is filled with water again. If so, go to step S7113, otherwise, return to step S7109.

And S7113, controlling the charging function to be invalid.

And S7115, judging whether a first preset injection condition is reached according to the current injection parameter. If so, go to step S7015, otherwise go to step S7117.

And S7117, controlling the cleaning liquid injection module to inject the cleaning liquid. When the first preset injection condition is reached, it goes to step S7015.

In a specific embodiment of the application, a water full level electrode is arranged on the clean water tank, and the bottom end of the water full level electrode defines the water full level of the clean water tank; judge whether clear water tank adorns water again, include:

and judging whether the clear water tank is refilled with water or not according to whether the full water level electrode is conducted or not. Specifically, when the full water level electrode is conducted, the clear water tank is determined to be refilled with water, and when the full water level electrode is not conducted, the clear water tank is determined not to be refilled with water. So, can be when the clear water tank refills water to full water, confirm that the clear water tank refills water.

In a specific embodiment of the present application, determining whether the clean water tank refills water includes: and judging whether the triggering of the reed switch by the floater is finished or not so as to judge whether water is refilled or not. Specifically, when the trigger of the float to the reed pipe is finished, the clear water tank is judged to be refilled with water.

In another embodiment of the present application, before recording the first number of times of executing the current first sub self-cleaning mode, the method further includes:

judging whether the sewage tank is full of water or not;

if the charging function is failed, controlling the suction driving module to operate to suck the soil through the cleaning member to the sewage tank, including: and when the charging function is failed and the sewage tank is not full of water, controlling the suction driving module to operate so as to suck the sewage passing through the cleaning piece to the sewage tank.

Preferably, before recording the first number of times of executing the current first sub self-cleaning mode, the method further includes: when the charging function fails and the sewage tank is full of water, controlling the suction driving module to stop running and controlling the charging function to be effective; when the sewage tank is determined to be not full, the control charging function is invalid.

This embodiment, when the sewage case is full, can charge to the module that charges, and then reduce the required charging time after the automatically cleaning is ended, and when confirming the sewage case again and not being full, confirm to accomplish the sub-automatically cleaning mode of cost, avoid the user to install the sewage case again after, the sound of direct start suction causes harmful effects to the user.

In one embodiment, a water level electrode is provided in the wastewater tank, and determining whether the wastewater tank is full includes: and judging whether the water level electrode is conducted or not so as to judge whether the sewage tank is full of water or not. Specifically, when the water level electrode is conducted, it is determined that the sewage tank is full of water, and if not, it is determined that the sewage tank is not full of water. In practical application, there are other feasible manners for determining whether the sewage tank is full, and the embodiments of the present application are not described herein again.

Correspondingly, when the water level electrode is determined to be not conducted again, the clean water tank is determined to be refilled with water.

Fig. 11 is a flowchart illustrating a method for controlling to execute a first sub self-cleaning mode a first number of times according to another embodiment of the present application, and as shown in fig. 11, the method for controlling to execute the first sub self-cleaning mode a first number of times includes:

and S6001, controlling the cleaning liquid injection module to inject the cleaning liquid.

And S6003, judging whether the first preset injection condition is reached. If not, the process returns to step S6001. If yes, go to step S6007.

And S6007, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

And S6009, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

S6011, determining whether a first preset stop charging condition is met. If yes, go to step S6013, otherwise, return to step S6009.

And S6013, controlling the charging function to be invalid.

And S6015, controlling the operation of the suction driving module.

S6016, judging whether the sewage tank is full of water. If yes, go to step S6107, otherwise go to step S6017.

S6017, judging whether a first preset pumping stopping condition is reached. If yes, go to step S6019, otherwise, go back to step S6015.

And S6019, controlling the suction driving module to stop working.

And S6021, recording the first execution times of the current first sub self-cleaning mode.

And S6023, judging whether the first execution times reaches a first number of times. If yes, step S6025 is executed, otherwise, the first sub self-cleaning mode is executed again.

And S6025, exiting the first sub self-cleaning mode for the first number of times.

S6107, controlling the suction driving module to stop working.

S6109, controlling the charging function to be effective, so that the battery module receives the electric energy output by the base station.

S6111, judging whether the sewage tank is not full of water again. If yes, go to step S6113, otherwise, go back to step S6109.

And S6113, controlling the charging function to be invalid. Proceed to step S6021.

judging whether the sewage tank is full of water or not;

if the charging function is failed, controlling the suction driving module to operate to suck the soil through the cleaning member to the sewage tank, including:

and when the charging function is failed and the sewage tank is not full of water, controlling the suction driving module to operate so as to suck the sewage passing through the cleaning piece to the sewage tank.

Preferably, before recording the first number of times of executing the current first sub self-cleaning mode, the method further includes:

when the charging function fails and the sewage tank is full of water, controlling the suction driving module to stop running, recording the current suction parameters and controlling the charging function to be effective; when the sewage tank is determined to be not full of water again, the charging function is controlled to be invalid; controlling the operation of the suction driving module according to the current suction parameters; and controlling the suction driving module to stop working when the first preset suction stopping condition is determined to be reached.

In the embodiment, when the sewage tank is full of water, the charging module can be charged, so that the charging time required after the self-cleaning is finished is reduced, incomplete suction is continued when the sewage tank is determined to be not full of water again, and the cleaning effect of the sub self-cleaning can be achieved.

Fig. 12 is a flowchart illustrating a method for controlling to execute a first sub self-cleaning mode a first number of times according to yet another embodiment of the present application, and as shown in fig. 12, the method for controlling to execute the first sub self-cleaning mode a first number of times includes:

s5001, controlling the cleaning liquid injection module to inject the cleaning liquid.

S5003, judging whether the first preset injection condition is reached. If not, the process returns to step S5001. If yes, go to step S5007.

S5007, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

S5009, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

S5011, determining whether the first preset stop charging condition is reached. If so, step S5013 is executed, otherwise, the process returns to step S5009.

And S5013, controlling the charging function to be invalid.

And S5015, controlling the suction driving module to operate.

S5016, judging whether the sewage tank is full of water or not. If so, step S5107 is executed, and if not, step S5017 is executed.

And S5017, judging whether a first preset suction stopping condition is reached. If so, step S5019 is executed, otherwise, the process returns to step S5015.

And S5019, controlling the suction driving module to stop working, and recording the current suction parameters.

S5021, recording the first execution times of the current first sub self-cleaning mode.

S5023, determining whether the first execution time reaches a first number of times. If yes, executing step S5025, otherwise, controlling to execute the first sub self-cleaning mode again.

S5025, quitting the first sub self-cleaning mode which is executed for the first number of times.

And S5107, controlling the suction driving module to stop working.

And S5109, controlling the charging function to be effective so that the battery module receives the electric energy output by the base station.

S5111, judging whether the sewage tank is not full of water again. If yes, go to step S5113, otherwise return to step S5109.

And S5113, controlling the failure of the charging function.

And S5115, controlling the suction driving module to operate according to the recorded current suction parameters. Proceed to step S5017.

In an embodiment of the present application, controlling the cleaning liquid injection module to stop injecting the cleaning liquid when it is determined that the first preset injection condition is reached includes: when the liquid spraying amount is judged to reach the first preset liquid spraying amount, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or, when the liquid spraying duration is judged to reach a first preset duration, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or when the humidity of the cleaning piece is judged to reach the first preset humidity, the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid.

Similarly, controlling the cleaning liquid injection module to stop injecting the cleaning liquid when it is determined that the second preset injection condition is reached includes: when the liquid spraying amount is judged to reach the second preset liquid spraying amount, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or when the liquid spraying time length is judged to reach a second preset time length, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or when the humidity of the cleaning piece reaches the second preset humidity, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

controlling the cleaning piece to rotate;

In an embodiment of the present application, when it is determined that the first preset spraying condition is reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective so that before the battery module receives the electric power output by the base station, the method further includes:

controlling the cleaning member to rotate during the cleaning liquid injection by the cleaning liquid injection module;

when the first preset spraying condition is determined to be reached, the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid, the cleaning piece is controlled to rotate for a first preset rotation time period, and then the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station;

controlling the suction driving module to stop working when it is determined that the first preset suction stop condition is reached, including:

In an embodiment of the present application, when it is determined that the first preset stop charging condition is reached, controlling the charging function to fail includes:

In an embodiment of the present application, controlling the suction driving module to stop operating when it is determined that the first preset suction stop condition is reached includes:

when the suction stopping time length is determined to reach the first preset suction stopping time length, controlling the suction driving module to stop working; or,

and when the humidity of the cleaning piece is detected to be smaller than the first preset suction stopping humidity, controlling the suction driving module to stop working.

Similarly, when it is determined that the second preset suction stop condition is reached, controlling the suction driving module to stop working comprises: when the suction stopping time length is determined to reach the second preset suction stopping time length, controlling the suction driving module to stop working; or when the humidity of the cleaning piece is detected to be smaller than a second preset suction stopping humidity, controlling the suction driving module to stop working.

In an embodiment of the present application, controlling to execute the second sub self-cleaning mode further includes:

judging whether the clear water tank is lack of water;

controlling the cleaning liquid spray module to stop spraying the cleaning liquid when it is determined that the second preset spray condition is reached, including:

and when the clear water tank is judged not to be short of water and the second preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

Further, after judging that clear water tank is lack of water, still include:

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives the electric energy output by the base station; when the second preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; when the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning member to the sewage tank; when the suction stopping condition is determined to be reached, controlling the suction driving module to stop working; and when the clear water tank is determined to be refilled with water, recording the second execution times of the current second sub self-cleaning mode.

Preferably, after judging whether the clear water tank is lack of water, the method further comprises:

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the clear water tank is determined to be refilled with water, the charging function is controlled to be invalid; controlling the suction driving module to operate to suck the soil through the cleaning member to the sump; when a second preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; and recording the second execution times of the current second sub self-cleaning mode.

when the clear water tank is judged to be lack of water, the cleaning liquid injection module is controlled to stop injecting the cleaning liquid, current injection parameters are recorded, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the clear water tank is determined to be refilled with water, the charging function is controlled to be invalid; according to the current spraying parameter, when the second preset spraying condition is not reached, the cleaning liquid spraying module is controlled to spray the cleaning liquid, and when the second preset spraying condition is reached, the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid.

In another embodiment of the present application, before recording the second number of times of executing the current second sub self-cleaning mode, the method further includes:

judging whether the sewage tank is full of water or not;

controlling the suction driving module to operate to suck the soil through the cleaning member to the sump, comprising:

Preferably, after judging whether the wastewater tank is full of water, the method further comprises:

when the charging function fails and the sewage tank is full of water, controlling the suction driving module to stop running and controlling the charging function to be effective; and when the clear water tank is determined to be refilled with water, the charging control function is invalid.

when the sewage tank is full of water, controlling the suction driving module to stop running, recording the current suction parameters, and controlling the charging function to be effective; when the clear water tank is determined to be refilled with water, the charging function is controlled to be invalid; controlling the suction driving module to operate according to the current suction parameters; and controlling the suction driving module to stop working when the second preset suction stopping condition is determined to be reached.

In one embodiment, the base station includes a water storage tank for providing cleaning fluid to the clean water tank when the cleaning appliance is docked with the base station; after judging that clear water tank lacks water, still include: when the clear water tank is judged to be lack of water and the suction driving module is controlled to stop working, a liquid passage between the water storage tank and the clear water tank is conducted, so that the water storage tank provides cleaning liquid for the clear water tank. Thus, the clean water tank can be automatically supplied with water.

In one embodiment, the base station includes a waste storage tank for storing dirt in the waste tank when the cleaning device is docked with the base station; after judging that the sewage case is full, still include: when the sewage tank is judged to be full of water, a fluid passage between the sewage tank and the sewage storage tank is communicated, and dirt in the sewage tank is extracted to the sewage storage tank. Therefore, the dirt in the sewage tank can be automatically extracted.

It should be understood that although the various steps in the flowcharts of fig. 3-12 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3-12 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.

In one embodiment, as shown in fig. 13, there is provided a cleaning system, the cleaning system comprising the above cleaning apparatus and the above base station, the cleaning apparatus further comprising: outside battery module, clear water tank, sewage case, cleaning member, cleaning fluid injection module and suction drive module, still include: a control module 1201 and an exit module 1202.

The control module 1201 is used for controlling the charging function to be invalid when the cleaning equipment is determined to be in butt joint with a base station and the self-cleaning mode is determined to be started, so that the battery module cannot receive electric energy output by the base station;

the control module 1201 is further configured to control to execute the first sub self-cleaning mode a first number of times;

an exit module 1202, configured to exit the self-cleaning mode when it is determined that a self-cleaning completion condition is met;

the control module 1201 is specifically configured to: controlling the cleaning liquid injection module to inject cleaning liquid; when the first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective so that the battery module receives the electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the first execution times of the current first sub self-cleaning mode; wherein the first number is greater than or equal to 1.

In one embodiment, after the controlling performs the first number of times of the first sub self-cleaning mode, further comprising:

In one embodiment, the control module is further configured to:

In an embodiment, the control module is specifically configured to:

when the liquid spraying amount is judged to reach a first preset liquid spraying amount, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or, when the liquid spraying duration is judged to reach a first preset duration, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or, when judging that the humidity of the cleaning piece reaches a first preset humidity, controlling the cleaning liquid injection module to stop injecting the cleaning liquid.

In one embodiment, the control module is further configured to: judging whether the clear water tank is lack of water or not;

when it is determined that the first preset spraying condition is reached, controlling the cleaning solution spraying module to stop spraying the cleaning solution and controlling the charging function to be effective so that the battery module receives the electric power output from the base station, includes: when judging the clear water tank does not lack water and when confirming to reach first preset injection condition, control the cleaning solution injection module stops to spray the cleaning solution to it is effective to control the function of charging, so that battery module receives the electric energy of basic station output.

In one embodiment, the control module is further configured to: when the clear water tank is judged to be lack of water, controlling the cleaning liquid injection module to stop injecting the cleaning liquid and controlling the charging function to be effective so that the battery module receives the electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; controlling the suction driving module to operate to suck the soil via the cleaning member to the sewage tank when the charging function is disabled; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; and recording the first execution times of the current first sub self-cleaning mode.

In one embodiment, the control module is further configured to:

In an embodiment, the control module is further configured to:

judging whether the sewage tank is full of water or not;

In one embodiment, the control module is further configured to:

when the charging function fails and the sewage is full of water, controlling the suction driving module to stop running and controlling the charging function to be effective; and when the sewage tank is determined to be not full of water again, controlling the charging function to be invalid.

In one embodiment, the control module is further configured to:

when the charging function fails and the sewage is full of water, controlling the suction driving module to stop running, recording current suction parameters, and controlling the charging function to be effective; when the sewage tank is determined to be not full of water again, controlling the charging function to be invalid; controlling the suction driving module to operate according to the current suction parameters; and controlling the suction driving module to stop working when the first preset suction stopping condition is determined to be reached.

In an embodiment, the control module is further configured to: controlling the cleaning piece to rotate; and when the suction driving module stops working, controlling the cleaning piece to stop rotating.

In one embodiment, the control module is further configured to: controlling the cleaning member to rotate during the cleaning liquid spraying by the cleaning liquid spraying module;

the control module is specifically configured to:

In an embodiment, the control module is specifically configured to:

when the charging time reaches a first preset charging stopping time, controlling the charging function to be invalid; or when the first preset charging stopping electric quantity is determined to be reached, controlling the charging function to be invalid.

In an embodiment, the control module is specifically configured to:

when the suction stopping time length is determined to reach a first preset suction stopping time length, controlling the suction driving module to stop working; or when the humidity of the cleaning piece is detected to be smaller than a first preset suction stopping humidity, controlling the suction driving module to stop working.

In an embodiment, the exit module is specifically configured to:

In an embodiment, the base station comprises a water storage tank for providing cleaning liquid to the clean water tank when the cleaning device is docked with the base station; the control module is specifically configured to:

when the clear water tank is judged to be lack of water and a first preset suction stopping condition is determined to be reached, the suction driving module is controlled to stop working, and a liquid passage between the water storage tank and the clear water tank is conducted, so that the water storage tank provides cleaning solution for the clear water tank.

In an embodiment, the base station comprises a water storage tank for providing cleaning liquid to the clean water tank when the cleaning device is docked with the base station; the control module is further configured to: when the clear water tank is judged to be lack of water, the suction driving module is controlled to stop working, and a liquid passage between the water storage tank and the clear water tank is conducted, so that the water storage tank provides cleaning solution for the clear water tank.

In one embodiment, the base station comprises a waste storage tank for storing dirt in the waste tank when the cleaning device is docked with the base station; the control module is further configured to: and when the sewage tank is judged to be full of water, a fluid passage between the sewage tank and the sewage storage tank is communicated, and the dirt in the sewage tank is extracted to the sewage storage tank.

For specific limitations of the cleaning system, reference may be made to the above limitations of the self-cleaning method, which are not described in detail here. The various modules in the cleaning system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Claims

1. A self-cleaning method of a cleaning apparatus including a battery module, a clean water tank, a sewage tank, a cleaning member, a cleaning liquid injection module, and a suction driving module, the self-cleaning method comprising:

2. The method of claim 1, wherein after the controlling performs the first number of times the first sub self-cleaning mode, further comprising:

Preferably, before the controlling performs the first number of times of the first sub self-cleaning mode, the controlling further includes:

Preferably, when it is determined that the first preset spraying condition is reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid includes:

Preferably, the exiting the self-cleaning mode when it is determined that the self-cleaning completion condition is satisfied includes:

exiting the self-cleaning mode when it is determined that the second sub self-cleaning mode has been performed the second number of times; or,

3. The method of claim 1, wherein the controlling performs the first sub self-cleaning mode, further comprising:

judging whether the clear water tank is lack of water or not;

Preferably, after the determining whether the clean water tank is lack of water, the method further includes:

4. The method of claim 1, wherein before controlling the operation of the suction drive module if the charging function fails, the method further comprises:

judging whether the clear water tank is lack of water or not;

5. The method of claim 1, wherein before said recording a current first number of executions of said first sub self-cleaning mode, further comprising:

judging whether the sewage tank is full of water or not;

Preferably, before the recording the current first number of times of executing the first sub self-cleaning mode, the method further includes:

More preferably, the base station comprises a dirt storage tank for storing dirt in the dirt tank when the cleaning device is docked with the base station; after judging whether the sewage tank is full of water, the method further comprises the following steps:

6. The method of claim 1, wherein the controlling performs the first sub self-cleaning mode, further comprising:

controlling the cleaning piece to rotate;

Or, when it is determined that the first preset spraying condition is reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid and controlling the charging function to be effective so that before the battery module receives the electric energy output by the base station, the method further includes:

7. The method of claim 1, wherein controlling the charging function to be disabled when it is determined that a first preset stop-charging condition is reached comprises:

Preferably, when it is determined that the first preset suction stop condition is reached, controlling the suction driving module to stop working comprises:

8. The method of claim 5, wherein the base station includes a water storage tank for providing cleaning fluid to the clean water tank when the cleaning appliance is docked with the base station; after judging whether clear water tank lacks water, still include:

9. A cleaning system, comprising a cleaning device and a base station, the cleaning device comprising: outside battery module, clear water tank, sewage case, cleaning member, cleaning fluid injection module and suction drive module, still include:

the exit module is used for exiting the self-cleaning mode when the self-cleaning completion condition is determined to be met;

the control module is specifically configured to: controlling the cleaning liquid injection module to inject cleaning liquid; when the first preset spraying condition is determined to be reached, controlling the cleaning liquid spraying module to stop spraying cleaning liquid and controlling the charging function to be effective so that the battery module receives electric energy output by the base station; when the first preset charging stopping condition is determined to be reached, controlling the charging function to be invalid; if the charging function is failed, controlling the suction driving module to operate so as to suck the dirt passing through the cleaning piece to the sewage tank; when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the first execution times of the current first sub self-cleaning mode; wherein the first number is greater than or equal to 1.

10. A cleaning system comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 8 when executing the computer program.