CN116616644A

CN116616644A - Control method of cleaning device, cleaning device and storage medium

Info

Publication number: CN116616644A
Application number: CN202310498864.XA
Authority: CN
Inventors: 胡洪伟; 陈冠亨
Original assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2023-05-05
Filing date: 2023-05-05
Publication date: 2023-08-22

Abstract

The embodiment of the application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, wherein a first clean power component forms negative pressure in a recovery pipeline so that the recovery pipeline collects dirt at a cleaning piece, and a dirt sensor is arranged in the recovery pipeline and/or the cleaning piece; the method comprises the following steps: acquiring a dirt value at a dirt sensor by the dirt sensor when the cleaning device cleans a surface to be cleaned; when the dirt value is greater than or equal to a preset dirt threshold value, controlling the cleaning equipment to run in an ascending frequency state for at least a preset time period so as to enhance the cleaning capability of the cleaning equipment on the inside of the recovery pipeline and/or the cleaning piece; and when the time length of the dirt value in the preset time length is greater than or equal to the preset dirt threshold value and is greater than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment. The secondary pollution to the surface to be cleaned can be prevented when the cleaning device cleans the surface to be cleaned.

Description

Control method of cleaning device, cleaning device and storage medium

Technical Field

The present application relates to the field of cleaning technologies, and in particular, to a cleaning device control method, a cleaning device, and a storage medium.

Background

With the development of science and technology, cleaning equipment such as floor washing machines and sweeping machines begin to enter lives of people, and labor of people can be relatively reduced. In the related art, the cleaning device basically collects dirt through the pipeline, and because the internal sectional area of the pipeline is limited, when the dirt on the ground is more, the pipeline can be blocked sometimes, so that the dirt on the ground can not be continuously collected, and even the dirt in the pipeline can fall on the ground again, so that secondary pollution is caused. And when the dirt comprises the type of dirt such as soy sauce, foam, the dirt that is stained on the cleaning member also easily causes secondary pollution to ground, influences user experience.

Disclosure of Invention

The application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, which can prevent dirt stained on a cleaning piece and/or dirt in a recovery pipeline from causing secondary pollution to a surface to be cleaned when the cleaning equipment cleans the surface to be cleaned.

In a first aspect, an embodiment of the present application provides a control method of a cleaning apparatus, where the cleaning apparatus includes a cleaning member, a recovery pipe, and a first power assembly, where the first power assembly forms a negative pressure inside the recovery pipe, so that the recovery pipe collects dirt at the cleaning member, and a dirt sensor is disposed inside the recovery pipe and/or at the cleaning member; the method comprises the following steps:

Acquiring a dirt value at the dirt sensor by the dirt sensor while the cleaning device cleans a surface to be cleaned;

when the dirt value is greater than or equal to a preset dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a preset period of time, wherein at least one operation parameter of the cleaning equipment in the ascending frequency state is greater than the operation parameter in a non-ascending frequency state;

and when the time length of the dirt value which is larger than or equal to the dirt threshold value in the preset time length is larger than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment.

In a second aspect, an embodiment of the present application provides a control method of a cleaning apparatus, where the cleaning apparatus includes a cleaning member, a recovery pipe, and a first power assembly, where the first power assembly forms a negative pressure inside the recovery pipe, so that the recovery pipe collects dirt at the cleaning member, and a dirt sensor is disposed inside the recovery pipe and/or at the cleaning member; the method comprises the following steps:

And when the dirt value is greater than or equal to a preset dirt threshold value and the time length of the dirt value greater than or equal to the dirt threshold value within a preset time length is greater than or equal to a time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment.

In a third aspect, an embodiment of the present application provides a cleaning apparatus, where the cleaning apparatus includes a cleaning member, a recovery pipe, and a first power assembly, where the first power assembly forms a negative pressure inside the recovery pipe, so that the recovery pipe collects dirt at the cleaning member, and a dirt sensor is provided inside the recovery pipe and/or at the cleaning member;

the cleaning apparatus further comprises: a processor and a memory for storing a computer program; the processor is adapted to execute the computer program and to carry out the steps of the aforementioned control method of the cleaning device when the computer program is executed.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method described above.

The embodiment of the application provides a control method of cleaning equipment, the cleaning equipment and a storage medium, wherein when a dirt value in a recovery pipeline of the cleaning equipment and/or at a cleaning part is greater than or equal to a preset dirt threshold value, the cleaning equipment is controlled to run in an ascending state for at least a preset time period so as to remove dirt stained on the cleaning part and/or dirt in the recovery pipeline; when the time length that the dirt value detected in the preset time length is greater than or equal to the dirt threshold reaches the time length threshold, namely the dirt stained on the cleaning piece and/or the dirt in the recovery pipeline cannot be removed in the ascending frequency state, judging that the cleaning equipment needs to perform self-cleaning treatment; to prevent contamination on the cleaning member and/or contamination in the recovery duct from causing secondary pollution to the surface to be cleaned when the cleaning device cleans the surface to be cleaned.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of embodiments of the application.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a control method of a cleaning apparatus according to an embodiment of the present application;

FIG. 2 is a schematic view of a cleaning apparatus provided in an embodiment of the present application;

FIG. 3 is a schematic view of a cleaning apparatus in one embodiment;

FIG. 4 is a flow chart of a control method of a cleaning apparatus according to an embodiment;

fig. 5 is a flowchart of a control method of a cleaning apparatus according to another embodiment of the present application.

Reference numerals illustrate:

110. a cleaning member; 120. a recovery pipe; 130. a first power assembly; 140. a soil sensor; 150. a second power assembly; 160. a liquid supply assembly; 101. a processor; 102. a memory; 10. a chassis; 20. a body; 201. a sewage tank.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flow chart of a control method of a cleaning apparatus according to an embodiment of the application.

The cleaning device according to the embodiment of the present application refers to a mechanical device designed for cleaning, and may be a cleaning robot or a handheld cleaning device, for example, including but not limited to: a dust collector, a floor washing machine, a dust and water suction machine, a floor sweeping machine, a floor mopping machine, a sweeping and mopping integrated machine and the like.

Fig. 2 is a schematic structural diagram of a cleaning device according to an embodiment of the present application. The cleaning apparatus includes a cleaning member 110, a recovery pipe 120, and a first power assembly 130, the first power assembly 130 forming a negative pressure inside the recovery pipe 120 so that the recovery pipe 120 collects dirt at the cleaning member 110. Illustratively, the recovery conduit 120 collects dirt that may be on the cleaning members 110, and may also collect dirt on the surface to be cleaned in the vicinity of the cleaning members 110.

Referring to fig. 3 in conjunction with fig. 2, when the cleaning apparatus is a floor washer, the cleaning apparatus further includes a chassis 10 and a main body 20, and the main body 20 is rotatably connected with the chassis 10, for example, through a hinge connection, so that the cleaning apparatus can clean a surface to be cleaned in multiple angles.

As shown in fig. 3, the cleaning member 110 is provided on the chassis 10. Illustratively, the cleaning elements 110 include rolling cleaning elements, although not limited thereto, e.g., the cleaning elements 110 on the chassis 10 may include rotating cleaning elements, etc. Wherein the rolling type cleaning member is arranged on the chassis 10, and the axial direction of the rolling type cleaning member is perpendicular to the advancing direction when the cleaning device cleans the surface to be cleaned; when the cleaning device cleans the surface to be cleaned, the axial direction of the rotary cleaning piece is perpendicular to the surface to be cleaned.

Illustratively, as shown in FIG. 3, the cleaning member 110 further includes a second power assembly 150, the second power assembly 150 being configured to drive the cleaning member 110 in rotation.

Optionally, the cleaning apparatus further includes a liquid supply assembly 160, where the liquid supply assembly 160 is configured to provide a cleaning solution to the cleaning member 110, where the cleaning solution includes clean water, and may further include a cleaning substance such as a detergent, and/or a disinfecting substance, so as to wet the cleaning member 110, and the wetted cleaning member 110 may clean a surface to be cleaned, and may further perform disinfection and sterilization.

The recovery pipe 120 and the first power assembly 130 are provided on the main body 20, one end of the recovery pipe 120 is formed with a soil sucking port at the cleaning member 110, and negative pressure formed inside the recovery pipe 120 collects soil at the cleaning member 110 through the soil sucking port. For example, the main body 20 is further provided with a sewage tank 201, and the sewage tank 201 can store solid-liquid sewage collected by the recovery pipeline 120. Alternatively, the sewage tank 201 may include a solid-liquid separation chamber and a sewage chamber that communicate with each other through a through-hole or a pipe, and the solid-liquid separation chamber can be used to separate solid garbage from liquid garbage, which flows to the sewage chamber.

Taking cleaning equipment as a floor washer as an example, taking a cleaning piece 110 as a rolling brush, after the floor washer is started, the liquid supply assembly 160 continuously supplies water to the rolling brush, the rolling brush also rotates to form friction with a surface to be cleaned, and solid-liquid mixed dirt is collected at a dirt suction port; the first power assembly 130 operates in the recovery pipe 120 to generate negative pressure, and the negative pressure generated in the recovery pipe 120 sucks the solid-liquid mixture into the sewage tank 201 through the sewage suction port.

For example, the first power component 130 includes a blower and/or a vacuum pump, where the blower works to generate negative pressure to the sewage tank 201, so as to form negative pressure inside the recovery pipeline 120; the vacuum pump provides negative pressure to the sewage tank 201, and the negative pressure of the sewage tank 201 forms negative pressure inside the recovery pipe 120. Optionally, the vacuum pump provides negative pressure for the sewage chamber of the sewage tank 201, so that the liquid garbage can be separated from the solid-liquid separation chamber to the sewage chamber as soon as possible, and the liquid garbage in the sewage chamber can be prevented from flowing back to the solid-liquid separation chamber; the solid-liquid separation chamber and the sewage chamber are relatively independent, and the liquid garbage can be contained in the sewage chamber through the arrangement, so that the liquid garbage and the fan have a certain distance, and the liquid garbage is prevented from being sucked by the fan as much as possible.

In some embodiments, the cleaning device may also be used in conjunction with a base (or base station) to facilitate use by a user. For example, the base may be used to charge a cleaning device such as a floor washer, and the floor washer may be placed at the base for charging when the amount of power of the floor washer is less than a threshold value during cleaning. The base may also be used to clean the cleaning elements 110 of the cleaning apparatus, for example, when the rolling cleaning elements of the floor scrubber are used to scrub the surface to be cleaned, the rolling cleaning elements tend to become dirty and require cleaning, i.e., the floor scrubber is placed on the base for self-cleaning of the floor scrubber.

In other embodiments, the floor washer may not be placed on the base for self-cleaning, for example, the floor washer may be placed in a sink for self-cleaning.

Optionally, the base may further include a cleaning member drying device (e.g., a fan of the base), and cold air or hot air is provided by the cleaning member drying device, so that the floor scrubber may air-dry after the base is self-cleaned.

In the related art, a user generally determines whether to control cleaning equipment such as a floor washing machine to perform self-cleaning. For example, when the cleaner cleans a cleaner surface to be cleaned, the cleaner causes secondary pollution to the surface to be cleaned to make the surface to be cleaned dirty, and when a user finds that secondary pollution is generated, the cleaner is controlled to perform self-cleaning, so that the intelligence of the cleaner is insufficient, and the user experience is affected. Or if the cleaning device is a robot, the self-cleaning operation is usually carried out regularly, and the self-cleaning and the dirt conditions are sometimes not matched, for example, when the surface to be cleaned is dirty, the secondary pollution of the surface to be cleaned can be caused due to the fact that the time is not reached; if the surface to be cleaned is clean, the cleaning efficiency is affected and resources are wasted by self-cleaning when the user is on a regular basis. Meanwhile, although some related technologies can detect whether a pipeline is blocked, alarm and stop running when the pipeline is blocked, a user clears the blockage, the treatment process is complicated, the cleaning process is required to be interrupted, and the user experience is affected.

In order to solve at least one of the above-mentioned problems, the present inventors have improved a cleaning apparatus and a control method of the cleaning apparatus to at least prevent contamination on the cleaning member 110 and/or contamination in the recovery duct 120 from causing secondary pollution to a surface to be cleaned when the cleaning apparatus cleans the surface to be cleaned.

In an embodiment of the present application, a soil sensor 140 is provided inside the recovery duct 120 and/or at the cleaning member 110. Illustratively, as shown in fig. 2, the contamination sensor 140 is disposed in the recovery duct 120, and the cleaning apparatus is configured to obtain sensor data of the contamination sensor 140 by acquiring detection data of the contamination flowing through the recovery duct 120 via the contamination sensor 140 disposed in the recovery duct 120 when cleaning the cleaning apparatus. Alternatively, the dirt sensor 140 may be disposed on the chassis 10 or the cleaning member 110 to detect dirt on the cleaning member 110. It should be noted that, the dirt sensor 140 is disposed in the recovery pipe 120, so as to avoid the introduction of uncontrollable variable factors as much as possible, and avoid the condition of missed detection.

The soil sensor 140 is configured to detect a physical characteristic of the soil, and the soil sensor 140 includes, but is not limited to, at least one of: a sensor for detecting acoustic properties of the soil, a sensor for detecting electrical properties of the soil, a sensor for detecting optical properties of the soil. The sensor for detecting the acoustic characteristics of the dirt, such as an ultrasonic sensor, can judge the dirt type by transmitting ultrasonic waves and receiving the ultrasonic waves returned by the dirt; sensors for detecting electrical characteristics of the dirt, such as a manner of judging conductivity by using a resistor, and a capacitance sensor for judging capacitance change of the space of the recovery pipe 120 due to different dirt; sensors that detect other optical characteristics, such as cameras, can determine the type of contamination by artificial intelligence (AI, artificial Intelligence) recognition, spectrometers can determine the type of contamination by recognizing the reflectance spectrum of the contamination, infrared pair-tube sensors recognize the type of contamination and the degree of contamination, and so forth.

For example, the soil sensor 140 includes an infrared pair tube sensor including at least one transmitting tube and at least one receiving tube. The emitting tube and the receiving tube of the infrared geminate transistor sensor are respectively arranged at two opposite sides or the same side in the recovery pipeline 120; the light signal emitted by the emitting tube is shielded by dirt and attenuated, or is refracted by the dirt such as viscous liquid to form fluctuation, and finally the signal received by the receiving tube is changed to obtain sensor data.

Specifically, as shown in fig. 2, the cleaning apparatus further includes a processor 101 and a memory 102; the memory 102 is used for storing a computer program; the processor 101 is adapted to execute a computer program and to carry out the steps of the method of controlling a cleaning device according to an embodiment of the application when the computer program is executed.

The processor 101 and memory 102 are illustratively connected by a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 101 may be a Micro-controller Unit (MCU), a central processing Unit (Central Processing Unit, CPU), or a digital signal processor 101 (Digital Signal Processor, DSP), or the like.

Specifically, the Memory 102 may be a Flash chip, a Read-Only Memory 102 (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

Wherein the processor 101 is arranged to execute a computer program stored in the memory 102 and to clean the steps of the method of controlling the device when the computer program is executed.

The following describes in detail a control method of the cleaning apparatus provided by the embodiment of the present application.

As shown in fig. 1, the control method of the cleaning apparatus according to an embodiment of the present application includes steps S110 to S130.

Step S110, when the cleaning device cleans the surface to be cleaned, the dirt value at the dirt sensor is acquired through the dirt sensor.

For example, when the cleaning device cleans a surface to be cleaned, sensor data of the dirt sensor is obtained according to a preset sampling period and/or sampling rate; the sensor data may be directly taken as a fouling value at the fouling sensor; or may also determine a soil value of the cleaning device at the soil sensor from the sensor data.

When the dirt sensor is arranged in the recovery pipeline, the dirt value can reflect the dirt degree of dirt in the recovery pipeline; when the soil sensor is disposed at the cleaning member, the soil value may reflect a degree of soil of the soil on the cleaning member.

For example, sensor data of the dirt sensor when the cleaning device is started up can be obtained as dirt reference data; a soil value of the cleaning device at the soil sensor is determined from a difference between sensor data and the soil reference data when the cleaning device is cleaning a surface to be cleaned.

The recovery duct is typically free of dirt when the cleaning apparatus is turned on, i.e. the dirt reference data is sensor data in a state where there is no dirt in the recovery duct. Optionally, when the sensor data of the dirt sensor is in a preset range when the cleaning device is started, the sensor data is used as dirt reference data; so as to avoid using the sensor data in the dirty state as the dirty reference data when the recovery pipeline is started and/or the cleaning piece is more dirty. Alternatively, when the sensor data of the dirty sensor exceeds the preset range when the cleaning device is started, the preset dirty reference data may be adopted, for example, the sensor data of the dirty sensor when the cleaning device is started last time, and the sensor data is in the preset range.

When the cleaning equipment cleans the surface to be cleaned and the recovery pipeline is polluted, the acquired sensor data of the pollution sensor are different from pollution reference data, such as signals received by a receiving tube of the infrared pair-tube sensor. When the sensor data of the dirt sensor acquired when the cleaning device cleans the surface to be cleaned at certain moments is the same as the dirt reference data, it can be determined that no dirt exists in the current recovery pipeline.

For example, determining a soil value of the cleaning device at the soil sensor, i.e. a soil value at the interior of the recovery duct and/or at the cleaning member, from sensor data acquired when the cleaning device is cleaning a surface to be cleaned, and from a difference from the soil reference data; for example, the greater the absolute value of the difference, the greater the fouling value, i.e. the greater the fouling level inside the recovery duct and/or at the cleaning member.

Alternatively, the dirt value may be the sensor data of the dirt sensor itself, or may be a difference value between the sensor data and the dirt reference data, or may be a dirt level corresponding to a difference value range where the difference value is located, or may be a dirt level corresponding to a range where the sensor data itself is located. For convenience of explanation, the embodiments of the present application mainly take the dirt level corresponding to the difference range where the dirt value is the difference value as an example; for example, a plurality of difference ranges are preset, and the larger the maximum difference in the difference ranges is, the larger the dirt grade corresponding to the difference range is.

From the fouling values a fouling status inside the recovery conduit and/or at the cleaning elements can be determined. Taking three dirty states as an example, the three dirty states are arranged from small to large according to the dirty degree into a state 0, a state 1 and a state 2, wherein the state 0 represents clean (less dirty), the state 1 represents more dirty (some dirty) and the state 2 represents very dirty (more dirty). The soil value includes, for example, at least 7 levels, where levels 0 through 3 may be determined as state 0, levels 4 through 6 may be determined as state 1, and levels 7 and thereafter may be determined as state 2. Of course, it is also possible to include only two dirty states, or four or more dirty states, for example.

And step 120, when the dirt value is greater than or equal to a preset dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a preset period of time, wherein at least one operation parameter of the cleaning equipment in the ascending frequency state is greater than the operation parameter in a non-ascending frequency state.

In some embodiments, as shown in fig. 3, the cleaning apparatus further comprises a second power assembly for driving the cleaning member to rotate and/or a liquid supply assembly for supplying cleaning liquid to the cleaning member.

At least one operating parameter of the cleaning device in the up-conversion state is greater than the operating parameter in the non-up-conversion state, so that the cleaning device in the up-conversion state can enhance the cleaning capacity of the cleaning element and/or the interior of the recovery line.

Illustratively, said controlling said cleaning apparatus to operate in an up-conversion state includes at least one of: controlling the first power assembly to increase suction to increase negative pressure inside the recovery pipeline; controlling the second power assembly to increase the rotating speed of the cleaning piece; controlling the liquid supply assembly to increase the amount of liquid that supplies cleaning liquid to the cleaning member and/or the recovery conduit; controlling the liquid supply assembly to increase the content of cleaning substances in the cleaning liquid provided to the cleaning member and/or the recovery pipeline.

For example, the fan is controlled to increase the rotation speed (power) to increase the negative pressure in the recovery pipeline, and the larger negative pressure can increase the flow velocity of the air flow in the recovery pipeline, so that the cleaning capability of the dirt in the recovery pipeline can be improved under the drive of the higher flow velocity of the air flow. Increasing the rotational speed of the cleaning member can improve the cleaning ability of the cleaning member by the dirt removing device of the cleaning member; for example, the rotating speed of the rolling brush is increased, so that the scraping frequency of scraping strips of the rolling brush on each position of the rolling brush can be increased, dirt on the rolling brush can be removed as soon as possible, and the cleanliness of the rolling brush is improved. Increasing the amount of cleaning liquid and/or the concentration of cleaning substances in the cleaning liquid provided to the cleaning member and/or the recovery pipe can also improve the cleaning ability of the cleaning member and/or the recovery pipe, promote the cleanliness of the cleaning member and/or the recovery pipe itself, for example, can dissolve and dilute the sticky dirt stained on the cleaning member and/or the recovery pipe, and clean the cleaning member and/or the recovery pipe as soon as possible.

In some embodiments, when the dirt value is greater than or equal to a preset dirt threshold, for example, the dirt state corresponding to the dirt value is state 1 or state 2, it may be determined that the dirt in the recovery pipeline and/or at the cleaning member is sufficiently dirty, and there is a risk that the dirt blocks the recovery pipeline or is continuously stained on the cleaning member to cause secondary pollution to the surface to be cleaned; by controlling the cleaning apparatus to operate in the ascending frequency state to enhance the cleaning ability of the cleaning apparatus to the inside of the recovery duct and/or the cleaning member, for example, to accelerate the flow rate of the dirt in the recovery duct, the dirt can be prevented from blocking the recovery duct, or the dirt on the cleaning member can be reduced, so that the dirt can be prevented from blocking the recovery duct or continuously staining the cleaning member to cause secondary pollution to the surface to be cleaned.

In some embodiments, when the soil value is less than a preset soil threshold, the cleaning device may be controlled to operate in a non-boost state, such as a preset operating state; for example, can be operated according to the current cleaning mode; for example, the first power assembly, the second power assembly and the liquid supply assembly are controlled according to the operation parameters corresponding to the current cleaning mode; when the cleaning device is operated in an up-conversion state, the corresponding component is controlled with greater operating parameters.

And step 130, when the time length of the dirt value which is greater than or equal to the dirt threshold value in the preset time length is greater than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment.

And continuously acquiring the dirt value at the dirt sensor through the dirt sensor when the cleaning equipment is controlled to operate in the ascending frequency state. If the determined dirt value is greater than or equal to the dirt threshold value within the preset time length of the cleaning device running in the ascending state, and the duration time length or the accumulated time length of the dirt threshold value reaches the time length threshold value, for example, when the inside of the recovery pipeline and/or the cleaning member is in the higher dirt state for a longer time in the ascending state, the cleaning device can be determined to run in the ascending state for the preset time length, and the risk of secondary pollution caused by dirt blocking the recovery pipeline or continuously staining the cleaning member on the surface to be cleaned can not be effectively reduced or eliminated, and then the cleaning device can be judged to need self-cleaning treatment. So as to prevent the dirt stained on the cleaning member and/or the dirt in the recovery pipeline from causing secondary pollution to the surface to be cleaned when the cleaning device cleans the surface to be cleaned through the self-cleaning treatment of the cleaning device.

In some embodiments, the method further comprises: when the cleaning equipment is judged to need to perform self-cleaning treatment, the cleaning equipment is controlled to perform self-cleaning treatment, and/or self-cleaning prompt information is output to prompt a user that the cleaning equipment needs to perform self-cleaning treatment. When the self-cleaning treatment is needed, the cleaning equipment can be stopped to forcedly perform the self-cleaning treatment; it is also possible to prompt only by means of the prompt information, while the cleaning device still continues to operate, for example in an up-conversion state.

Illustratively, the self-cleaning prompt information is used to prompt a user to place the cleaning device on the maintenance device and/or to control the cleaning device to move to the maintenance device. The maintenance device comprises, for example, the aforementioned base onto which the cleaning device can be placed for self-cleaning treatment.

For example, the self-cleaning prompt information can be output on at least one of man-machine interaction components of the cleaning device, such as a display, an indicator light, a loudspeaker, a buzzer and the like; of course, the self-cleaning prompt information can be output by a device which is in communication connection with the cleaning device, such as a terminal device, a smart speaker, etc., without being limited thereto.

For example, after determining that the cleaning apparatus needs to perform the self-cleaning process, the cleaning apparatus is controlled to perform the self-cleaning process when it is detected that the cleaning apparatus is set or moved to the maintenance apparatus, and/or after a self-cleaning control operation by a user is detected. For example, the user may place the cleaning device on the maintenance device and trigger a corresponding button on the cleaning device, which may control the cleaning device to perform the self-cleaning process.

Controlling the cleaning equipment to run in an ascending frequency state for at least a preset time period when the dirt value in the cleaning equipment recovery pipeline and/or at the cleaning piece is greater than or equal to a preset dirt threshold value so as to remove dirt stained on the cleaning piece and/or dirt in the recovery pipeline; when the time length that the dirt value detected in the preset time length is greater than or equal to the dirt threshold reaches the time length threshold, namely the dirt stained on the cleaning piece and/or the dirt in the recovery pipeline cannot be removed in the ascending frequency state, judging that the cleaning equipment needs to perform self-cleaning treatment; to prevent contamination on the cleaning member and/or contamination in the recovery duct from causing secondary pollution to the surface to be cleaned when the cleaning device cleans the surface to be cleaned.

In some embodiments, the soil threshold comprises a first soil threshold and a second soil threshold, the second soil threshold being greater than the first soil threshold. For example, when the soil value is greater than or equal to the first soil threshold and less than the second soil threshold, a soil state corresponding to the soil value may be determined to be state 1; when the soil value is greater than or equal to the second soil threshold, a soil state corresponding to the soil value may be determined to be state 2. Illustratively, the foregoing step S130 includes: and when the dirt value is greater than or equal to the first dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a preset time period.

Illustratively, the determining that the cleaning apparatus needs to perform self-cleaning treatment when the time length of the dirt value greater than or equal to the dirt threshold value within the preset time length is greater than or equal to a time length threshold value includes: and when the dirt value in the preset duration is greater than or equal to the first dirt threshold value and the duration less than the second dirt threshold value is greater than or equal to a first duration threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment. The first time length threshold is smaller than or equal to the preset time length.

For example, in the preset time period when the cleaning device is operated in the up-conversion state, the time period when the dirty state is state 1 reaches the first time period threshold, for example, 30 seconds, that is, when the interior of the recovery pipeline and/or the cleaning member is in a dirty state within the time period when the up-conversion state is operated and reaches the first time period threshold, it may be determined that the cleaning device needs to perform self-cleaning treatment. Optionally, the first time threshold is equal to the preset time, and when the dirt values determined in the preset time are all greater than or equal to the first dirt threshold and less than the second dirt threshold, it is determined that the cleaning device needs to perform self-cleaning treatment.

Illustratively, the determining that the cleaning apparatus needs to perform self-cleaning treatment when the time length of the dirt value greater than or equal to the dirt threshold value within the preset time length is greater than or equal to a time length threshold value includes: when the dirt value in the preset duration is greater than or equal to the second dirt threshold value and the duration is greater than or equal to the second duration threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment; the second time duration threshold is less than the first time duration threshold.

For example, in the preset time period when the cleaning device is operated in the up-conversion state, the time period when the dirty state is state 2 reaches the second time period threshold, for example, 5 seconds, that is, when the interior of the recovery pipeline and/or the cleaning member is in the dirty state within the time period when the up-conversion state is operated and reaches the second time period threshold, it is determined that the cleaning device needs to perform self-cleaning treatment. The cleaning equipment runs in the ascending frequency state within the preset time period, when the dirt state in the recovery pipeline and/or at the cleaning piece is very dirty, the probability of causing secondary pollution to the surface to be cleaned by reducing or eliminating the dirt blocking the recovery pipeline or continuously being stained on the cleaning piece through the ascending frequency state is low; the cleaning device can be judged to need to perform self-cleaning treatment when the dirt value is greater than or equal to the second dirt threshold value and the duration is greater than or equal to the second duration threshold value, namely whether the cleaning device needs to perform self-cleaning treatment can be judged more quickly, the self-cleaning treatment is prevented from being performed after the cleaning device is operated in the ascending state for a longer time, and therefore the intelligence and the working efficiency of the cleaning device can be improved.

For example, when the duration of the dirt value greater than or equal to the second dirt threshold value within the preset duration is greater than or equal to a second duration threshold value, determining that the cleaning device needs to perform self-cleaning processing includes: and when the dirt values determined in at least a first period of time in the preset time are all larger than or equal to the second dirt threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment, wherein the time length of the first period of time is larger than or equal to the second time threshold value. Optionally, the duration of the first period is, for example, 5 seconds; for example, when the cleaning device is operated in the ascending frequency state, the dirty states corresponding to the dirty values determined within 5 seconds are all state 2, and then the cleaning device is judged to need to perform self-cleaning treatment; when the cleaning equipment operates in the ascending frequency state, the duration of the dirty state corresponding to the dirty value is less than 5 seconds, namely the dirty state is temporary, the risk of secondary pollution caused by dirt blocking the recovery pipeline or continuously staining on the cleaning piece is low, self-cleaning treatment is not needed, so that the surface to be cleaned is cleaned continuously, and the cleaning efficiency of the surface to be cleaned is improved.

For example, when the duration of the dirt value greater than or equal to the second dirt threshold value within the preset duration is greater than or equal to a second duration threshold value, determining that the cleaning device needs to perform self-cleaning processing includes: and when the number of times that the dirt value determined in the preset time period is greater than or equal to the second dirt threshold value is greater than or equal to a preset number of times threshold value, and/or the accumulated time period that the dirt value determined in the preset time period is greater than or equal to the second dirt threshold value is greater than or equal to a second time period preset value, judging that the cleaning equipment needs to perform self-cleaning treatment. The accumulated time length that the dirt value is greater than or equal to the second dirt threshold value can be determined according to the product of the times that the dirt value is greater than or equal to the second dirt threshold value and the time length of each time that the dirt value is determined (such as the determining period of the dirt value); or may be determined from the sum of the determined durations of the soil values each time the soil value is greater than or equal to the second soil threshold. For example, when the cleaning device is operated in the ascending frequency state, and when the accumulated time length of the state 2 of the dirty state corresponding to the dirty value reaches the second time length preset value, the cleaning device is judged to need to perform self-cleaning treatment, so that secondary pollution caused by the fact that the recovery pipeline is blocked by dirty or the surface to be cleaned is continuously polluted on the cleaning piece when the temporary dirty state is frequently generated.

Optionally, the method further comprises: when the time length of the dirt value smaller than the first dirt threshold value within the preset time length is larger than or equal to a third time length threshold value, judging that the cleaning equipment does not need to perform self-cleaning treatment, and controlling the cleaning equipment to exit the frequency-raising state; the third time length threshold is greater than or equal to the difference value between the preset time length and the first time length threshold. When the time length of the dirt value smaller than the first dirt threshold value within the preset time length is larger than or equal to a third time length threshold value, determining that the dirt state in the cleaning equipment recovery pipeline and/or at the cleaning piece is reduced to a clean or nearly clean level, and reducing or eliminating the risk of secondary pollution caused by dirt blocking the recovery pipeline or continuously being stained on the cleaning piece on the surface to be cleaned; by controlling the cleaning device to exit the frequency-increasing state in advance, compared with the state of continuing to operate in the frequency-increasing state for at least the preset time period, the electric energy of the cleaning device and the consumption of the cleaning liquid can be saved.

In some embodiments, when the soil value is greater than or equal to a preset soil threshold in step S130, controlling the cleaning device to operate in an up-conversion state for at least a preset period of time includes: and when the dirt value is larger than or equal to a first dirt threshold value and smaller than a second dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a first preset time period. The first preset duration is, for example, 30 seconds. Illustratively, the determining that the cleaning apparatus needs to perform self-cleaning treatment when the time length of the dirt value greater than or equal to the dirt threshold value within the preset time length is greater than or equal to a time length threshold value includes: and when the dirt values determined in at least part of the first preset time period are larger than or equal to the first dirt threshold value and smaller than the second dirt threshold value, and the part of the time period is larger than or equal to a corresponding time period threshold value, such as a first time period threshold value, judging that the cleaning equipment needs self-cleaning treatment. For example, the first time threshold may be equal to a first preset time period, for example, within 30 seconds of the cleaning device being operated in an up-conversion state, and if the determined soil values are both greater than or equal to the first soil threshold and less than the second soil threshold, then it is determined that the cleaning device needs to perform a self-cleaning process.

In some embodiments, when the soil value is greater than or equal to the preset soil threshold in step S130, controlling the cleaning device to operate in the ascending frequency state for at least a preset period of time may further include: and when the dirt value is greater than or equal to the second dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a second preset time period, wherein the second preset time period is smaller than the first preset time period. The second preset time period is, for example, 15 seconds. Illustratively, the determining that the cleaning apparatus needs to perform self-cleaning treatment when the time length of the dirt value greater than or equal to the dirt threshold value within the preset time length is greater than or equal to a time length threshold value includes: and when the dirt values determined in at least part of the second preset time period are all larger than or equal to the second dirt threshold value, and the part of the time period is larger than or equal to a corresponding time period threshold value, such as the second time period threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment. For example, the second duration threshold may be smaller than a second preset duration, for example, within 15 seconds of running the cleaning apparatus in the up-conversion state, and if the determined duration of time that the soil values are all greater than or equal to the second soil threshold reaches 5 seconds, it is determined that the cleaning apparatus needs to perform self-cleaning treatment.

When the dirt value determined in step S120 is greater than or equal to the first dirt threshold and less than the second dirt threshold, for example, the dirt state is the dirty state 1, there is a greater probability that the dirt is reduced or eliminated by the operation in the up-conversion state to block the recovery pipe or to be continuously stained on the cleaning member, thereby causing secondary pollution to the surface to be cleaned; the frequency of self-cleaning treatment of the cleaning equipment can be reduced through long-time up-conversion running, and the working efficiency of the cleaning equipment is improved. And when the dirt value determined in step S120 is greater than or equal to the second dirt threshold, for example, the dirt state is the very dirty state 2, the cleaning device can be operated in the ascending state for a short time to determine whether self-cleaning is needed, and the working efficiency of the cleaning device can be improved, so that the dirt is prevented from blocking the recovery pipeline or continuously staining on the cleaning member to cause secondary pollution to the surface to be cleaned.

In some embodiments, the boost condition comprises a first boost condition and a second boost condition, at least one operating parameter of the cleaning device in the second boost condition being greater than the operating parameter in the first boost condition. I.e. the cleaning capacity of the cleaning device in the second frequency raising state for the interior of the recovery duct and/or the cleaning member is higher than the cleaning capacity in the first frequency raising state for the interior of the recovery duct and/or the cleaning member. For example, the suction force of the first power component in the second frequency-increasing state is greater than the suction force of the first power component in the first frequency-increasing state, the rotation speed of the cleaning member in the second frequency-increasing state is greater than the rotation speed of the cleaning member in the first frequency-increasing state, and the liquid supply amount of the liquid supply component in the second frequency-increasing state is greater than the liquid supply amount of the liquid supply component in the first frequency-increasing state. The method further includes controlling the cleaning device to operate in an up-conversion state for at least a preset period of time when the soil value is greater than or equal to a preset soil threshold value, including: when the dirt value is larger than or equal to a first dirt threshold value and smaller than a second dirt threshold value, controlling the cleaning equipment to operate in the first frequency-raising state for at least a preset period of time; and when the dirt value is greater than or equal to the second dirt threshold value, controlling the cleaning equipment to operate in the second ascending frequency state for at least a preset time period. By determining the corresponding up-conversion state according to the dirty state corresponding to the dirty value, the intelligence of the cleaning device can be improved. For example, when the cleaning device is in a very dirty state, the operation in a stronger frequency-increasing state is adopted, so that the risk of secondary pollution caused by the fact that the cleaning device blocks a recovery pipeline or is continuously stained on a cleaning piece can be improved, the number of times of self-cleaning treatment of the cleaning device is reduced, and the working efficiency of the cleaning device is improved; the first frequency-raising state is adopted when the cleaning device is in a dirty state, so that consumption of electric energy and cleaning liquid during operation in the frequency-raising state can be reduced.

In some embodiments, the method further comprises: acquiring a dirt value of the sewage after cleaning the cleaning member and/or the recovery pipe by the dirt sensor while the cleaning apparatus performs the self-cleaning process; and when the dirt value of the sewage which is determined last time in the self-cleaning treatment is larger than or equal to a preset third dirt threshold value, controlling the cleaning equipment to perform the self-cleaning treatment again. For example, the third soil threshold is less than the first soil threshold. When the dirt value of the sewage is larger than or equal to a preset third dirt threshold value after the self-cleaning treatment is finished, namely the sewage after the cleaning piece and/or the recovery pipeline is cleaned or is dirty, the self-cleaning treatment can be determined to fail to effectively clean the dirt on the cleaning piece and/or the recovery pipeline, and the risk of secondary pollution to the surface to be cleaned still exists; the cleaning of the cleaning elements and/or the dirt on the recovery pipes can be continued by carrying out the self-cleaning process again.

Optionally, the method further comprises: and outputting manual cleaning prompt information to prompt a user to perform manual cleaning treatment on the cleaning piece and/or the recovery pipeline when the dirt value of the sewage, which is determined last time in the last self-cleaning treatment, is greater than or equal to a preset third dirt threshold value after the cleaning equipment performs the preset times, such as two times of self-cleaning treatment. When the dirty water after cleaning the cleaning member and/or the recovery conduit is still dirty after a number of self-cleaning processes, it may be determined that the self-cleaning process is also ineffective in removing the dirty water from the cleaning member and/or the recovery conduit, e.g., the dirty water has blocked the recovery conduit, and/or the dirty water is a sticky dilutable dirty water, the user may be prompted to manually clean, avoiding affecting the use of the cleaning apparatus.

In some embodiments, referring to fig. 4, a control method of a cleaning apparatus includes: when the cleaning equipment is started to clean the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor. And determining the dirty state of the interior of the recovery pipeline and/or the cleaning piece according to the comparison result of the dirty value and the first dirty threshold value and the second dirty threshold value. When the dirty state is the dirty state 1, controlling the cleaning equipment to operate in an ascending frequency state for at least a first preset time period; and outputting self-cleaning prompt information if the dirt states corresponding to the dirt values determined in the first preset time period are all state 1. When the dirty state is the very dirty state 2, controlling the cleaning equipment to operate in an ascending frequency state for at least a second preset time period; and outputting self-cleaning prompt information if the duration of the state 2 in the second preset duration reaches a second duration threshold. The cleaning device is placed on the maintenance device and then self-cleaning is performed. Judging whether the cleaning piece and/or the recovery pipeline are/is clean or not when the self-cleaning treatment is finished each time, and if the cleaning piece and/or the recovery pipeline are/is not clean and the number of the self-cleaning treatment is not up to the preset number, carrying out the self-cleaning treatment again; when the self-cleaning treatment reaches the preset times and the last self-cleaning treatment is finished, the cleaning piece and/or the recovery pipeline are not cleaned, and then a manual cleaning prompt message is output.

The control method of the cleaning equipment provided by the embodiment of the application comprises the following steps: acquiring a dirt value at the dirt sensor, namely a dirt value at the interior of the recovery pipeline and/or the cleaning piece, by the dirt sensor when the cleaning device cleans the surface to be cleaned; when the dirt value is greater than or equal to a preset dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a preset period of time, wherein at least one operation parameter of the cleaning equipment in the ascending frequency state is greater than the operation parameter in a non-ascending frequency state so as to enhance the cleaning capability of the cleaning piece and/or the inside of the recovery pipeline; and when the time length of the dirt value which is larger than or equal to the dirt threshold value in the preset time length is larger than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment. Controlling the cleaning equipment to run in an ascending frequency state for at least a preset time period when the dirt value in the cleaning equipment recovery pipeline and/or at the cleaning piece is greater than or equal to a preset dirt threshold value so as to remove dirt stained on the cleaning piece and/or dirt in the recovery pipeline; when the time length that the dirt value detected in the preset time length is greater than or equal to the dirt threshold reaches the time length threshold, namely the dirt stained on the cleaning piece and/or the dirt in the recovery pipeline cannot be removed in the ascending frequency state, judging that the cleaning equipment needs to perform self-cleaning treatment; to prevent contamination on the cleaning member and/or contamination in the recovery duct from causing secondary pollution to the surface to be cleaned when the cleaning device cleans the surface to be cleaned.

Referring to fig. 5 in combination with the above embodiment, fig. 5 is a flow chart of a control method of a cleaning apparatus according to another embodiment of the application.

As shown in fig. 5, the control method of the cleaning apparatus includes steps S210 to S220.

Step S210, when the cleaning equipment cleans the surface to be cleaned, acquiring a dirt value at the dirt sensor through the dirt sensor;

step S220, when the dirt value is greater than or equal to a preset dirt threshold, and the time length of the dirt value greater than or equal to the dirt threshold within a preset time length is greater than or equal to a time length threshold, determining that the cleaning device needs to perform self-cleaning treatment.

According to the control method of the cleaning equipment, when the dirt value in the recovery pipeline of the cleaning equipment and/or at the cleaning piece is greater than or equal to the preset dirt threshold value and the time length of the dirt value in the preset time length is greater than or equal to the preset dirt threshold value after that is greater than or equal to the time length threshold value, the cleaning equipment is judged to need self-cleaning treatment; the method comprises the steps that after the dirt value in the recovery pipeline and/or at the cleaning piece is greater than or equal to a preset dirt threshold value, the dirt value in the recovery pipeline and/or at the cleaning piece can be continuously detected within a preset time period, and if the time period that the dirt value detected within the preset time period is greater than or equal to the dirt threshold value reaches the time period threshold value, namely when dirt stained on the cleaning piece and/or dirt in the recovery pipeline cannot be removed, the cleaning equipment is judged to need self-cleaning treatment; to prevent contamination on the cleaning member and/or contamination in the recovery duct from causing secondary pollution to the surface to be cleaned when the cleaning device cleans the surface to be cleaned.

It should be noted that, after determining that the dirt value is greater than or equal to the preset dirt threshold in step S220, the cleaning device may be controlled to operate in an up-conversion state at least for the preset period of time, so as to effectively remove dirt stained on the cleaning member and/or dirt in the recovery pipeline by operating in the up-conversion state as much as possible, and reduce the number of times of self-cleaning treatment performed by the cleaning device. Or, after determining that the dirt value is greater than or equal to the preset dirt threshold in step S220, the cleaning device is continuously controlled according to the operation parameter corresponding to the current cleaning mode, that is, the dirt stained on the cleaning member and/or the dirt in the recovery pipeline can be removed only by lengthening the time without changing the operation parameter, and sometimes the dirt stained on the cleaning member and/or the dirt in the recovery pipeline can be removed, and compared with the operation in the ascending frequency state, the electric energy of the cleaning device and the consumption of the cleaning liquid can be saved.

In some embodiments, the soil threshold comprises a first soil threshold and/or a second soil threshold, the second soil threshold being greater than the first soil threshold; when the dirt value is greater than or equal to a preset dirt threshold value and the time length of the dirt value greater than or equal to the dirt threshold value within a preset time length is greater than or equal to a time length threshold value, determining that the cleaning equipment needs to perform self-cleaning treatment, including:

When the dirt value is greater than or equal to the first dirt threshold value and the time length smaller than the second dirt threshold value within the preset time length is greater than or equal to a first time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment; and/or

When the dirt value in the preset duration is greater than or equal to the second dirt threshold value and the duration is greater than or equal to the second duration threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment; the second time duration threshold is less than the first time duration threshold.

When the dirt state in the recovery pipeline and/or at the cleaning piece is very dirty, the probability of cleaning dirt stained on the cleaning piece and/or dirt in the recovery pipeline in the preset time period is low; the cleaning device can be judged to need to perform self-cleaning treatment when the dirt value is greater than or equal to the second dirt threshold value and the duration of the dirt value is greater than or equal to the second duration threshold value, namely whether the cleaning device needs to perform self-cleaning treatment or not can be judged more quickly, and therefore the intellectualization and the working efficiency of the cleaning device can be improved.

For example, when the dirt values determined in at least a first period of time in the preset time period are all greater than or equal to the second dirt threshold value, it is determined that the cleaning device needs to perform self-cleaning treatment, and the time period of the first period of time is greater than or equal to the second time period threshold value. The self-cleaning is needed only when the dirty state is met for a certain period of time, and meanwhile, the self-cleaning treatment is not needed under the condition that the dirty state is temporary, so that the surface to be cleaned is continuously cleaned, and the cleaning efficiency of the surface to be cleaned is improved.

For example, when the number of times of the dirt value determined in the preset time period being greater than or equal to the second dirt threshold value is greater than or equal to a preset number of times threshold value, and/or the accumulated time period of the dirt value determined in the preset time period being greater than or equal to the second dirt threshold value is greater than or equal to a second time period preset value, it is determined that the cleaning device needs to perform self-cleaning treatment. Can prevent the secondary pollution caused by the dirt blocking the recovery pipeline or continuously being stained on the cleaning piece when the temporary dirt state is generated frequently.

The specific principle and implementation manner of the control method of the cleaning device provided in the embodiment of the present application are similar to those of the control method of the embodiment shown in fig. 1, and will not be described herein.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement the steps of the method of any of the embodiments described above.

The computer readable storage medium may be an internal storage unit of the cleaning device according to any one of the foregoing embodiments, for example, a hard disk or a memory of the cleaning device. The computer readable storage medium may also be an external storage device of the cleaning device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the cleaning device.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It should also be understood that the term "and/or" as used in the present application and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A control method of a cleaning device, characterized in that the cleaning device comprises a cleaning member, a recovery pipeline and a first power assembly, wherein the first power assembly forms negative pressure inside the recovery pipeline so that the recovery pipeline collects dirt at the cleaning member, and a dirt sensor is arranged inside the recovery pipeline and/or at the cleaning member; the method comprises the following steps:

2. The control method of claim 1, wherein the soil threshold comprises a first soil threshold and a second soil threshold, the second soil threshold being greater than the first soil threshold; and when the time length of the dirt value larger than or equal to the dirt threshold value within the preset time length is larger than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment, wherein the self-cleaning treatment comprises the following steps:

3. The control method according to claim 2, wherein the determining that the cleaning apparatus needs to perform self-cleaning processing when the duration of the dirt value greater than or equal to the second dirt threshold value within the preset duration is greater than or equal to a second duration threshold value includes:

when the dirt values determined in at least a first period of time in the preset time are all larger than or equal to the second dirt threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment, wherein the time length of the first period of time is larger than or equal to the second time threshold value; and/or the number of the groups of groups,

and when the number of times that the dirt value determined in the preset time period is greater than or equal to the second dirt threshold value is greater than or equal to a preset number of times threshold value, and/or the accumulated time period that the dirt value determined in the preset time period is greater than or equal to the second dirt threshold value is greater than or equal to a second time period preset value, judging that the cleaning equipment needs to perform self-cleaning treatment.

4. The control method according to claim 2, characterized in that the method further comprises:

and when the time length of the dirt value smaller than the first dirt threshold value in the preset time length is larger than or equal to a third time length threshold value, controlling the cleaning equipment to exit the frequency-raising state, wherein the third time length threshold value is larger than or equal to a difference value between the preset time length and the first time length threshold value.

5. The control method according to any one of claims 1 to 4, characterized in that the upshift state includes a first upshift state and a second upshift state, at least one operation parameter of the cleaning device in the second upshift state being greater than the operation parameter in the first upshift state;

when the dirt value is greater than or equal to a preset dirt threshold, controlling the cleaning equipment to run in an ascending state for at least a preset time period, including:

when the dirt value is larger than or equal to a first dirt threshold value and smaller than a second dirt threshold value, controlling the cleaning equipment to operate in the first frequency-raising state for at least a preset period of time;

and when the dirt value is greater than or equal to the second dirt threshold value, controlling the cleaning equipment to operate in the second ascending frequency state for at least a preset time period.

6. The control method according to any one of claims 1 to 4, characterized in that the controlling the cleaning apparatus to operate in an up-conversion state for at least a preset period of time when the contamination value is greater than or equal to a preset contamination threshold value includes: when the dirt value is larger than or equal to a first dirt threshold value and smaller than a second dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a first preset time period; and when the time length of the dirt value larger than or equal to the dirt threshold value within the preset time length is larger than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment, wherein the self-cleaning treatment comprises the following steps: when the dirt values determined in at least part of the first preset time period are all larger than or equal to the first dirt threshold value and smaller than the second dirt threshold value, and the part of the time period is larger than or equal to the corresponding time period threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment; and/or

When the dirt value is greater than or equal to a preset dirt threshold, controlling the cleaning equipment to run in an ascending state for at least a preset time period, including: when the dirt value is greater than or equal to the second dirt threshold value, controlling the cleaning equipment to operate in an ascending frequency state for at least a second preset time period; and when the time length of the dirt value larger than or equal to the dirt threshold value within the preset time length is larger than or equal to the time length threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment, wherein the self-cleaning treatment comprises the following steps: when the dirt values determined in at least part of the second preset time period are all larger than or equal to the second dirt threshold value, and the part of the time period is larger than or equal to the corresponding time period threshold value, judging that the cleaning equipment needs to perform self-cleaning treatment;

The second preset time period is smaller than the first preset time period.

7. The control method according to any one of claims 1 to 4, wherein the cleaning apparatus further comprises a second power assembly for driving the cleaning member to rotate and/or a liquid supply assembly for supplying a cleaning liquid to the cleaning member;

the control of the cleaning device to operate in an up-conversion state includes at least one of:

controlling the first power assembly to increase suction to increase negative pressure inside the recovery pipeline;

controlling the second power assembly to increase the rotating speed of the cleaning piece;

controlling the liquid supply assembly to increase the amount of liquid that supplies cleaning liquid to the cleaning member and/or the recovery conduit;

controlling the liquid supply assembly to increase the content of cleaning substances in the cleaning liquid provided to the cleaning member and/or the recovery pipeline.

8. The control method according to any one of claims 1 to 4, characterized in that the method further comprises:

when the cleaning equipment is judged to need to perform self-cleaning treatment, the cleaning equipment is controlled to perform self-cleaning treatment, and/or self-cleaning prompt information is output to prompt a user that the cleaning equipment needs to perform self-cleaning treatment.

9. The control method according to any one of claims 1 to 4, characterized in that the method further comprises:

acquiring a dirt value of the sewage after cleaning the cleaning member and/or the recovery pipe by the dirt sensor while the cleaning apparatus performs the self-cleaning process;

and when the dirt value of the sewage which is determined last time in the self-cleaning treatment is larger than or equal to a preset third dirt threshold value, controlling the cleaning equipment to perform the self-cleaning treatment again.

10. The control method according to claim 9, characterized in that the method further comprises:

after the cleaning device performs the self-cleaning treatment for a preset number of times, outputting manual cleaning prompt information to prompt a user to perform manual cleaning treatment on the cleaning piece and/or the recovery pipeline when the dirt value of the sewage which is determined last time in the last self-cleaning treatment is greater than or equal to a preset third dirt threshold value.

11. A control method of a cleaning device, characterized in that the cleaning device comprises a cleaning member, a recovery pipeline and a first power assembly, wherein the first power assembly forms negative pressure inside the recovery pipeline so that the recovery pipeline collects dirt at the cleaning member, and a dirt sensor is arranged inside the recovery pipeline and/or at the cleaning member; the method comprises the following steps:

12. The control method according to claim 11, characterized in that the fouling threshold comprises a first fouling threshold and/or a second fouling threshold, the second fouling threshold being larger than the first fouling threshold; when the dirt value is greater than or equal to a preset dirt threshold value and the time length of the dirt value greater than or equal to the dirt threshold value within a preset time length is greater than or equal to a time length threshold value, determining that the cleaning equipment needs to perform self-cleaning treatment, including:

13. The cleaning device is characterized by comprising a cleaning piece, a recovery pipeline and a first power assembly, wherein the first power assembly forms negative pressure inside the recovery pipeline so that the recovery pipeline can collect dirt at the cleaning piece, and a dirt sensor is arranged inside the recovery pipeline and/or at the cleaning piece;

the cleaning apparatus further comprises: a processor and a memory for storing a computer program; the processor is adapted to execute the computer program and to carry out the steps of the method of controlling a cleaning device according to any one of claims 1-12 when the computer program is executed.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to carry out the steps of the method of controlling a cleaning device according to any one of claims 1-12.