CN114631756B

CN114631756B - Self-cleaning method and cleaning system

Info

Publication number: CN114631756B
Application number: CN202210289999.0A
Authority: CN
Inventors: 李娜; 吴志敏; 付静媛
Original assignee: Kingclean Electric Co Ltd; Lexy Electric Green Energy Technology Suzhou 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: 2023-07-21
Anticipated expiration: 2042-03-23
Also published as: CN114631756A

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, the charging function is controlled to be invalid; controlling to execute a first number of sub-self-cleaning modes; performing the first sub-self-cleaning mode includes: controlling the cleaning liquid injection module to inject the cleaning liquid; the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid, and the charging function is controlled to be effective; controlling the failure of the charging function; controlling the suction driving module to operate; and controlling the suction driving module to stop working. So, can charge at self-cleaning in-process, can be earlier self-cleaning a period of time when low electric quantity, avoid because of the electric quantity is not enough, long-time charging leads to the dirt longer in cleaning member and sewage case dwell time, follow-up be difficult to clean up or need longer time to clean, and can let cleaning member and cleaning solution fully contact when charging, be convenient for clear up the dirt on the cleaning member, 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 also higher and higher, and the application of intelligent technology and use comfort to cleaning equipment and floor washing machines is also popular.

At present, when a user wants to start a self-cleaning mode, if the electric quantity does not reach the electric quantity required by the self-cleaning mode, the user cannot start the self-cleaning mode, and only after the user is charged to a certain electric quantity, the user needs to press the self-cleaning mode button again to start the self-cleaning mode, so that inconvenience of user operation is caused, and a certain time is required for charging, at the moment, dirt is attached to a cleaning piece for a long time, so that the cleaning piece is difficult to clean or smell is emitted, and user experience is poor.

Disclosure of Invention

Based on the above, it is necessary to provide a self-cleaning method and a cleaning device for the above technical problems, so that charging can be performed in the whole self-cleaning process, self-cleaning can be performed for a period of time at first when the electric quantity is low, the problem that the retention time of dirt in a cleaning member and a sewage tank is long due to insufficient electric quantity and long-time charging is avoided, the dirt is difficult to clean or needs longer time to clean later is solved, and the cleaning member and the cleaning liquid can be fully contacted during charging, so that the dirt on the cleaning member is cleaned conveniently, and the cleaning effect is improved.

To achieve the above object, 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 spraying module, and a suction driving module, the self-cleaning method comprising:

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 number of sub-self-cleaning modes; controlling the execution of the first sub-self-cleaning mode comprises: controlling the cleaning liquid spraying module to spray the 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 condition of stopping charging is confirmed 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 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 current first execution times of the first sub self-cleaning mode; wherein the first number is 1 or more;

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

In one embodiment, after the control performs the first number of first sub-self-cleaning modes, the control further includes:

controlling to execute a second number of second sub-self-cleaning modes, the controlling to execute the second sub-self-cleaning modes comprising: controlling the cleaning liquid spraying module to spray the cleaning liquid; when it is determined that the second preset injection condition is reached; controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; controlling the suction driving module to operate so as to suck dirt passing through the cleaning member to the sewage tank; when the second preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the current second execution times of the second sub self-cleaning mode; wherein the second number is 1 or more.

In one embodiment, before the control performs the first number of first sub self-cleaning modes, the control further includes:

controlling to execute a third number of second sub-self-cleaning modes, the controlling to execute the second sub-self-cleaning modes comprising: controlling the cleaning liquid spraying module to spray the cleaning liquid; when it is determined that the second preset injection condition is reached; controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; controlling the suction driving module to operate so as to suck dirt passing through the cleaning member to the sewage tank; when the second preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working; recording the current second execution times of the second sub self-cleaning mode; wherein the third number is 1 or more.

In one embodiment, 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:

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 alternatively, the process may be performed,

when the liquid spraying time length is judged to reach a first preset time length, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid; or alternatively, the process may be performed,

and when the humidity of the cleaning piece is judged to reach the first preset humidity, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

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

judging whether the clear water tank lacks water or not;

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, wherein the method comprises the following steps:

when the clear water tank is judged not to lack water and the first preset spraying condition is confirmed 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 the electric energy output by the base station.

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

when the clear water tank is judged to be lack of water, controlling the cleaning solution injection module to stop injecting cleaning solution, and controlling the charging function to be effective, so that the battery module receives electric energy output by the base station; when the condition of stopping charging is confirmed to be reached, controlling the charging function to be invalid; when the charging function is invalid, controlling the suction driving module to operate so as to suck 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; and recording the current first execution times of the 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 lacks water or not;

when the clear water tank is judged to be lack of water, controlling the cleaning solution injection module to stop injecting cleaning solution, and controlling the charging function to be effective, so that the battery module receives electric energy output by the base station; and when the clean 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 solution injection module to stop injecting cleaning solution, recording current injection parameters, and controlling a charging function to be effective, so that the battery module receives electric energy output by the base station; when the clean water tank is determined to be refilled, controlling the charging function to be invalid; and controlling the cleaning liquid injection module to inject the cleaning liquid when the current injection parameters are determined to not reach the first preset injection conditions, and controlling the cleaning liquid injection module to stop injecting the cleaning liquid when the current injection parameters are determined to reach the first preset injection conditions.

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

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

and if the charging function fails, controlling the suction driving module to operate so as to suck dirt passing through the cleaning piece to the sewage tank, wherein the method comprises the following steps:

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

when the charging function is invalid 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 sewage tank is determined to be not full of water again, controlling the charging function to be invalid.

when the charging function is invalid and the sewage tank 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 when the first preset suction stopping condition is determined to be reached, controlling the suction driving module to stop working.

controlling the cleaning member to rotate;

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

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

controlling the cleaning member to rotate during the cleaning liquid jetting of the cleaning liquid jetting module;

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

If the charging function is invalid, controlling the suction driving module to operate and controlling the cleaning piece to rotate so as to suck 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, wherein the method comprises the following steps:

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 charging stop condition is reached, controlling the charging function to fail includes:

when the first preset charging stopping time is determined to be reached, controlling the charging function to be invalid; or alternatively, the process may be performed,

and when the first preset stop charging 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 includes:

when the first preset suction stopping time is determined to be reached, controlling the suction driving module to stop working; or alternatively, the process may be performed,

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

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

when it is determined that the first number of sub-self-cleaning modes has been performed, exiting the self-cleaning mode; or alternatively, the process may be performed,

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

when it is determined that the second number of second sub-self-cleaning modes have been performed, exiting the self-cleaning mode; or alternatively, the process may be performed,

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; judging whether the clear water tank lacks water, and then further comprising:

when the clear water tank is judged to lack 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 tank for storing dirt in the tank when the cleaning apparatus is docked with the base station; after judging whether sewage tank is full, still include:

when judging that the sewage tank is full, a fluid passage between the sewage tank and the sewage storage tank is conducted, and 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 including, in addition to: the device comprises a battery module, a clean water tank, a sewage tank, a cleaning piece, a cleaning liquid spraying module and a suction driving module, and further comprises:

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 the base station and the self-cleaning mode is determined to be started, so that the battery module cannot receive the electric energy output by the base station;

the control module is also used for controlling and executing a first number of sub-self-cleaning modes;

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 used for: controlling the cleaning liquid spraying module to spray the 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 condition of stopping charging is confirmed 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 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 current first execution times of the first sub self-cleaning mode; wherein the first number is 1 or more.

In a further aspect, a cleaning system is provided, comprising a memory and a processor, said memory storing a computer program, characterized in that the processor implements the steps of the method of the first aspect described above when executing said computer program.

According to the self-cleaning method of the cleaning equipment and the cleaning equipment, when the cleaning equipment is in butt joint with the 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, the cleaning liquid injection module is controlled to inject the cleaning liquid firstly, and then when the first preset injection condition is determined to be reached, 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 condition of stopping charging is confirmed 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 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; so, after spraying the cleaning solution, can soak the cleaning member, be convenient for follow-up washing to the cleaning member, and charge to the charging module at the in-process of soaking, can improve dirty removal effect, and charge after carrying out the step of spraying the cleaning solution, the electric energy that the cleaning solution needs is less, avoided wanting to self-cleaning at the user and the electric quantity is too low, can't carry out self-cleaning, after charging for a long time, the cleaning member can dry along with charge time, cause follow-up cleaning member to be difficult to the sanitization's condition, in whole self-cleaning process, can charge, can be in low electric quantity time earlier, avoid because of the electric quantity is not enough, long-time charging leads to the dirt to stay time longer in cleaning member and sewage case, follow-up difficult to clean up or need longer time to clean, and when charging, can let cleaning member and cleaning solution fully contact, be convenient for clear up the dirt on the cleaning member, improve the cleaning effect.

Drawings

FIG. 1A is a schematic diagram of a cleaning apparatus according to an embodiment of the present application;

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

FIG. 2 is a flow chart of a self-cleaning method according to an embodiment of the present application;

FIG. 3 is a flowchart of a method for controlling 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 of a control implementation of a 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 yet another embodiment of the present application;

FIG. 7 is a flow chart of a self-cleaning method according to yet another embodiment of the present application;

FIG. 8 is a flowchart for controlling the execution of a first number of sub-self-cleaning modes according to another embodiment of the present application;

FIG. 9 is a flowchart for controlling the execution of a first number of sub-self-cleaning modes according to another embodiment of the present application;

FIG. 10 is a flowchart of a method for controlling a first number of sub-self-cleaning modes performed in accordance with another embodiment of the present application;

FIG. 11 is a flowchart for controlling the execution of a first number of sub-self-cleaning modes according to yet another embodiment of the present application;

FIG. 12 is a flowchart of a method for controlling a first number of sub-self-cleaning modes performed in accordance with 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 will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The cleaning system includes: cleaning equipment and a base station. FIG. 1A is a schematic view 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 apparatus includes a main body 1, a battery module 3, a handle body 12, a cleaning liquid supply assembly, a sewage tank 4, a floor brush assembly 2, and a suction driving module. In particular, the suction drive module is located within the housing 11 of the fuselage 1. The liquid supply assembly includes a clean water tank 50, a cleaning liquid spray module. The handle body 12 is arranged at the upper end of the machine body, the ground brush assembly 2 is rotatably arranged at the lower end of the machine body, and the clean water tank 50 is detachably arranged on the ground brush assembly 2; the sewage tank 4 and the battery module 3 are individually detachably installed 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 is specifically a suction motor. In the cleaning process, under the action of the suction force of the suction driving module, mixed fluid of gas, dust and/or liquid sequentially flows through the suction inlet of the floor brush assembly 2, the fluid channel in the machine body 1 and enters the sewage tank 4 to separate the gas, the dust and/or the liquid is 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 air outlet of the suction driving module.

Wherein, the fluid can be clean air flow or air flow with garbage being wrapped; the garbage is at least one of dust, solid garbage (such as cigarette ends, paper sheets, rice grains, etc.), and dirty liquid (such as orange juice, dirty water, egg liquid, etc.).

In one embodiment, the cleaning solution spraying module includes a nozzle for guiding the cleaning solution from the cleaning solution tank 50 to the nozzle as an output end of the cleaning solution supply assembly, and a pump for spraying the cleaning solution to a cleaning member (e.g., a roller brush) or the floor, thereby performing cleaning and/or nursing effects on the floor; alternatively, the cleaning liquid may be clear water, or may be a cleaning agent, a nursing 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 nozzle sprays cleaning liquid to the ground, and the cleaning piece can roll and wipe the ground for cleaning. Meanwhile, when the cleaning apparatus is assembled in the base station 20, the cleaning liquid sprayed from the nozzle can act on the cleaning member so that the cleaning member rotates to perform self-cleaning. The cleaning device comprises: a floor washing machine.

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

and S101, 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, so that the battery module cannot receive the electric energy output by the base station.

Specifically, after the cleaning device is docked with the base station, if the user wants to start the self-cleaning mode, the user presses a self-cleaning mode starting button on the cleaning device, the cleaning device determines to start the self-cleaning mode in response to the pressing operation of the user, and controls the charging function to fail, and at this time, the battery module of the cleaning device cannot receive the 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 turn on the self-cleaning mode according to the detected dirt degree of the cleaning member of the cleaning device, and after the self-cleaning mode is automatically turned on, the charging function is controlled to be disabled, where the battery module of the cleaning device cannot receive the electric energy output by the base station.

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

Wherein the first number is 1 or more. 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 of a control implementation of the first sub self-cleaning mode according to an embodiment of the present application.

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

s1030, controlling the cleaning liquid spraying module to spray the cleaning liquid.

The cleaning liquid spraying module includes a nozzle for guiding the cleaning liquid from the cleaning liquid tank 50 to the nozzle as an output end of the cleaning liquid supply assembly, and a pump capable of applying the sprayed cleaning liquid to a cleaning member (e.g., a roll brush). The pump is provided on the cleaning liquid delivery path, and when the pump is operated, the cleaning liquid in the cleaning liquid tank 50 is delivered to the cleaning member. 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 spraying module is controlled to spray the cleaning liquid at a first flow value.

S1032, 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 the battery module receives the electric energy output by the base station.

Specifically, the cleaning liquid injection module injects the cleaning liquid when the first preset injection condition is not reached. When the first preset spraying condition is reached, the cleaning liquid spraying module is controlled to stop spraying the cleaning liquid, the charging function is controlled to be effective, at the moment, the electric energy output by the base station can be transmitted to the battery module to charge the battery module, after the cleaning liquid is sprayed by the cleaning liquid spraying module, the cleaning piece is wet, at the moment, the cleaning piece can be soaked while the battery module is charged, and the cleaning piece can be conveniently cleaned subsequently.

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 stopping condition is not reached, the charging control function is effective. When the condition of stopping charging in the first preset mode is detected, the charging function is controlled to be invalid, and at the moment, the battery module cannot be charged.

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

Specifically, the charging function fails, i.e., the charging is stopped. When the charging function is invalid, or after the charging function is invalid, the suction driving module is controlled to operate, and after the suction driving module operates, dirt on the cleaning piece is sucked to the sewage tank through the sewage channel.

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

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

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

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

Specifically, the self-cleaning completion condition may include at least one of: the cleaning member is less soiled than a predetermined cleaning member, or the first sub-self-cleaning mode is executed a predetermined number of times.

In other words, upon determining that the self-cleaning completion condition is satisfied, exiting the self-cleaning mode includes: when it is determined that the first number of sub-self-cleaning modes have been performed, exiting the self-cleaning mode; or when the dirt degree of the cleaning member is determined to be lower than the preset dirt degree, the self-cleaning mode is exited. When the cleaning piece dirt degree detection sensor is not arranged on the cleaning equipment, the self-cleaning mode can be exited when the first number of times of execution is determined, so that the self-cleaning can be performed for the first number of times according to the experimental data, and the cleaning effect is ensured. When the cleaning piece dirt degree detection sensor is arranged on the cleaning equipment, whether the self-cleaning mode is exited or not can be determined according to the dirt degree of the cleaning piece, and electric energy can be effectively utilized on the basis of keeping the cleaning effect, so that unnecessary self-cleaning is avoided.

According to the self-cleaning method of the cleaning equipment, when the cleaning equipment is in butt joint with the 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, a 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, the cleaning liquid injection module is controlled to inject the cleaning liquid firstly, and then when the first preset injection condition is determined to be reached, 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 condition of stopping charging is confirmed 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 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; so, after spraying the cleaning solution, can soak the cleaning member, be convenient for follow-up washing to the cleaning member, and charge to the charging module at the in-process that soaks, can improve dirty removal effect, and charge after carrying out the step of spraying the cleaning solution, the electric energy that sprays the cleaning solution is less, avoided wanting self-cleaning and the electric quantity is too low at the user, can't carry out self-cleaning, after charging for a long time, the cleaning member can dry along with charging time, causes the condition that follow-up cleaning member is difficult to the sanitization.

Fig. 4 is a flowchart of a self-cleaning method according to another embodiment of the present application, and the self-cleaning method shown in fig. 4 is different from the self-cleaning method shown in fig. 2 in that, after the first number of first sub-self-cleaning modes are controlled to be executed in step S103, the self-cleaning method further includes:

s104, controlling to execute the second sub self-cleaning mode for a second number of times.

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

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

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

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

s1040, controlling the cleaning liquid spraying module to spray the cleaning liquid.

Specifically, the cleaning liquid jetting module is controlled to jet the cleaning liquid at the second flow value.

S1042, when it is determined that the second preset spraying condition is reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

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

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

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

Wherein the second number is 1 or more.

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 executed, so that when the residual electric quantity of the battery module reaches the preset battery electric quantity which is enough to clean 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 completed quickly.

Fig. 6 is a flowchart of a self-cleaning method according to another embodiment of the present application, and 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, the control performs the first number of sub-self-cleaning modes, the self-cleaning method further includes:

s102, controlling to execute the third number of second sub self-cleaning modes.

Wherein the third number is 1 or more.

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

The steps for executing the second sub-self-cleaning mode are the same as those shown in fig. 5, and the description of this embodiment is omitted here.

When the self-cleaning device is actually applied, when the self-cleaning mode is started to be executed, the dirt degree of the cleaning piece is the most serious, at the 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 required by executing the whole self-cleaning mode is insufficient, the third number of second sub-self-cleaning modes can be executed first, the stay time of dirt on the cleaning piece is shortened, and then, when the first sub-self-cleaning mode is executed, the battery module can be supplemented with electric energy, so that the dirt on the cleaning piece can be cleaned timely, the cleaning effect is ensured, and the self-cleaning can be executed without the need of the electric energy required by the whole self-cleaning mode when the residual electric energy of the battery module reaches enough electric energy required by completing the whole self-cleaning mode.

Fig. 7 is a flowchart of a self-cleaning method according to still another embodiment of the present application, and 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, the control performs the first number of sub-self-cleaning modes, the self-cleaning method further includes:

Wherein the third number is 1 or more.

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

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

and when the dirt degree of the cleaning member is lower than the preset dirt degree, the self-cleaning mode is exited.

When the cleaning piece dirt degree detection sensor is not arranged on the cleaning equipment, the self-cleaning mode can be exited according to the fact that the second sub-self-cleaning mode of the second number is determined to be executed, and therefore self-cleaning can be carried out according to the first number, the second number and the third number determined by experimental data, and cleaning effect is guaranteed. When the cleaning piece dirt degree detection sensor is arranged on the cleaning equipment, whether the self-cleaning mode is exited or not can be determined according to the dirt degree of the cleaning piece, and electric energy can be effectively utilized on the basis of keeping the cleaning effect, so that unnecessary self-cleaning is avoided.

In an embodiment of the present application, controlling the execution of the first sub self-cleaning mode further comprises:

Judging whether the clear water tank lacks water;

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 the battery module receives the electric energy output by the base station, including:

when the clear water tank is judged to be lack of water and the first preset spraying condition is confirmed 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 whether the clear water tank lacks water, still include:

when the clear water tank is judged to be lack of water, the cleaning solution injection module is controlled to stop injecting the cleaning solution, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the condition of stopping charging is confirmed to be reached, controlling the charging function to be invalid; when the charging function is invalid, controlling the suction driving module to operate so as to suck 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; the first execution times of the current first sub self-cleaning mode are recorded.

Specifically, the first number of executions of the current first sub-self-cleaning mode may be recorded when it is determined that the fresh water tank is refilled. Of course, in another specific embodiment, after the end of the current sub self-cleaning mode, when the clean water tank is determined to be refilled, the next sub self-cleaning mode is started, that is, after the clean water tank is in a water shortage state, when the next sub self-cleaning mode is started, whether the clean water tank is refilled needs to be judged first.

According to the embodiment, when the clean water tank is in water shortage, cleaning liquid cannot be provided for the cleaning piece, at the moment, jetting of the cleaning liquid is stopped, and subsequent charging and sucking operations are continuously performed, so that when the clean water tank is in water shortage, subsequent operations can be continuously performed without waiting until the clean water tank is not in water shortage, and subsequent steps are performed, so that the cleaning piece can be continuously cleaned during the water supplying period of the clean water tank, and the problems that water cannot be continuously supplied in time and the cleaning piece is not continuously cleaned, and the cleaning piece is smelly due to the fact that the cleaning piece is in a wet-percolation state for a long time are avoided.

In one embodiment, a float is disposed in the clean water tank, a reed pipe is disposed in a space on the cleaning device for installing the clean water tank, and specifically, the step of determining whether the clean water tank lacks water includes:

judging whether the reed switch is triggered by the floater or not so as to judge whether the clean water tank lacks water or not. Specifically, when the reed switch is triggered by the floater, the clear water tank is determined to lack water, otherwise, the clear water tank is determined not to lack water.

In another embodiment, the step of determining whether the clean water tank is deficient may include:

Judging whether the working current value of the pump is smaller than a preset current value so as to judge whether the clean water tank is deficient. Specifically, when the working current value of the pump is smaller than a preset current value, the water shortage of the clean water tank is judged. When the water in the clean water tank is deficient, the pump works normally, and no-load phenomenon occurs, according to the phenomenon, whether the clean water tank is deficient can be judged by utilizing the working current value of the pump, and a special detection element is not required to be arranged to detect whether the clean water tank is deficient.

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

s8001, controlling the cleaning liquid spraying module to spray the cleaning liquid.

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

S8005, judging whether the clear water tank lacks water. If not, step S8003 is executed. If yes, step S8107 is performed.

S8007, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

S8009, the control charging function is effective so that the battery module receives the electric power output from the base station.

S8011, judging whether a first preset charging stopping condition is reached. If yes, go to step S8013, if no, return to step S8009.

And S8013, controlling the failure of the charging function.

And S8015, controlling the suction driving module to operate.

S8017, it is determined whether the first preset suction stop condition is reached. If yes, go to step S8019, otherwise, return to step S8015.

S8019, controlling the suction driving module to stop working.

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

S8023, judging whether the first execution times reach the first number of times. If yes, step S8025 is executed, and if not, the first sub-self-cleaning mode is controlled to be executed again.

S8025, the first sub self-cleaning mode is executed for a first number of times.

And S8107, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

S8109, the control charging function is 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, if no, return to step S8109.

And S8113, controlling the failure of the charging function.

S8115, controlling the suction driving module to operate.

And S8117, judging whether a first preset suction stopping condition is reached. If yes, go to step S8119, if no, return to step S8115.

S8119, controlling the suction driving module to stop working.

S8120, judging whether the clear water tank is refilled with water. If yes, go to step S8021, if not, continue to judge whether the clean water tank is refilled with water.

Preferably, after the step S8119, the method further includes: the charging control function is effective; when it is determined that the fresh water tank is refilled with water, the control charging function is disabled, and step S8021 is performed. Therefore, in the water adding process of the clean water tank, the charging module can be charged without being charged after the self-cleaning mode is finished, the charging time is reduced, the electric quantity of the charging module is ensured, and convenience is brought to continuous use of a user.

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

judging whether the clear water tank lacks 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 solution injection module is controlled to stop injecting the cleaning solution, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the clean water tank is determined to be refilled, the charging control function is disabled.

According to the embodiment, when the clean water tank lacks water, cleaning liquid cannot be provided for the cleaning piece, at the moment, jetting of the cleaning liquid is stopped and charging is performed, so that the cleaning piece is soaked all the time when the clean water tank lacks water, the soaking time for the cleaning piece can be prolonged when the water continuation time is not very long, the subsequent cleaning effect is further improved, the residual electric quantity of the battery module can be guaranteed, and the required charging time after self-cleaning is finished is reduced.

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

s9001, controlling the cleaning liquid injection module to inject the cleaning liquid.

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 clean water tank lacks water. If not, step S9003 is executed. If yes, go to step S9107.

S9007, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

S9009, the charging control function is effective, so that the battery module receives the electric energy output by the base station.

S9011, judging whether a first preset charging stopping condition is reached. If yes, go to step S9013, if no, return to step S9009.

And S9013, controlling the failure of the charging function.

And S9015, controlling the suction driving module to operate.

S9017, judging whether the first preset suction stop condition is reached. If yes, go to step S9019, otherwise, return to step S9015.

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 reach the first number of times. If yes, step S9025 is executed, and if no, the first sub-self-cleaning mode is controlled to be executed again.

S9025, exiting the execution of the first sub-self-cleaning mode a first number of times.

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

S9109, the charging control function is valid, so that the battery module receives the electric energy output by the base station.

And S9111, judging whether the clean water tank is refilled with water. If yes, go to step S9013, if no, return to step S9109.

judging whether the clear water tank lacks water;

when the clear water tank is judged to be lack of water, the cleaning solution injection module is controlled to stop injecting the cleaning solution, 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 clean water tank is determined to be refilled with water, the charging control function is disabled; and controlling the cleaning liquid injection module to inject the cleaning liquid when the first preset injection condition is not met according to the current injection parameters, and controlling the cleaning liquid injection module to stop injecting the cleaning liquid when the first preset injection condition is met.

Specifically, the injection parameter is the injected amount.

According to the embodiment, when the clean water tank is lack of water, cleaning liquid cannot be provided for the cleaning piece, at this time, the cleaning liquid is stopped to be sprayed, the spraying parameters are recorded and charged, so that the cleaning piece is soaked all the time when the clean water tank is lack of water, the soaking time for the cleaning piece can be prolonged when the water supplying time is not long, the subsequent cleaning effect is further increased, the residual electric quantity of the battery module can be ensured, the charging time required after the self-cleaning is finished is reduced, the cleaning liquid is continuously sprayed after the clean water tank is supplied, and the cleaning effect of a single self-cleaning mode is ensured.

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

s7001, controlling the cleaning liquid spraying module to spray the cleaning liquid.

S7003, judging whether a first preset injection condition is reached. If not, the process returns to step S7001. If yes, step S7007 is performed.

S7005, judging whether the clear water tank lacks water. If not, step S7003 is performed. If yes, step S7107 is executed.

S7007, control the cleaning liquid ejection module to stop ejecting the cleaning liquid.

S7009, the charging control function is effective, so that the battery module receives the electric energy output from the base station.

S7011, it is determined whether the first preset stop charging condition is reached. If yes, step S7013 is executed, and if no, step S7009 is returned to.

S7013, the control charging function is disabled.

S7015, controlling the suction driving module to operate.

S7017, it is determined whether the first preset suction stop condition is reached. If yes, go to step S7019, if no, 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, it is determined whether the first execution count reaches the first number of times. If yes, go to step S7025, if no, control again executes the first sub self-cleaning mode.

S7025, the first sub self-cleaning mode is executed a first number of times.

S7107, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid, and recording the current spraying parameters.

S7109, the charging control function is effective, so that the battery module receives the electric energy output by the base station.

S7111, judging whether the clear water tank is refilled with water. If yes, go to step S7113, if no, return to step S7109.

S7113, controlling the failure of the charging function.

S7115, judging whether the first preset injection condition is reached according to the current injection parameters. If yes, go to step S7015, if no, go to step S7117.

S7117, controlling the cleaning liquid injection module to inject the cleaning liquid. When the first preset injection condition is reached, the process proceeds to step S7015.

In one specific embodiment of the application, a full water level electrode is arranged on the clean water tank, and the bottom end of the full water level electrode limits the full water level of the clean water tank; judging whether the clean water tank is refilled with water or not, comprising:

judging whether the clear water tank is refilled with water according to whether the electrode with full water level is conducted or not. Specifically, when the water level electrode is full of water, the clean water tank is determined to be refilled, and when the water level electrode is full of water and is not full of water, the clean water tank is determined to be not refilled. Thus, when the clean water tank is refilled to be full, the clean water tank can be determined to be refilled.

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

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

Judging whether the sewage tank is full of water;

if the charging function is invalid, controlling the suction driving module to operate so as to suck dirt passing through the cleaning piece to the sewage tank, comprising: when the charging function is disabled and the sewage tank is not full of water, the suction driving module is controlled to operate so as to suck dirt from the cleaning piece to the sewage tank.

Preferably, before recording the first execution number of the current first sub self-cleaning mode, the method further includes: when the charging function is invalid 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 disabled.

According to the embodiment, when the sewage tank is full of water, the charging module can be charged, so that the required charging time after self-cleaning is reduced, and when the sewage tank is not full of water, the sub self-cleaning mode is determined to be completed, and adverse effects on a user caused by directly starting suction after the user reinstallates the sewage tank are avoided.

In one embodiment, the sewage tank is provided with a water level electrode, and determining whether the sewage tank is full of water includes: 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, the sewage tank is determined to be full, and if not, the sewage tank is determined to be not full. In practical application, there are other feasible ways of judging whether the sewage tank is full, and this embodiment of the present application will not be described herein.

Correspondingly, when the water level electrode is determined to be non-conductive again, the clean water tank is determined to be refilled with water.

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

s6001, controlling the cleaning liquid injection module to inject the cleaning liquid.

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

S6007, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

S6009, the charging control function is 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 reached. If yes, go to step S6013, if no, return to step S6009.

S6013, control charging function failure.

S6015, controlling the suction driving module to operate.

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

S6017, judging whether the first preset suction stop condition is reached. If yes, go to step S6019, if no, return to step S6015.

S6019, controlling the suction driving module to stop working.

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

S6023, judging whether the first execution times reach the first number of times. If yes, step S6025 is executed, and if no, the first sub-self-cleaning mode is controlled to be executed again.

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

S6107, controlling the suction driving module to stop working.

S6109, the charging control function is effective, so that the battery module receives the electric energy output by the base station.

S6111, judging whether the sewage tank is not full or not. If yes, go to step S6113, if no, return to step S6109.

S6113, controlling the failure of the charging function. Proceed to step S6021.

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

judging whether the sewage tank is full of water;

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

when the charging function is disabled and the sewage tank is not full of water, the suction driving module is controlled to operate so as to suck dirt from the cleaning piece to the sewage tank.

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

When the charging function is invalid and the sewage tank 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.

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

Fig. 12 is a flowchart of a method for controlling to execute a first number of sub-self-cleaning modes according to still another embodiment of the present application, as shown in fig. 12, where the method includes:

s5001, controlling the cleaning liquid spraying module to spray 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 solution spraying module to stop spraying the cleaning solution.

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

S5011, judging whether a first preset charging stopping condition is reached. If yes, go to step S5013, if no, return to step S5009.

S5013, controlling the failure of the charging function.

S5015, controlling the suction driving module to operate.

S5016, judging whether the sewage tank is full of water. If yes, step S5107 is executed, and if no, step S5017 is executed.

S5017, it is determined whether the first preset suction stop condition is reached. If yes, step S5019 is executed, and if no, step S5015 is returned to.

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

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

S5023, judging whether the first execution times reach the first number of times. If yes, step S5025 is executed, if not, the first sub-self-cleaning mode is controlled to be executed again.

S5025, the first sub self-cleaning mode is executed a first number of times.

S5107, controlling the suction driving module to stop working.

S5109, the charging control function is effective, so that the battery module receives the electric energy output from the base station.

S5111, judging whether the sewage tank is not full or not. If yes, go to step S5113, if no, return to step S5109.

S5113, controlling the failure of the charging function.

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

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 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 time length is judged to reach the first preset time length, 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, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

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

Controlling the cleaning member to rotate;

when the suction driving module stops working, the cleaning piece is controlled to stop rotating.

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 energy output by the base station, the method further includes:

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

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

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

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

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

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

and when detecting that the humidity of the cleaning piece is smaller than the first preset stopping suction 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 operation includes: when the second preset suction stopping time period is determined to be reached, controlling the suction driving module to stop working; or when the humidity of the cleaning piece is detected to be smaller than the second preset suction stopping humidity, controlling the suction driving module to stop working.

In an embodiment of the present application, controlling the execution of the second sub self-cleaning mode further comprises:

judging whether the clear water tank lacks water;

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

and when the clean water tank is judged to be not deficient in water and the second preset spraying condition is confirmed to be reached, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

Further, after judging whether the clear water tank lacks water, still include:

when the clear water tank is judged to be lack of water, the cleaning solution injection module is controlled to stop injecting the cleaning solution, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the condition of stopping charging is confirmed to be reached, controlling the charging function to be invalid; when the charging function is invalid, controlling the suction driving module to operate so as to suck dirt passing through the cleaning piece to the sewage tank; when the second preset 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 clean water tank lacks water, further comprising:

when the clear water tank is judged to be lack of water, the cleaning solution injection module is controlled to stop injecting the cleaning solution, and the charging function is controlled to be effective, so that the battery module receives electric energy output by the base station; when the clean water tank is determined to be refilled with water, the charging control function is disabled; controlling the suction driving module to operate so as to suck dirt passing through the cleaning member to the sewage tank; when the 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 second sub self-cleaning mode.

when the clear water tank is judged to be lack of water, the cleaning solution injection module is controlled to stop injecting the cleaning solution, 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 clean water tank is determined to be refilled with water, the charging control function is disabled; and controlling the cleaning liquid injection module to inject the cleaning liquid when the second preset injection condition is not met according to the current injection parameters, and controlling the cleaning liquid injection module to stop injecting the cleaning liquid when the second preset injection condition is met.

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

judging whether the sewage tank is full of water;

controlling operation of the suction driving module to suck dirt through the cleaning member to the sewage tank, comprising:

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

when the charging function is invalid 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 clean water tank is determined to be refilled, the charging control function is disabled.

when the sewage tank 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 clean water tank is determined to be refilled with water, the charging control function is disabled; 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 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 the clear water tank lacks water, still include: when the clear water tank is judged to lack 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 water can be automatically supplied to the clean water tank.

In an embodiment, the base station comprises a dirt tank for storing dirt in the dirt tank when the cleaning apparatus is docked with the base station; after judging whether the sewage tank is full of water, still include: when judging that the sewage tank is full, a fluid passage between the sewage tank and the sewage storage tank is conducted, and dirt in the sewage tank is extracted to the sewage storage tank. Thus, the dirt in the sewage tank can be automatically extracted.

It should be understood that, although the steps in the flowcharts of fig. 3 to 12 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps of fig. 3-12 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.

In one embodiment, as shown in fig. 13, there is provided a cleaning system including the above cleaning apparatus and the above base station, the cleaning apparatus including, in addition to the above: the device comprises a battery module, a clean water tank, a sewage tank, a cleaning piece, a cleaning liquid spraying module and a suction driving module, and further comprises: the control module 1201 and the exit module 1202.

A control module 1201, configured to control, when it is determined that the cleaning device is docked with a base station and it is determined that a self-cleaning mode is turned on, a charging function to be disabled, so that the battery module cannot receive electric energy output by the base station;

A control module 1201, further configured to control performing a first number of sub-self-cleaning modes;

an exit module 1202 for exiting the self-cleaning mode when it is determined that the self-cleaning completion condition is satisfied;

the control module 1201 is specifically configured to: controlling the cleaning liquid spraying module to spray the 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 condition of stopping charging is confirmed 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 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 current first execution times of the first sub self-cleaning mode; wherein the first number is 1 or more.

In an 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 time length is judged to reach the first preset time length, 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, controlling the cleaning liquid spraying module to stop spraying the cleaning liquid.

In an embodiment, the control module is further configured to: judging whether the clear water tank lacks water or not;

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, wherein the method comprises the following steps: when the clear water tank is judged not to lack water and the first preset spraying condition is confirmed 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 the electric energy output by the base station.

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

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

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

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

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

In an embodiment, the control module is further configured to: controlling the cleaning member to rotate during the cleaning liquid jetting of the cleaning liquid jetting module;

the control module is specifically configured to:

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

when the first preset charging stopping time is determined to be reached, controlling the charging function to be invalid; or when the first preset stop charging 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 first preset suction stopping time is determined to be reached, controlling the suction driving module to stop working; or when the humidity of the cleaning piece is detected to be smaller than the first preset stopping suction 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 judging that the clean water tank lacks water and determining that a first preset suction stopping condition is reached, controlling the suction driving module to stop working, and conducting a liquid passage between the water storage tank and the clean water tank so that the water storage tank provides cleaning liquid for the clean 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 judging that the clean water tank lacks water, controlling the suction driving module to stop working, and conducting a liquid passage between the water storage tank and the clean water tank, so that the water storage tank provides cleaning liquid for the clean water tank.

In an embodiment, the base station comprises a dirt tank for storing dirt in the dirt tank when the cleaning apparatus is docked with the base station; the control module is further configured to: when judging that the sewage tank is full, a fluid passage between the sewage tank and the sewage storage tank is conducted, and 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 description of the self-cleaning method, which is not repeated 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 above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

Claims

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

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

3. The method of claim 1, wherein prior to the controlling to perform the first number of first sub-self-cleaning modes, further comprising:

4. The method of claim 1, wherein controlling the cleaning liquid injection module to stop injecting cleaning liquid when it is determined that a first preset injection condition is reached comprises:

5. The method of claim 2, wherein exiting the self-cleaning mode upon determining that a self-cleaning completion condition is met comprises:

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

judging whether the clear water tank lacks water or not;

7. The method of claim 6, wherein said determining whether said fresh water tank is water deficient further comprises:

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

judging whether the clear water tank lacks water or not;

9. The method of claim 8, wherein the controlling the suction drive module before operating if the charging function fails further comprises:

10. The method of claim 8, wherein the controlling the suction drive module before operating if the charging function fails further comprises:

11. The method of claim 1, wherein the recording of the current first number of executions of the first sub-self-cleaning mode further comprises:

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

12. The method of claim 11, wherein the recording of the current first number of executions of the first sub-self-cleaning mode further comprises:

13. The method of claim 11, wherein the recording of the current first number of executions of the first sub-self-cleaning mode further comprises:

14. A method according to claim 12 or 13, wherein the base station comprises a tank for storing dirt in the tank when the cleaning apparatus is docked with the base station; after judging whether sewage tank is full, still include:

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

controlling the cleaning member to rotate;

16. The method of claim 1, wherein 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, such that the battery module receives the electric power output from the base station, further comprises:

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

18. The method of claim 1, wherein controlling the suction driving module to stop operating when it is determined that a first preset stop suction condition is reached comprises:

19. The method of claim 1, wherein exiting the self-cleaning mode upon determining that a self-cleaning completion condition is met comprises:

20. A method according to claim 7, 9 or 10, wherein 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; judging whether the clear water tank lacks water, and then further comprising:

21. A cleaning system comprising a cleaning device and a base station, the cleaning device comprising, in addition to: the device comprises a battery module, a clean water tank, a sewage tank, a cleaning piece, a cleaning liquid spraying module and a suction driving module, and further comprises:

22. A cleaning system comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 20 when the computer program is executed.