CN115399695A

CN115399695A - Washing member control method and cleaning system

Info

Publication number: CN115399695A
Application number: CN202210499309.4A
Authority: CN
Inventors: 张文杰; 肖烨炜; 邓晓博
Original assignee: Zhejiang Shaoxing Supor Domestic Electrical Appliance Co Ltd
Current assignee: Zhejiang Shaoxing Supor Domestic Electrical Appliance Co Ltd
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-11-29
Anticipated expiration: 2042-05-09
Also published as: CN115399695B

Abstract

The application provides a washing member control method and a cleaning system. When the controller acquires the cleaning piece control instruction, the controller can acquire the position information of the cleaning piece through the sensor arranged on the cleaning piece. The controller may have a target position stored therein. The controller may determine movement information of the cleaning member based on the position information of the cleaning member and the target position. The controller may control the cleaning member to move to the target position based on the movement information. The method ensures that the cleaning piece can be in the optimal position in different scenes, thereby improving the using effect of the cleaning piece and the self-cleaning effect of the cleaning piece.

Description

Washing member control method and cleaning system

Technical Field

The application relates to the field of equipment control, in particular to a cleaning piece control method and a cleaning system.

Background

Currently, a cleaning system generally comprises two parts, namely a cleaning base station and a cleaning device. Wherein, a cleaning piece for realizing the cleaning operation is arranged in the cleaning device. The cleaning base station is internally provided with a cleaning piece for cleaning the cleaning piece.

In the prior art, when a cleaning apparatus completes a cleaning operation and is placed on a cleaning base station, a cleaning system may achieve automatic cleaning of cleaning members in the cleaning apparatus by performing a self-cleaning operation. During the self-cleaning process, the cleaning elements can come into contact with the cleaning elements and increase their cleaning effect by friction.

However, when the cleaning system performs the self-cleaning operation, if the cleaning member in the cleaning base station is not in the cleaning position, there may occur a problem that the cleaning member in contact with the cleaning member cannot be submerged by the cleaning liquid, and the like, thereby causing a problem that the self-cleaning effect of the cleaning member is poor.

Disclosure of Invention

The application provides a cleaning piece control method for solve the poor problem of cleaning piece position adjustment flexibility, cleaning piece control method includes:

responding to a washing part control instruction, and acquiring position information of a washing part in the cleaning base station;

and controlling the cleaning piece to move to the target position according to the position information and the target position of the cleaning piece.

Optionally, controlling the cleaning member to move to the target position according to the position information and the target position of the cleaning member specifically includes:

determining a first moving distance of the cleaning piece according to the position information and the target position of the cleaning piece;

determining a first time length according to the first moving distance and a preset moving speed;

determining a first moving direction of the cleaning piece according to the position information and the target position of the cleaning piece, wherein the moving direction comprises upward movement or downward movement;

the cleaning member is controlled to move along the first moving direction for a first length of time.

Optionally, when the cleaning member is moved by rotating, the controlling the cleaning member to move along the moving direction for a first time period includes:

determining a rotation direction according to the moving direction, wherein the rotation direction comprises a first rotation direction and a second rotation direction, and the first rotation direction and the second rotation direction are opposite directions;

controlling the cleaning member to rotate in the rotating direction for a first period of time.

Optionally, the controlling the cleaning member to move to the target position according to the position information and the target position of the cleaning member specifically includes:

determining a second time length and a second moving direction of the cleaning piece according to the position information, the transition position and the preset moving speed of the cleaning piece;

controlling the cleaning member to move in the second moving direction for the second length of time to reach the transition position;

determining a third time length and a third moving direction according to the transition position, the target position and a preset moving speed;

and controlling the cleaning piece to move along the third moving direction for the third time length so that the cleaning piece reaches the target position.

Optionally, before determining the second time length and the second moving direction of the cleaning member according to the position information, the transition position and the preset moving speed of the cleaning member, the method further includes any one of the following:

retrieving the transition location from memory;

and selecting the position of one cleaning piece as a transition position according to the position information of a plurality of cleaning pieces.

Optionally, the obtaining the position information of the cleaning member in the cleaning base station specifically includes:

and acquiring the position information of the cleaning piece through a position sensor arranged in the cleaning piece.

Optionally, the method further comprises:

judging whether the cleaning equipment and/or the cleaning base station meet a self-cleaning condition;

generating a self-cleaning instruction when the cleaning device and/or the cleaning base station meets the self-cleaning condition;

in response to the self-cleaning instruction, a self-cleaning operation is performed.

Optionally, the determining whether the cleaning device and the cleaning base station meet a self-cleaning condition specifically includes at least one of:

judging whether the cleaning equipment is on the cleaning base station, if so, enabling the cleaning equipment to accord with the self-cleaning condition, otherwise, enabling the cleaning equipment not to accord with the self-cleaning condition;

and judging whether a cleaning piece in the cleaning base station is in a cleaning position, if so, the cleaning base station conforms to the self-cleaning condition, and if not, the cleaning base station does not conform to the self-cleaning condition.

Optionally, the performing a self-cleaning operation specifically includes:

generating and sending a water outlet instruction to control a cleaning base station to inject a preset amount of cleaning liquid into a cleaning disc;

generating and sending a rotation instruction to control the cleaning piece and/or the cleaning piece to rotate in a preset direction for a preset time;

generating and sending a drainage instruction to control a cleaning base station to drain the cleaning liquid in the cleaning disc;

and generating and sending a cleaning completion prompt.

Optionally, in response to the rotation instruction of the cleaning member, control the cleaning member to rotate for a preset time period, specifically including:

and responding to a rotation instruction, and controlling the cleaning piece and/or the cleaning piece to rotate towards a first preset direction and/or a second preset direction for a preset time.

The application provides a self-cleaning control device for:

the acquisition module is used for responding to a self-cleaning instruction and acquiring the position information of a cleaning piece in the cleaning base station;

and the processing module is used for controlling the cleaning piece to move to the target position according to the position information and the target position of the cleaning piece.

Optionally, the processing module is specifically configured to:

and controlling the cleaning piece to move along the first moving direction for a first time.

Optionally, when the cleaning member moves in a rotating manner, the processing module is specifically configured to:

Optionally, the processing module is specifically configured to:

Optionally, before determining a second duration and a second moving direction of the cleaning member according to the position information, the transition position, and the preset moving speed of the cleaning member, the processing module is further configured to any one of:

retrieving the transition location from memory;

and selecting the position of one cleaning piece as a transition position according to the position information of the plurality of cleaning pieces.

Optionally, the obtaining module is specifically configured to:

Optionally, the processing module is further configured to:

judging whether the position information of the cleaning piece is in a cleaning position;

when the position information of the cleaning piece is in the cleaning position, generating a self-cleaning instruction;

and responding to the self-cleaning instruction, and executing self-cleaning operation.

Optionally, before executing the self-cleaning operation in response to the self-cleaning instruction, the processing module is further configured to:

determining whether the cleaning device is on the cleaning base station,

generating a self-cleaning instruction while the cleaning device is on the cleaning base station.

Optionally, the processing module is specifically configured to:

and generating and sending a cleaning completion prompt.

Optionally, the processing module is specifically configured to:

The present application provides a controller, the controller comprising: a memory and a processor; the memory is used for storing a computer program; the processor is configured to execute the cleaning member control method according to the first aspect and any one of the possible designs of the first aspect, according to the computer program stored in the memory.

The present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by at least one processor of a cleaning apparatus, causes the cleaning apparatus to perform the method of controlling a wash implement of the first aspect and any one of the possible designs of the first aspect.

The present application provides a computer program product comprising a computer program which, when executed by at least one processor of a cleaning apparatus, causes the cleaning apparatus to carry out the method of controlling a wash member of any one of the possible designs of the first aspect and the first aspect.

The present application provides a cleaning system, comprising: a cleaning apparatus provided with cleaning members for cleaning the cleaning members, a cleaning base station provided with cleaning members for cleaning the cleaning members, and a controller as referred to in the above application.

According to the cleaning part control method, when the controller obtains a cleaning part control instruction, the position information of the cleaning part is obtained through the sensor arranged on the cleaning part; determining the movement information of the cleaning piece according to the position information and the target position of the cleaning piece; according to the movement information, the means for controlling the cleaning piece to move to the target position ensures that the cleaning piece can be in the optimal position in different scenes, thereby improving the use effect of the cleaning piece, and when the scene is self-cleaning, the self-cleaning effect of the cleaning piece can be improved.

Drawings

In order to more clearly illustrate the technical solutions in the present application or prior art, the drawings used in the embodiments or the description of the prior art are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of a self-cleaning scenario of a cleaning apparatus according to an embodiment of the present application;

FIG. 2 is a flow chart of a cleaning element control method according to an embodiment of the present disclosure;

FIG. 3 is a flow chart of a cleaning element control method according to an embodiment of the present disclosure;

fig. 4 is a schematic hardware structure diagram of a controller according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a cleaning system according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged where appropriate. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein.

The word "if" as used herein may be interpreted as "at" \8230; "or" when 8230; \8230; "or" in response to a determination ", depending on the context.

Also, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise.

It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, items, species, and/or groups thereof.

The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "a, B or C" or "a, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

Currently, a cleaning system generally comprises two parts, namely a cleaning base station and a cleaning device. Wherein the cleaning device is typically used to perform cleaning operations. Cleaning elements are usually provided in the cleaning device. The cleaning member may comprise at least one of a wipe, a floor brush, a roller, and the like. Wherein a cleaning base station is typically used for placing the cleaning device. In order to improve user experience, the cleaning base station can also be used for matching with the cleaning equipment to complete self-cleaning of the cleaning piece. In order to cooperate with a cleaning device to realize self-cleaning operation of the cleaning piece, a water receiving tray, a cleaning piece and other components can be arranged in the cleaning base station. Wherein the cleaning elements are generally located directly beneath the cleaning elements. The cleaning base station can adjust the height of the cleaning piece by adjusting the height of the cleaning piece. The cleaning elements are typically located inside the cleaning tray. When the wash member is in the lowered position, the cleaning members on the wash member may be submerged by the cleaning liquid in the wash tray. When the cleaning element is in the raised position, the cleaning element located on the cleaning element can be freed from the cleaning liquid. Therefore, in the cleaning system, a low-level washing and high-level dewatering rule is generally set. During the self-cleaning process, the cleaning piece can realize decontamination under the action of centrifugal force in a quick rotating mode. And during the rotation of the cleaning piece, the cleaning piece can realize decontamination by contacting with the cleaning piece and scraping. The cleaning elements may be rotated in opposite directions during rotation of the cleaning elements to increase the frictional efficiency of the surface of the cleaning elements and thereby improve the self-cleaning effect.

However, during use of the cleaning base station, the washout elements may be highly inconsistent for various reasons. In this case, if the cleaning system starts to perform the self-cleaning operation, the contact effect between different cleaning members and their corresponding wash members may be different. For example, two cleaning elements and two cleaning elements may be included in the cleaning system. Wherein, the cleaning piece is fixed in cleaning equipment, and its height can't adjust, and keep unanimous. Two cleaning pieces have a high condition and a low condition in the using process. At this time, if the cleaning member is placed on the cleaning member, the cleaning member positioned high can be sufficiently contacted with the cleaning member. The cleaning parts at low positions cannot be contacted with the cleaning parts or are not contacted tightly due to the height difference between the cleaning parts, so that the cleaning effects of the two cleaning parts are inconsistent. Alternatively, the cleaning system may determine that the wash member reaches the washing position when the wash member located lower reaches the lowest position during the lowering of the two wash members. The cleaning member may not reach the lowest position due to the effect of the cleaning member at the higher position, and may not be submerged by the cleaning liquid, thereby resulting in poor self-cleaning effect.

In order to solve the problems, the application provides a cleaning part control method. In this application, the cleaning member can respond to the cleaning member control command, realize its height adjustment to and the synchronization of position. In this application, a controller in the cleaning system can obtain a cleaning element control command. The controller may acquire the positional information of the wash ware in response to the wash ware control command. The controller may have a target position stored therein. The controller can control the cleaning piece to move to the target position according to the position information and the target position of the cleaning piece. In particular, the cleaning member may be moved by rotating or lifting. When the cleaning system needs to perform the self-cleaning operation, the controller may determine whether the self-cleaning operation can be started by determining whether the washing member is in the washing position. The position of the cleaning piece is adjusted, so that the cleaning piece can be in the optimal position in different scenes. For example, in the self-cleaning process, the method ensures that the cleaning piece is at the lowest position before cleaning is started, so that the cleaning piece can be fully soaked by the cleaning liquid, and the self-cleaning effect of the cleaning piece is improved.

The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.

Fig. 1 illustrates a scene diagram of self-cleaning according to an embodiment of the present application. As shown in fig. 1, the cleaning system may include a cleaning device and a cleaning base station. When a user needs to perform a cleaning operation such as floor cleaning, the user may take the cleaning apparatus out of the cleaning base station and perform the cleaning operation using the cleaning apparatus. When the user completes the cleaning operation, the user may place the cleaning device on the cleaning base station. As shown in fig. 1, when the cleaning device is on the cleaning base station, the cleaning member of the cleaning device is located inside the cleaning tray of the cleaning base station. When the cleaning device finishes cleaning and is placed on the cleaning base station, the cleaning system can control the cleaning base station to cooperate with the cleaning device to finish self-cleaning operation. During the self-cleaning process, the cleaning base station is filled with cleaning liquid in the wash tray. When the cleaning member is lowered to the lowermost position, the cleaning member located immediately above the cleaning member is completely immersed in the cleaning liquid. When the self-cleaning is completed, the cleaning elements may be raised to a maximum level, thereby releasing the cleaning elements from the cleaning liquid.

In the present application, the controller is used as an execution main body to execute the cleaning member control method of the following embodiment. The controller may be any controller in the cleaning system. For example, the controller may be a controller of a cleaning base station, or the controller may be a controller of a cleaning appliance, or the controller may be a controller located on other components of the cleaning system. The controller may be bus connected to the cleaning base station and/or the cleaning device or the controller may be communicatively connected to the cleaning base station and/or the cleaning device. Specifically, the execution subject may be a hardware device of the controller, or a software application implementing the following embodiments in the controller, or a computer-readable storage medium installed with a software application implementing the following embodiments, or code of a software application implementing the following embodiments.

Fig. 2 shows a flow chart of a cleaning member control method according to an embodiment of the present application. On the basis of the embodiment shown in fig. 1, as shown in fig. 2, with the controller as the main execution body, the method of this embodiment may include the following steps:

s101, responding to a cleaning piece control instruction, and acquiring position information of a cleaning piece in a cleaning base station.

In this embodiment, when the controller obtains a cleaning piece control instruction, the controller can obtain the position information of the cleaning piece through the sensor arranged on the cleaning piece. The position information may include a distance from the lowest position of the cleaning member. For example, when the cleaning member is located at the lowest position, the value of the position information is 0. As another example, when the distance between the cleaning member and the lowermost position is 5 mm, the value of the position information is 5. When the cleaning base station comprises a plurality of cleaning pieces, the controller can acquire the position information of each cleaning piece through a sensor arranged on each cleaning piece.

In one example, the sensor on the cleaning member may be a position sensor. The controller can acquire the distance between the cleaning piece and the lowest position through the position sensor and determine the distance as the position information of the cleaning piece. The position sensor may be a hall sensor, an infrared sensor, an NFC sensor, or the like. The use of the position sensor can effectively improve the acquisition efficiency of the position information of the cleaning piece.

And S102, controlling the cleaning piece to move to the target position according to the position information and the target position of the cleaning piece.

In this embodiment, the controller may store a target position therein. The controller can determine the movement information of the cleaning piece according to the position information and the target position of the cleaning piece. The controller may control the cleaning member to move to the target position based on the movement information. The moving means may include lifting, moving, and the like. The target position may be the lowest position of the wash ware before the cleaning system is on-duty with a self-cleaning operation.

In one example, the moving process of the cleaning member may include the steps of:

step 1, determining a first moving distance of the cleaning piece according to the position information and the target position of the cleaning piece.

In this step, the position information may be used to indicate a distance between the current position of the cleaning member and the lowest position. The target position may be used to represent the distance between the target position and the lowest bit. The controller may determine a distance between the current position of the cleaning member and the target position based on the two distances. The distance is the first moving distance. The first movement distance may be determined by a difference between the position information and the target position.

And 2, determining a first time length according to the first moving distance and the preset moving speed.

In this step, the moving speed of the cleaning member is generally fixed in the cleaning system. The controller may store a moving speed of the cleaning member, and the moving speed may be a preset moving speed. The controller may determine the first duration according to a quotient of the first moving distance and the preset moving speed. The first time length is the time length of the cleaning piece moving.

And 3, determining a first moving direction of the cleaning piece according to the position information and the target position of the cleaning piece, wherein the moving direction comprises upward movement or downward movement.

In this step, the first moving distance may be determined by a difference between the position information and the target position. Thus, the first movement distance may comprise positive and negative. When the first moving distance is positive, the target position is lower than the position information of the cleaning piece. That is, the cleaning member needs to be moved down to the target position. On the contrary, when the first moving distance is negative, the target position is higher than the position information of the cleaning member. The cleaning member needs to be moved upward to reach the target position. The controller may determine the first moving direction of the cleaning member based on the positive or negative of the difference between the position information and the target position.

And 4, controlling the cleaning piece to move along the first moving direction for a first time.

In this step, the controller may control the cleaning member to move along the first moving direction for a first duration to reach the target position. The moving mode may specifically include lifting and rotating.

In one implementation, when the moving means is lifting, the cleaning member may include a lifting rod therein. The controller can control the lifting rod to ascend for a first time or descend for a first time to enable the cleaning piece to reach the target position. During the lifting process, the lifting speed of the cleaning piece can be kept unchanged.

In another implementation, when the moving manner is rotation, the controller may determine a rotation direction according to the first moving direction. The rotational direction may include a first preset direction and a second preset direction. The first rotation direction and the second rotation direction are opposite directions. When the cleaning member is rotated in the first predetermined direction, the height of the cleaning member may be reduced. Conversely, when the cleaning member rotates in the second predetermined direction, the height of the cleaning member may be increased. When the controller includes a plurality of cleaning members, the cleaning members may be rotated in an inward direction toward the first predetermined direction. Alternatively, the first preset direction may be a left rotation or a right rotation. During the rotation of the cleaning member, the speed at which the cleaning member is moved by rotation is kept constant. The controller may cause the cleaning member to reach the target position by controlling the cleaning member to rotate in the rotational direction for a first duration.

In one implementation, when a plurality of cleaning elements are included, the first length of time and/or the first direction of movement of each cleaning element need not be the same. Thus, the controller may effect control of the plurality of cleaning members according to the method of the following example. For example, when the controller includes 2 cleaning members, the first rotation duration of the first cleaning member is 3 seconds, and the first rotation duration of the second cleaning member is 5 seconds, the controller may control the two cleaning members to rotate in the first preset direction for 3 seconds, and then control the second cleaning member to rotate in the first preset direction for 2 seconds. For another example, when the controller includes 2 cleaning members, the first rotation duration of the first cleaning member is 3 seconds, and the first rotation duration of the second cleaning member is 5 seconds, the controller may first control the first cleaning member to rotate in the first preset direction for 3 seconds, and then control the second cleaning member to rotate in the first preset direction for 5 seconds.

In another example, the moving process of the cleaning member may include the steps of:

step 1, determining a second time length and a second moving direction of the cleaning piece according to the position information, the transition position and the preset moving speed of the cleaning piece.

In this step, the position information may be used to indicate a distance between the current position of the cleaning member and the lowest position. The transition position may be used to represent a distance between the transition position and the lowest bit. The controller may determine a distance between the current position of the wash member and the transition position based on the two distances. This distance is the second movement distance. The second movement distance may be determined by a difference of the position information and the transition position. The second movement distance may include positive and negative. When the second moving distance is positive, the target position is lower than the position information of the cleaning piece. That is, the cleaning member needs to be moved down to the target position. On the contrary, when the second moving distance is negative, the target position is higher than the position information of the cleaning member. The cleaning member needs to be moved upward to reach the target position. The controller may determine the second moving direction of the cleaning member based on the positive or negative of the difference between the position information and the target position. In a washing system, the speed of movement of the washing elements is usually fixed. The controller may store a moving speed of the cleaning member, and the moving speed may be a preset moving speed. The controller may determine the second duration according to a quotient of the second moving distance and the preset moving speed. The second duration is the duration of the movement of the cleaning member.

In one implementation, the controller may retrieve the transition location by reading from memory before performing this step. Alternatively, when multiple cleaning elements are included, the controller may select a position of one cleaning element from the multiple cleaning elements as the transition position. For example, when a plurality of cleaning pieces are included, the transition position is set, so that the cleaning pieces can be quickly moved to a consistent position, and the control efficiency of the cleaning pieces can be improved.

And 2, controlling the cleaning piece to move along the second moving direction for a second time so as to enable the cleaning piece to reach the transition position.

In this step, the controller may control the cleaning member to move in the second moving direction for a second duration to reach the transition position. The moving mode may specifically include lifting and rotating.

And 3, determining a third time length and a third moving direction according to the transition position, the target position and the preset moving speed.

And 4, controlling the cleaning piece to move along a third moving direction for a third time so as to enable the cleaning piece to reach the target position.

The processes of step 3 and step 4 are similar to those of step 1 and step 2, and are not described again here.

According to the cleaning piece control method, when the controller acquires the cleaning piece control instruction, the controller can acquire the position information of the cleaning piece through the sensor arranged on the cleaning piece. The controller may have a target position stored therein. The controller can determine the movement information of the cleaning piece according to the position information and the target position of the cleaning piece. The controller may control the cleaning member to move to the target position based on the movement information. In this application, through adjusting the position of wasing the piece, guaranteed under different scenes that the piece all can be in the optimum position to the result of use of cleaning piece has been improved. When the scene is self-cleaning, the self-cleaning effect of the cleaning piece can be improved.

FIG. 3 is a flow chart illustrating a method for controlling a cleaning element according to an embodiment of the present disclosure. On the basis of the embodiments shown in fig. 1 and fig. 2, as shown in fig. 3, with a controller as an execution main body, the method of the embodiment may include the following steps:

s201, judging whether the position information of the cleaning piece is in the cleaning position.

In this embodiment, the controller may obtain position information of the cleaning member. The controller may compare the position information to the cleaning position to determine whether the cleaning member is in the cleaning position.

S202, when the position information of the cleaning piece is in the cleaning position, a self-cleaning instruction is generated.

In this embodiment, the controller may determine that the cleaning system is ready when all of the cleaning members are in the cleaning position. The controller may generate a self-cleaning instruction.

In one example, the controller may first control the cleaning member to move to the cleaning position when the cleaning member is not in the cleaning position. Thereafter, the controller may generate a self-cleaning instruction.

In one example, the controller can determine whether the cleaning device is on a cleaning base station. The controller may generate a self-cleaning instruction if the cleaning device is on a cleaning base station. Otherwise, the controller cannot generate a self-cleaning command. The process may specifically comprise the steps of:

step 1, a controller acquires distance information between cleaning equipment and a cleaning base station through a position sensor.

In this step, the position sensor may be a hall sensor, an infrared sensor, or an NFC sensor. The position sensor may be a position sensor disposed on the cleaning member. Alternatively, the position sensor may also be another sensor arranged inside the cleaning base station or inside the cleaning device. The distance information is used to indicate a distance between the cleaning device and the cleaning base station.

And 2, judging whether the cleaning equipment is on the cleaning base station or not by the controller according to the distance information.

In this step, the controller may store the minimum distance and the maximum distance. When the distance information is larger than the maximum distance, the cleaning equipment is far away from the cleaning base station. For example, the cleaning device is not placed on the cleaning base station, or the cleaning device is placed in an incorrect location. When the distance information is less than the minimum distance, it is described that the cleaning device is placed incorrectly although inside the cleaning base station. When the distance information is smaller than or equal to the maximum distance and larger than or equal to the minimum distance, the cleaning equipment is placed on the cleaning base station and is placed at the correct position. When the cleaning device is placed in the correct position, it is indicated that the cleaning elements of the cleaning device are above the cleaning elements. The correct placement improves the cleaning effect of the cleaning element during the self-cleaning process.

And 3, when the cleaning equipment is on the cleaning base station, the controller generates a self-cleaning instruction.

In this step, the controller may generate a self-cleaning command when it is determined that the cleaning device is located on the cleaning base station and the cleaning device is placed in the correct position. The arrangement of the judgment condition can avoid unnecessary self-cleaning operation of the cleaning system when the cleaning piece is not in the correct position. And the arrangement of the judgment condition can improve the cleaning efficiency of the cleaning piece and ensure that the cleaning piece can be cleaned at a proper position.

And S203, responding to the self-cleaning instruction, and executing self-cleaning operation.

In this embodiment, the controller may perform the self-cleaning operation in response to the self-cleaning instruction. The self-cleaning operation may specifically comprise the steps of:

step 1, generating and sending a water outlet instruction to control a cleaning base station to inject a preset amount of cleaning liquid into a cleaning disc.

In this step, the controller may generate a water output command. The controller sends a water-out command to the cleaning base station. After the cleaning base station obtains the water outlet instruction, the cleaning base station can control a water tank or a water outlet in the cleaning base station to inject a preset amount of cleaning liquid into the cleaning disc. The cleaning liquid may be water. The preset amount may be set empirically. Alternatively, the preset amount may be set by the user through the APP or a button.

And 2, generating and sending a rotation instruction to control the cleaning piece and/or the cleaning piece to rotate in the preset direction for a preset time.

In this step, the controller may generate a rotation command. The rotation instructions will be used to control the rotation of the wash and/or cleaning elements in the cleaning apparatus and to control the rotation of the wash and/or cleaning elements in the cleaning station.

In one embodiment, the washing and/or cleaning elements are controlled to rotate in a first and/or second predetermined direction for a predetermined length of time in response to a rotation command.

Specifically, the controller may control the cleaning member to rotate in a first preset direction. Alternatively, the controller may control the cleaning member to rotate in a second predetermined direction. Alternatively, the controller may control the cleaning member to rotate in the second predetermined direction while controlling the cleaning member to rotate in the first predetermined direction.

Alternatively, the rotation command may include a plurality of rotation commands, each rotation command being used to control the cleaning member or the washing member to rotate in one direction for a certain period of time.

And 3, generating and sending a drainage instruction to control the cleaning base station to discharge the cleaning liquid in the cleaning disc.

In this step, the controller may generate the drain instruction after the rotation instruction is executed. The controller may send the drain command to a cleaning base station. And after the cleaning base station receives the drainage instruction, the cleaning base station can be controlled to drain the cleaning liquid in the cleaning disc.

And 4, generating and sending a cleaning completion prompt.

In this step, the controller may generate a cleaning completion prompt after the drainage instruction is executed for a preset time period. The cleaning completion prompt may be a flashing prompt light. The controller may flash the prompt, etc. after the cleaning operation is completed. Alternatively, the cleaning completion prompt may be a text prompt. The controller can send the cleaning completion prompt to the user terminal after cleaning operation is completed, and the user is reminded to complete self-cleaning in a text reminding mode.

The above-described self-cleaning step is only one example. In practical use, the controller can also add spin-drying operation after finishing the water drainage instruction according to actual needs. The spin operation may include a spin command. Or, the controller can also control the cleaning piece to lift and fall during the self-cleaning process. Alternatively, the controller may also perform multiple washes to improve cleaning. Or the controller can also realize the position washing high-position drying function of the cleaning piece through the combination of the control commands. Or the controller can also realize the self-definition of the cleaning process through APP, buttons and the like.

According to the cleaning piece control method, the controller can acquire the position information of the cleaning piece. The controller may compare the position information to the cleaning position to determine whether the cleaning member is in the cleaning position. When all of the cleaning members are in this cleaning position, the controller can determine that the cleaning system is ready. The controller may generate a self-cleaning instruction. The controller may perform a self-cleaning operation in response to the self-cleaning instruction. In the application, the position of the cleaning piece is adjusted, so that the self-cleaning effect can be improved under a self-cleaning scene.

Fig. 4 shows a hardware structure diagram of a controller according to an embodiment of the present application. As shown in fig. 4, the controller 10 is configured to implement the operations corresponding to the controller in any of the above-described method embodiments. The controller 10 may be a controller in a cleaning appliance. Alternatively, the controller 10 may be a controller in a clean base station. Alternatively, the controller 10 may be a controller provided in another device in the cleaning system. The controller 10 of the present embodiment may include at least one of a memory 11, a processor 12, and a communication interface 14.

A memory 11 for storing a computer program. The Memory 11 may include a Random Access Memory (RAM), a Non-Volatile Memory (NVM), at least one disk Memory, a usb flash drive, a removable hard drive, a read-only Memory, a magnetic disk or an optical disk.

And a processor 12 for executing the computer program stored in the memory 11 to implement the cleaning member control method in the above-described embodiments. Reference may be made in particular to the description relating to the method embodiments described above. The Processor 12 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. The general purpose processor 12 may be a microprocessor or the processor 12 may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of hardware and software modules within the processor 12.

Alternatively, the memory 11 may be separate or integrated with the processor 12.

When the memory 11 is a separate device from the processor 12, the controller 10 may also include a bus 13. The bus 13 is used to connect the memory 11 and the processor 12. The bus 13 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus 13 may be divided into an address bus, a data bus, a control bus, etc. For convenience of illustration, the bus 13 in the drawings of the present application is not limited to only one bus 13 or one type of bus 13.

The communication interface 14 may be used to enable wireless communication with a cleaning base station and/or a cleaning appliance. The communication interface 14 may also be used to enable wireless communication with a user terminal.

The controller provided in this embodiment can be used to execute the cleaning member control method, and its implementation manner and technical effect are similar, and this embodiment is not described herein again.

Fig. 5 shows a schematic structural diagram of a cleaning system provided in an embodiment of the present application. As shown in fig. 5, the cleaning system 20 may include a cleaning device 21 and a cleaning base 22. Among them, the cleaning device 21 may include therein a cleaning member and a controller. A cleaning base station 22 may include a cleaning member and a controller. The cleaning member is used for completing the cleaning of the cleaning member when self-cleaning. When the cleaning apparatus 21 is placed on the cleaning base station 22, the controller may execute the wash control method provided in the above-described various embodiments according to a preset program. Different computer programs may be stored in the controllers in the cleaning device and the cleaning base station. For example, a control program of a cleaning operation, a self-cleaning control program, and the like may be included in a computer program stored in a controller of the cleaning apparatus. For example, the control program of the cleaning base station may include a self-cleaning control program, a cleaning consumable management program, and the like. The implementation manner and technical effects of the cleaning system provided by the embodiment are similar, and details are not described herein again.

It should be understood that, although each step in the flowcharts in the above embodiments is shown in order as indicated by the arrow, the steps are not necessarily performed in order as indicated by the arrow. The steps are not performed in the exact order shown and may be performed in other orders unless otherwise indicated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or partially with other steps or at least some of the sub-steps or stages of other steps.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: it is also possible to modify the solutions described in the previous embodiments or to substitute some or all of the technical features. And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of controlling a cleaning element, the method comprising:

responding to a cleaning piece control instruction, and acquiring position information of a cleaning piece in a cleaning base station;

2. The method according to claim 1, wherein controlling the cleaning member to move to a target position according to the position information and the target position of the cleaning member comprises:

3. The method of claim 2, wherein said controlling said cleaning member to move a first duration along said direction of movement when said cleaning member effects movement of said cleaning member by rotation comprises:

4. The method according to claim 1, wherein the controlling the cleaning member to move to a target position according to the position information and the target position of the cleaning member comprises:

and controlling the cleaning piece to move in the third moving direction for the third time length so that the cleaning piece reaches the target position.

5. The method of claim 4, wherein prior to determining a second duration and a second direction of movement of the wash item based on the position information, a transition position, and a preset speed of movement of the wash item, the method further comprises any of:

retrieving the transition location from memory;

6. The method according to any one of claims 1 to 5, wherein the obtaining of the position information of the cleaning member in the cleaning base station specifically comprises:

7. The method according to any one of claims 1-5, further comprising:

judging whether the position information of the cleaning piece is in a cleaning position or not;

8. The method of claim 7, further comprising:

when the cleaning piece is not at the cleaning position, the cleaning piece is controlled to move so as to enable the cleaning piece to reach the cleaning position.

9. The method according to claim 7, wherein the performing a self-cleaning operation comprises in particular:

and generating and sending a cleaning completion prompt.

10. The method according to claim 9, wherein the controlling the washing member to rotate for a preset time period in response to the washing member rotation command specifically comprises:

11. A controller, characterized in that the controller comprises: a memory, a processor; the memory is used for storing a computer program; the processor is used for realizing the cleaning member control method according to any one of claims 1 to 10 according to the computer program stored in the memory.

12. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when executed by at least one controller, carries out a cleaning article control method according to any one of claims 1-10.

13. A computer program product, characterized in that the computer program product comprises a computer program which, when being executed by at least one processor, carries out a wash ware control method according to any one of claims 1-10.

14. A cleaning system, characterized in that the cleaning system comprises: a cleaning device provided with a cleaning member for cleaning the cleaning member, a cleaning base station provided with a cleaning member, and a controller as claimed in claim 11.