CN117179659A - Cleaning method, cleaning device, cleaning apparatus, cleaning system, and storage medium - Google Patents

Abstract

The application discloses a cleaning method, a cleaning device, a cleaning apparatus, a cleaning system, and a nonvolatile computer-readable storage medium. The method comprises the steps of judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value under the condition that a self-cleaning instruction is received; and under the condition that the residual water quantity of the clean water tank is larger than a first preset threshold value, the residual water quantity of the sewage tank is smaller than a second preset threshold value and the residual electric quantity of the battery is larger than a third preset threshold value, entering a self-cleaning mode. Therefore, the application takes the residual water quantity of the clean water tank, the residual water quantity of the sewage tank and the residual electric quantity of the battery as the judging standard for entering the self-cleaning mode, so that the cleaning equipment can enter the self-cleaning mode only under the condition that more factors influencing the self-cleaning effect reach the condition of ensuring the working effect, thereby ensuring the self-cleaning effect.

Description

Cleaning method, cleaning device, cleaning apparatus, cleaning system, and storage medium

Technical Field

The present application relates to the field of cleaning technology, and more particularly, to a cleaning method, a cleaning apparatus, a cleaning device, a cleaning system, and a non-volatile computer-readable storage medium.

Background

Nowadays, more and more appliances are on the market, for example cleaning devices having a self-cleaning mode, so-called self-cleaning functions, which are mainly used for cleaning the cleaning device itself, so as to ensure the cleanliness of the appliance, preventing the dirt of the appliance itself from affecting the normal use of the appliance. The current cleaning device enters a self-cleaning mode if the remaining battery level is greater than a corresponding threshold value. However, the self-cleaning effect is also affected by other factors, and if only the remaining power of the battery is used as a criterion for entering the self-cleaning mode, the self-cleaning effect is difficult to be ensured.

Disclosure of Invention

The embodiment of the application provides a cleaning method, a cleaning device, a cleaning equipment, a cleaning system and a nonvolatile computer readable storage medium, which can enter a self-cleaning mode only when the residual water quantity of a clean water tank, the residual water quantity of a sewage tank and the residual electric quantity of a battery reach the self-cleaning requirement, thereby ensuring the self-cleaning effect.

The cleaning method of the embodiment of the application comprises the steps of judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value under the condition that a self-cleaning instruction is received; and under the condition that the residual water quantity of the clean water tank is larger than the first preset threshold value, the residual water quantity of the sewage tank is smaller than the second preset threshold value and the residual electric quantity of the battery is larger than the third preset threshold value, entering a self-cleaning mode.

In certain embodiments, the method further comprises detecting whether the cleaning device is located in the base of the base station; if yes, entering the self-cleaning mode.

In some embodiments, the detecting whether the cleaning device is located in the base of the base station includes detecting whether the cleaning device is in a chargeable state; detecting whether the pressure value output by the pressure sensor of the base is larger than a preset threshold value or not; and/or detecting whether the signal output by the shielding detection sensor of the base is a preset signal.

In certain embodiments, the method further comprises detecting whether the cleaning device establishes serial communication with the base station; if yes, entering the self-cleaning mode.

In some embodiments, the method further comprises sending a drying instruction to the base station through serial communication after the self-cleaning is finished, so as to control the drying device of the base station to dry the cleaning equipment.

In some embodiments, the second preset threshold is in negative correlation with the first preset threshold.

In some embodiments, when the cleaning device is located on the base of the base station, the clean water pipe of the base station extends into the clean water tank, the sewage pipe of the base station extends into the sewage tank, the base station is electrically connected with the cleaning device, and the method further comprises discharging water through the clean water pipe when the residual water amount of the clean water tank is less than or equal to the first preset threshold value; pumping water through the sewer pipe under the condition that the residual water amount of the sewer tank is larger than or equal to the second preset threshold value; and under the condition that the residual electric quantity of the battery is smaller than or equal to the third preset threshold value, charging the battery through a charging interface of the base station.

In some embodiments, the self-cleaning instruction is generated by a self-cleaning key of the cleaning device being pressed or by a terminal connected to the cleaning device.

In certain embodiments, the cleaning step of the self-cleaning mode includes preparing a sterilizing liquid, cleaning a roll brush, cleaning a pipe, and deep cleaning, which are sequentially performed after entering the self-cleaning mode.

In some embodiments, the cleaning method further comprises acquiring dirt information of the cleaning device detected when the cleaning device ends a cleaning operation before receiving the self-cleaning instruction; and determining a cleaning strategy of the self-cleaning mode according to the dirt information, wherein the first preset threshold value, the second preset threshold value and the third preset threshold value are determined according to the dirt information.

The cleaning device of the embodiment of the application comprises a judging module and an executing module. The judging module is used for judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value under the condition that the self-cleaning instruction is received; the execution module is used for entering a self-cleaning mode under the conditions that the residual water quantity of the clean water tank is larger than the first preset threshold value, the residual water quantity of the sewage tank is smaller than the second preset threshold value and the residual electric quantity of the battery is larger than the third preset threshold value.

The cleaning device of the embodiment of the application comprises a processor, a memory and a computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program comprises instructions for executing the cleaning method of any embodiment.

The cleaning system of the embodiment of the application comprises the cleaning equipment and the base station, wherein the cleaning equipment performs self-cleaning on the base station.

The non-transitory computer readable storage medium of an embodiment of the present application includes a computer program that, when executed by a processor, causes the processor to execute the cleaning method of any of the above embodiments.

The cleaning method, the cleaning device, the cleaning equipment, the cleaning system and the computer readable storage medium of the embodiment of the application take the residual water quantity of the clean water tank, the residual water quantity of the sewage tank and the residual electric quantity of the battery as the conditions for judging whether the self-cleaning mode can be entered or not, and respectively set corresponding threshold values to ensure the self-cleaning effect. Under the condition that a self-cleaning instruction is received, judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value or not so as to judge whether the actual conditions of the clean water tank, the sewage tank and the battery meet the requirement of entering a self-cleaning mode or not. And entering a self-cleaning mode under the conditions that the residual water quantity of the clean water tank is larger than a first preset threshold value, the residual water quantity of the sewage tank is smaller than a second preset threshold value and the residual electric quantity of the battery is larger than a third preset threshold value. Therefore, compared with the scheme that only the residual quantity of the battery is used as the judging standard for entering the self-cleaning mode, the self-cleaning device and the self-cleaning method have the advantages that the residual quantity of the clean water tank, the residual quantity of the sewage tank and the residual quantity of the battery are used as the judging standard for entering the self-cleaning mode, so that the self-cleaning device can enter the self-cleaning mode under the condition that more factors affecting the self-cleaning effect reach the condition for ensuring the working effect, and the self-cleaning effect is ensured.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a schematic structural view of a cleaning system according to certain embodiments of the present application;

FIG. 2 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 3 is a schematic flow chart of a cleaning method according to some embodiments of the present application;

FIG. 4 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 5 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 6 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 7 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 8 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 9 is a schematic block diagram of a cleaning apparatus according to certain embodiments of the present application;

FIG. 10 is a schematic diagram of the connection state of a non-transitory computer readable storage medium and a processor of some embodiments of the application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the embodiments of the present application and are not to be construed as limiting the embodiments of the present application.

To facilitate an understanding of the application, the following terms used in connection with the application will be explained:

the floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc., is one kind of intelligent household appliance and can complete floor cleaning automatically inside room via artificial intelligence. Generally, the brushing and vacuum modes are adopted, and the ground sundries are firstly absorbed into the garbage storage box of the ground, so that the function of cleaning the ground is completed. Generally, robots for performing cleaning, dust collection, and floor scrubbing are collectively referred to as floor cleaning robots.

The cleaning apparatus 100 of the present application may be a dust extraction robot, or may be a sweeping/washing/brushing/mopping robot, or the like. For brevity, the present application is described using the cleaning apparatus 100 as a floor cleaning robot, and the principle of the cleaning apparatus 100 being another type of robot is similar, and will not be described herein.

Factors affecting the self-cleaning effect include the remaining water amount of the fresh water tank 20 and the remaining water amount of the sewage tank 30, in addition to the remaining power of the battery 40. When the remaining amount of water of the clean water tank 20 is small, the cleaning apparatus 100 cannot obtain enough clean water to perform a better self-cleaning. When the remaining amount of water in the sewage tank 30 is large, the sewage tank 30 cannot have a sufficient space to collect sewage generated in the self-cleaning mode, resulting in poor self-cleaning effect. When the remaining amount of the battery 40 is small, the cleaning apparatus 100 cannot acquire enough amount of power to perform self-cleaning.

In addition, the self-cleaning mode requires a certain resource such as clean water, electricity, and the remaining volume of the sewage tank 30. If the self-cleaning mode is entered when the resources are insufficient, the self-cleaning effect is poor, and the self-cleaning is performed again after the resources are supplemented, which leads to the waste of the resources.

In order to solve the above technical problems, an embodiment of the present application provides a cleaning method.

An application scenario of the technical scheme of the present application is described first, as shown in fig. 1, and the cleaning method provided by the present application may be applied to the application scenario shown in fig. 1. The cleaning method is applied to a cleaning system 1000, and the system 1000 includes a cleaning apparatus 100, a base station 200, a terminal 300, and a server 400.

Wherein the cleaning apparatus 100, the base station 200, the terminal 300 and the server 400 all communicate through a network. The cleaning method may be implemented by cleaning at least one of the apparatus 100, the base station 200, the terminal 300, and the server 400. Such as by the cleaning device 100, the base station 200, the terminal 300, or the server 400, or by the cleaning device 100 and the base station 200 cooperating, or the cleaning device 100 and the server 400 cooperating, etc.

Alternatively, the terminal 300 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like. The server 400 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligence platforms. The embodiments of the present application are not limited in this regard.

Alternatively, the base station 200 and the cleaning device 100 may communicate via wireless means (e.g., wireless local area network (Wireless Fidelity, wifi) communication, bluetooth communication, infrared communication, etc.). When wifi communication is performed, the cleaning device 100 and the base station 200 communicate with a cloud server respectively, and then the cloud server realizes communication between the cleaning device 100 and the base station 200; when communicating through bluetooth or infrared, the cleaning device 100 and the base station 200 are each provided with a corresponding communication module to directly enable communication therebetween.

Alternatively, the terminal 300 may communicate with the cleaning apparatus 100 in a wireless manner, and the cleaning apparatus 100 may communicate with the server 400 after accessing the network in a wifi manner.

It will be appreciated that the communication among the cleaning apparatus 100, the base station 200, the terminal 300 and the server 400 is not limited to the above-described communication manner, and is not limited thereto.

The cleaning method of the present application will be described in detail as follows:

referring to fig. 1 and 2, an embodiment of the present application provides a cleaning method, which includes:

step 011: in the case of receiving the self-cleaning instruction, judging whether the remaining water amount of the fresh water tank 20 is greater than a first preset threshold, whether the remaining water amount of the sewage tank 30 is less than a second preset threshold, and whether the remaining power of the battery 40 is greater than a third preset threshold;

specifically, the processor 50 of the cleaning apparatus 100 may accomplish cleaning and self-cleaning by controlling the cooperation of a plurality of devices. For example, the cleaning apparatus 100 generally includes a roller brush 60, a motor 70, and a suction duct 80 connected to the motor 70, and the roller brush 60 is capable of rolling to drive dirt when the cleaning apparatus 100 performs a cleaning task, and the motor 70 operates to cause the suction duct 80 to generate suction force to suck the carried dirt into the suction duct 80. It will be appreciated that these devices may become stained with certain soils during the cleaning process. The self-cleaning mode requires cleaning of the dirt from these devices to prevent the dirt from affecting the cleaning process of the cleaning apparatus 100. The self-cleaning mode generally includes a plurality of cleaning steps, and the cleaning parameters of each cleaning step may be set according to the degree of soiling of the corresponding device, and then the processor 50 performs each cleaning step according to the corresponding cleaning parameters.

For example, the water outlet pipe of the clean water tank 20 is discharged and sprayed onto the rolling brush 60, so that the rolling brush 60 is wet, and the cleaning effect can be improved. The suction duct 80 is connected to the sewage tank 30, and the sewage passes through the suction duct 80 and then enters the sewage tank 30, and the sewage tank 30 can store the sewage. The self-cleaning mode of the cleaning apparatus 100 includes preparing a sterilizing fluid, cleaning the roll brush 60, cleaning the pipe, and deep cleaning.

First, a stage of preparing a degerming liquid:

the preparation of the sterilization liquid refers to the sterilization liquid manufactured by the cleaning apparatus 100 and used for cleaning, and an electrolysis device is further provided in the clean water tank 20 of the cleaning apparatus 100, and the sterilization liquid can be prepared by electrolysis. The preparation of the sterilizing liquid is a preparation stage of self-cleaning.

The cleaning parameters corresponding to the preparation of the sterilizing liquid comprise the sterilizing liquid volume gear, different sterilizing liquid volume gears and different corresponding sterilizing liquid volumes. If the volume of the sterilizing liquid is higher, the volume of the sterilizing liquid is larger, or the volume of the sterilizing liquid is lower, the volume of the sterilizing liquid is larger. It will be appreciated that the greater the degree of soiling, the greater the amount of soiling that needs to be cleaned, and the more bacteria-removing liquid that is required.

Second, cleaning the rolling brush 60:

after the preparation of the sterilizing liquid is finished, the self-cleaning can be formally started, the rolling brush 60 can be cleaned firstly, the sterilizing liquid is sprayed to the rolling brush 60 by the cleaning rolling brush 60 specifically through the water outlet pipe of the clean water tank 20, and then the rolling brush 60 can scrape off dirt on the rolling brush 60 through parts such as a baffle plate and the like in front of the rolling brush 60 by rotating, so that the cleaning of the rolling brush 60 is realized.

The cleaning parameters corresponding to the cleaning roller brush 60 include a first water outlet gear, a first roller brush rotational speed gear, and a first cleaning duration.

The different first water outlet gears are different in the water outlet amount sprayed to the rolling brush 60 correspondingly. If the first water outlet gear is higher, the water outlet amount is larger; or, the lower the first water outlet gear is, the larger the water outlet amount is.

The rotational speeds of the first rolling brushes 60 are different from each other. If the first rolling brush rotating speed gear is higher, the rotating speed of the rolling brush 60 is higher; alternatively, the lower the first brush speed gear, the greater the speed of the brush 60.

The first cleaning time period is different and the cleaning time period of the roll brush 60 is different. The longer the first cleaning period, the longer the cleaning period of the roller brush 60.

It will be appreciated that the greater the degree of soil, the greater the amount of soil that needs to be cleaned, the greater the amount of water output, the faster the speed of the roller brush 60 and the longer the duration of the cleaning of the roller brush 60.

Third, cleaning the pipeline:

after which the pipe is cleaned. The cleaning pipe specifically sucks dirt in the suction pipe 80 into the sewage tank 30 by suction force generated when the motor 70 operates, and cleaning of the suction pipe 80 is achieved.

The cleaning parameters corresponding to the cleaning pipeline comprise a first suction gear and a second cleaning time period.

The different first suction gear is different for suction to the suction duct 80. If the first suction gear is higher, the suction force is larger; alternatively, the lower the first suction gear, the greater the suction force.

The second, different cleaning duration, the duration of the motor 70 pumping is different. The longer the second cleaning period, the longer the motor 70 draws.

It will be appreciated that the greater the degree of soil, the greater the amount of soil that needs to be cleaned, the greater the suction and the longer the duration of the suction by the motor 70.

Fourth, deep cleaning stage:

after cleaning the roller brush 60 and the cleaning pipe, the roller brush 60 and the suction pipe 80 may be deeply cleaned again in order to further improve the cleaning effect. The deep cleaning may simultaneously clean the roller brush 60 and the suction duct 80.

The cleaning parameters corresponding to the deep cleaning comprise a third cleaning time period, a second water outlet gear, a second rolling brush rotating speed gear and a second suction gear.

The third different cleaning time period varies with the time period during which the roller brush 60 is cleaned and the time period during which the motor 70 is suctioned. The longer the third cleaning period, the longer the cleaning period of the roller brush 60 and the suction period of the motor 70.

The second water outlet gears are different, and the water outlet amounts are different. If the second water outlet gear is higher, the water outlet amount is larger; or, the lower the second water outlet gear is, the larger the water outlet amount is.

The rotational speed of the second different rolling brush is different from the rotational speed of the rolling brush 60. If the second rolling brush rotating speed gear is higher, the rotating speed of the rolling brush 60 is higher; alternatively, the lower the second brush speed gear, the greater the speed of the brush 60.

A second, different suction gear, the suction force drawn by the motor 70 is different. If the second suction gear is higher, the suction force is larger; alternatively, the lower the second suction gear, the greater the suction force.

The remaining water amount of the clean water tank 20, the remaining water amount of the sewage tank 30, and the remaining power of the battery 40 may affect the self-cleaning effect, so the remaining water amount of the clean water tank 20, the remaining water amount of the sewage tank 30, and the remaining power of the battery 40 may be used as conditions for determining whether the self-cleaning mode can be entered, and corresponding thresholds may be set, respectively. The first preset threshold is a lower limit of the water amount within a reasonable range of the remaining water amount of the clean water tank 20, and once the remaining water amount is smaller than the first preset threshold, it means that the cleaning apparatus 100 cannot obtain enough clean water to perform the self-cleaning with good effect. The second preset threshold is a water amount upper limit value of a reasonable range of the remaining water amount of the sewage tank 30, and once the remaining water amount is greater than the second preset threshold, it represents that the sewage tank 30 cannot have sufficient space to collect sewage generated in the self-cleaning mode, resulting in poor self-cleaning effect. The third preset threshold is a lower limit value of the remaining power of the battery 40 in a reasonable range, and once the remaining power is smaller than the third preset threshold, it represents that the cleaning apparatus 100 cannot obtain enough power to perform self-cleaning.

Therefore, in case of receiving a self-cleaning instruction (i.e., a control instruction for controlling the cleaning apparatus 100 to enter the self-cleaning mode), the processor 50 also needs to acquire the remaining water amount of the clean water tank 20, the remaining water amount of the sewage tank 30, or the remaining power of the battery 40, and determine whether the remaining water amount of the clean water tank 20 is greater than a first preset threshold, the remaining water amount of the sewage tank 30 is less than a second preset threshold, and the remaining power of the battery 40 is greater than a third preset threshold, to determine whether the cleaning apparatus 100 has sufficient clean water, the remaining capacity of the sewage tank, and the power of the battery at this time to perform self-cleaning.

Alternatively, the self-cleaning instruction may be generated after the self-cleaning key of the cleaning apparatus 100 is pressed, or generated by the terminal 300 connected to the cleaning apparatus 100.

For example, a self-cleaning button is generally provided on the handle of the cleaning apparatus 100, and in the case that the user presses the self-cleaning button, i.e., a self-cleaning control command is generated, the processor 50 controls the cleaning apparatus 100 to start self-cleaning according to the acquired self-cleaning control command.

Referring to fig. 1, for another example, the cleaning apparatus 100 has a wireless communication module to perform wireless communication (such as bluetooth communication, wifi communication, etc.) with the user's terminal 300, and the user may issue a self-cleaning control command to the cleaning apparatus 100 through an application program installed in the terminal 300 for controlling the cleaning apparatus 100, and the processor 50 controls the cleaning apparatus 100 to start self-cleaning according to the received self-cleaning control command.

Alternatively, the base station 200 has a wireless communication module, and since the cleaning apparatus 100 is located on the base 210 of the base station 200, the cleaning apparatus 100 and the base station 200 are connected by wire, the base station 200 can perform wireless communication (such as bluetooth communication, wifi communication, etc.) with the user's terminal 300, and the user can issue a self-cleaning control instruction to the base station 200 through an application program installed in the terminal 300 for controlling the cleaning apparatus 100, and then the base station 200 forwards the self-cleaning control instruction to the cleaning apparatus 100. The processor 50 controls the cleaning device 100 to start self-cleaning according to the received self-cleaning control instruction.

Step 012: in case that the remaining water amount of the fresh water tank 20 is greater than the first preset threshold, the remaining water amount of the sewage tank 30 is less than the second preset threshold, and the remaining power of the battery 40 is greater than the third preset threshold, the self-cleaning mode is entered.

Specifically, in the case that any one of the three conditions that the remaining water amount of the fresh water tank 20 is greater than the first preset threshold, the remaining water amount of the sewage tank 30 is less than the second preset threshold, and the remaining power of the battery 40 is greater than the third preset threshold is not achieved, the self-cleaning effect is affected.

In the case where the remaining water amount of the fresh water tank 20 is greater than the first preset threshold, the remaining water amount of the sewage tank 30 is less than the second preset threshold, and the remaining power of the battery 40 is greater than the third preset threshold, the processor 50 may consider that there is sufficient resources to complete the self-cleaning at this time, and thus may enter the self-cleaning mode. It will be appreciated that there are many factors affecting self-cleaning to the condition of ensuring the self-cleaning effect, so that the self-cleaning effect of the cleaning apparatus 100 is better under the combined action of the clean water tank 20, the sewage tank 30 and the battery 40.

The cleaning method of the embodiment of the present application takes the remaining water amount of the clean water tank 20, the remaining water amount of the sewage tank 30, and the remaining power of the battery 40 as conditions for judging whether the self-cleaning mode can be entered, and sets corresponding thresholds, respectively, to ensure the self-cleaning effect. In the case of receiving the self-cleaning instruction, it is determined whether the remaining water amount of the fresh water tank 20 is greater than a first preset threshold, the remaining water amount of the sewage tank 30 is less than a second preset threshold, and the remaining power of the battery 40 is greater than a third preset threshold, so as to determine whether the actual conditions of the fresh water tank 20, the sewage tank 30, and the battery 40 meet the requirement of entering the self-cleaning mode. And enters a self-cleaning mode in case the remaining water amount of the fresh water tank 20 is greater than a first preset threshold, the remaining water amount of the sewage tank 30 is less than a second preset threshold, and the remaining power of the battery 40 is greater than a third preset threshold. In this way, compared with the scheme that only the remaining capacity of the battery 40 is used as the judging standard for entering the self-cleaning mode, the application uses the remaining capacity of the clean water tank 20, the remaining capacity of the sewage tank 30 and the remaining capacity of the battery 40 as the judging standard for entering the self-cleaning mode, so that the cleaning device 100 can enter the self-cleaning mode only when more factors affecting the self-cleaning effect reach the condition of ensuring the working effect, thereby ensuring the self-cleaning effect. In addition, in the case where the remaining water amount of the fresh water tank 20 is greater than the first preset threshold, the remaining water amount of the sewage tank 30 is less than the second preset threshold, and the remaining power of the battery 40 is greater than the third preset threshold, the self-cleaning mode is entered, and it is also ensured that the cleaning apparatus 100 enters the self-cleaning mode only in the case where the resources are sufficient, so that the self-cleaning effect is better, thereby saving the resources used when the self-cleaning mode is repeatedly performed due to the poor self-cleaning effect.

Referring to fig. 1 and 3, in some embodiments, the cleaning method further includes:

step 013: detecting whether the cleaning device 100 is located at the base 210 of the base station 200;

step 014: if so, a self-cleaning mode is entered.

Specifically, in the case where the processor 50 acquires the self-cleaning control instruction, it is also necessary to determine whether the cleaning apparatus 100 is located at the base 210 of the base station 200. The processor 50 controls the cleaning apparatus 100 to enter the self-cleaning mode only in the case where the remaining water amount of the fresh water tank 20 is greater than the first preset threshold, the remaining water amount of the sewage tank 30 is less than the second preset threshold, the remaining power of the battery 40 is greater than the third preset threshold, and the cleaning apparatus 100 is located at the base 210 of the base station 200. In this way, the processor 50 can prevent the user from touching the self-cleaning button by mistake during the execution of the cleaning task, so that the self-cleaning mode is entered when the cleaning apparatus 100 is not located on the base 210 of the base station 200, thereby ensuring the accuracy of the self-cleaning execution.

Referring to fig. 1 and 4, in some embodiments, step 013: in the case where the self-cleaning instruction is acquired, detecting whether the cleaning apparatus 100 is located at the base 210 of the base station 200 includes:

step 0131: detecting whether the cleaning device 100 is in a chargeable state;

Step 0132: detecting whether a pressure value output by the pressure sensor 220 of the base 210 is greater than a preset threshold; and/or

Step 0133: whether the signal output from the shielding detection sensor 230 of the detection base 210 is a preset signal or not.

Specifically, in some embodiments, when the cleaning device 100 is placed on the base 210, the cleaning device 100 is electrically connected to the base 210 (e.g. the charging head and the charging interface of the two devices), so that whether the cleaning device 100 is located on the base 210 can be determined according to whether the cleaning device 100 is in a chargeable state.

In other embodiments, a pressure sensor 220 may also be provided on the base 210 to detect whether the cleaning device 100 is located on the base 210. The processor 50 may then set a preset threshold based on the weight of the cleaning device 100. Then, in case of acquiring the self-cleaning instruction, the processor 50 controls the pressure sensor 220 to operate and detects whether the pressure value output by the pressure sensor 220 of the base 210 is greater than a preset threshold. When the pressure of the pressure sensor 220 is greater than or equal to a preset threshold, it is determined that the cleaning apparatus 100 is located at the base 210.

In still other embodiments, an occlusion detection sensor 230 may also be provided on the base 210 to detect whether the cleaning device 100 is located on the base 210. At this time, the signal output from the occlusion detection sensor 230 may be set to a preset signal in a case where the cleaning device 100 is placed on the base 210. Then, when the self-cleaning instruction is acquired, the processor 50 controls the shielding detection sensor 230 to operate, and detects whether the signal output by the shielding detection sensor 230 is a preset signal, and if the output signal is the preset signal, it can be determined that the cleaning apparatus 100 is located on the base 210.

In this way, the processor 50 can determine whether the cleaning apparatus 100 is located on the base 210 by using a suitable method, so as to prevent the user from touching the self-cleaning button by mistake during the execution of the cleaning task, and enter the self-cleaning mode when the cleaning apparatus 100 is not located on the base 210 of the base station 200, thereby ensuring the accuracy of the self-cleaning execution. Of course, in detecting whether the cleaning device 100 is located on the base 210 of the base station 200, the processor 50 may use any one of the above embodiments or the methods described in the embodiments simultaneously to perform the detection, which is not limited herein.

Referring to fig. 1 and 5, in some embodiments, the cleaning method further includes:

step 015: detecting whether the cleaning device 100 establishes serial communication with the base station 200;

step 016: if so, a self-cleaning mode is entered.

Specifically, serial communication can be established between the cleaning device 100 and the base station 200, so as to facilitate cooperation between the cleaning device 100 and the base station 200.

In the case of receiving the self-cleaning instruction, the processor 50 may further detect whether the cleaning device 100 establishes serial communication with the base station 200, so as to confirm whether the cleaning device 100 is located in the base station 200 by using the serial communication on one hand, ensure accuracy of self-cleaning execution, and ensure that the cleaning device 100 and the base station 200 have established communication before entering the self-cleaning mode on the other hand, so that the subsequent processor 50 and the base station 200 cooperate to complete self-cleaning and finish the ending work after self-cleaning.

Referring to fig. 1 and 6, in some embodiments, the cleaning method further includes:

step 017: after the self-cleaning is finished, a drying instruction is transmitted to the base station 200 through serial communication to control the drying device 240 of the base station 200 to dry the cleaning apparatus 100.

Specifically, after the self-cleaning is completed, since the roller brush 60 is in a wet state, it is generally necessary to dry the roller brush 60. The base station 200 is provided with a drying device 240, and the drying device 240 can generate heat to dry the moisture in the roller brush 60 and the suction duct 80. Therefore, after the self-cleaning is finished, the processor 50 can send a drying instruction to the base station 200 through serial communication, and after the base station 200 receives the drying instruction, the drying device 240 is controlled to dry the cleaning apparatus 100, so as to ensure the dryness of the cleaning apparatus 100 in a non-cleaning state or a non-self-cleaning state, thereby improving the dryness of the cleaning apparatus 100. Meanwhile, after the rolling brush 60 is dried, dirt on the rolling brush 60 is more easily sucked into the sewage tank 30, and the cleaning effect can be further improved.

Referring to fig. 1 and 7, in some embodiments, in a case where the cleaning apparatus 100 is located on the base 210 of the base station 200, the clean water pipe 250 of the base station 200 extends into the clean water tank 20, the sewage pipe 260 of the base station 200 extends into the sewage tank 30, and the base station 200 is electrically connected to the cleaning apparatus 100, the cleaning method further includes:

Step 018: in case that the remaining water amount of the clean water tank 20 is less than or equal to a first preset threshold value, water is discharged through the clean water pipe 250;

step 019: in case the remaining amount of water of the sewage tank 30 is greater than or equal to a second preset threshold value, pumping water through the sewage pipe 260;

step 020: in case that the remaining power of the battery 40 is less than or equal to the third preset threshold, the battery 40 is charged through the charging interface of the base station 200.

Specifically, the cleaning apparatus 100 may enter a self-cleaning mode at the base station 200, at which time the fresh water pipe 250 in the base station 200 may extend into the fresh water tank 20 to facilitate the supply of water to the fresh water tank 20 through the fresh water pipe 250, and the sewage pipe 260 in the base station 200 may extend into the sewage tank 30 to facilitate the drainage of sewage to the sewage tank 30 through the sewage pipe 260.

Thus, in the case where the cleaning apparatus 100 is located at the base station 200 and the remaining amount of water of the clean water tank 20 is less than or equal to the first preset threshold, the processor 50 may discharge water through the clean water pipe 250 to add water to the clean water tank 20. For example, one end of the clear water pipe 250 is connected to a faucet, the other end extends into the clear water tank 20, the clear water pipe 250 is further provided with a clear water valve, and the processor 50 can enable the clear water pipe 250 to discharge water by opening the clear water valve so that the residual water amount of the clear water tank 20 is larger than a first preset threshold value.

In case the cleaning device 100 is located at the base station 200 and the remaining amount of water of the sewage tank 30 is greater than or equal to the second preset threshold, the processor 50 may pump water through the sewage pipe 260 to drain the sewage pipe 260. For example, one end of the sewage pipe 260 is inserted into the sewage tank 30, the other end is connected to the sewage outlet, and the sewage pipe 260 is further connected to a water pump, and the processor 50 may pump out sewage in the sewage tank 30 by controlling the water pump to turn on such that the remaining amount of water of the sewage pipe 260 is less than a second preset threshold.

In the case where the cleaning apparatus 100 is located in the base station 200 and the remaining power of the battery 40 is less than or equal to the third preset threshold, the processor 50 may also charge the battery 40 using the charging interface of the base station 200, so that the remaining power of the battery 40 is greater than the third preset threshold. After the cleaning apparatus 100 enters the self-cleaning mode, the processor 50 may control the battery 40 to stop charging to prevent the battery 40 from being charged and discharged at the same time, or after the electric quantity reaches a preset electric quantity threshold (for example, 100% or 90%), the processor 50 may control the battery 40 to stop charging to avoid overcharging the battery 40, thereby ensuring the safety and the service life of the battery 40.

Thus, in the case that the cleaning apparatus 100 is located at the base station 200, the processor 50 may use the clean water pipe 250 to supply water to the clean water tank 20, use the sewage pipe 260 to drain sewage from the sewage tank 30, or charge the battery 40 to actively discharge the factors preventing the self-cleaning mode from being entered, thereby ensuring smooth progress of the self-cleaning mode.

Referring to fig. 1, in some embodiments, the second preset threshold is in a negative correlation with the first preset threshold.

Specifically, the smaller the first preset threshold value, the longer it takes for the remaining amount of water of the clean water tank 20 to be smaller than the first preset threshold value, which may make the more clean water output in the clean water tank 20, the more sewage the sewage tank 30 needs to store. At this time, the first preset threshold and the second preset threshold may be in a negative correlation, that is, the smaller the first preset threshold is, the larger the second preset threshold is, so as to ensure that the remaining volume of the sewage tank 30 is in direct proportion to the amount of water that can be output by the clean water tank 20, so that when the remaining amount of water in the clean water tank 20 is greater than the first preset threshold and the remaining amount of water in the sewage tank 30 is less than the second preset threshold, the sewage tank 30 has sufficient volume to store sewage.

Furthermore, when cleaning is performed, the sewage tank 30 generally collects only a part of the water output from the clean water tank 20, i.e., the collection amount of the sewage tank 30 is generally smaller than the output amount of the clean water tank 20. For example, the clear water tank 20 and the sewage tank 30 have the same volume of 200ml. In the case where the fresh water tank 20 is full of water, the sewage tank 30 is completely empty, and the whole fresh water is used for self-cleaning, 70% of the water can be collected in the sewage tank 30, and the amount of water collected in the sewage tank 30 is 140ml and the remaining volume is 60ml. When the remaining water amount of the sewage tank 30 is small, for example, less than 60ml, the sewage tank 30 has a sufficient capacity to accommodate no matter how much water remains in the clean water tank 20, and there may be no relationship between the first preset threshold and the second preset threshold, and only when the remaining water amount of the sewage tank 30 is greater than 60ml, the first preset threshold and the second preset threshold are in a negative relationship.

In this manner, the processor 50 may determine a relationship between the first preset threshold and the second preset threshold according to the remaining amount of water of the tank 30 to ensure that there is sufficient space for the tank 30 to hold sewage in the case of self-cleaning.

Referring to fig. 1 and 8, in some embodiments, the cleaning method further includes:

step 021: acquiring dirt information of the cleaning device 100 detected when the cleaning device 100 finishes the cleaning work before receiving the self-cleaning instruction;

step 022: according to the dirty information, a cleaning strategy of the self-cleaning mode is determined, and the first preset threshold value, the second preset threshold value and the third preset threshold value are determined according to the dirty information.

In particular, the dirt information of the cleaning device 100 is different, the corresponding dirt level is different, so that the corresponding cleaning strategy is also different, wherein the parameters of the so-called cleaning strategy comprise parameters that can influence the self-cleaning effect. For example, the greater the degree of soiling, the greater the amount of soiling that needs to be cleaned, the greater the amount of bacteria-free liquid that is needed, the greater the amount of water output, the faster the speed of the roller brush 60 and the longer the duration of cleaning of the roller brush 60, the greater the suction force, and the longer the duration of suction by the motor 70. At this time, the cleaning strategy may include a volume of the sterilizing liquid, a water yield sprayed to the rolling brush 60, a rotation speed of the rolling brush 60, a time period during which the rolling brush 60 is cleaned, a suction force to the suction duct 80, and a time period during which the motor 70 sucks.

The smudge information may be detected when the cleaning device 100 is located in the base 210. For example, a camera is provided in the cleaning apparatus 100 or the base station 200, and images of the rolling brush 60, the suction duct 80, and the like of the cleaning apparatus 100 may be collected, and the processor 20 performs image recognition based on the images to detect dirt information corresponding to the rolling brush 60. If the rolling brush 60 is in a pure white color, the non-white dirty region in the image of the rolling brush 60 is identified through image recognition, and the dirty information is determined based on the ratio of the area of the dirty region to the surface area of the rolling brush 60.

Accordingly, the processor 50 can acquire the dirty information of the cleaning apparatus 100 detected when the cleaning apparatus 100 ends a cleaning operation before receiving a self-cleaning instruction, wherein the cleaning operation refers to a cleaning operation of cleaning a cleaning site normally, so as to acquire the amount of dirty generated by the cleaning apparatus 100 in performing the cleaning operation. The processor 50 then determines the degree of soiling of the cleaning device 100 from the soiling information to determine a cleaning strategy for the self-cleaning mode, for example the volume of the sterilizing liquid, the amount of water sprayed onto the roller brush 60, the rotational speed of the roller brush 60 and the duration of cleaning of the roller brush 60, depending on the degree of soiling.

The first preset threshold, the second preset threshold and the third preset threshold may also affect the self-cleaning effect. It will be appreciated that the higher the degree of soiling, the greater the first and third preset thresholds, and the smaller the second preset threshold. However, if the first preset threshold value and the third preset threshold value are too large and the second preset threshold value is too small, the cleaning device 100 may be difficult to enter the self-cleaning mode, so that the clean water tank 20 needs to be frequently added with water, the battery 40 is charged, and the sewage tank 30 is drained. Thus, the parameters of the cleaning strategy may further comprise a first preset threshold, a second preset threshold and a third preset threshold. The processor 50 also needs to determine a first preset threshold, a second preset threshold, and a third preset threshold from the soil information at this time. For example, the higher the degree of soil, the more fresh water and electricity are used, and the more sewage is generated, and at this time, the first preset threshold and the third preset threshold may be set to be larger, and the second preset threshold may be set to be smaller, so as to ensure that the cleaning apparatus 100 has sufficient fresh water, electricity, and remaining volume of the sewage tank 30 available for use.

In this way, the cleaning apparatus 100 may determine an appropriate cleaning strategy based on the dirty information, ensuring on the one hand a self-cleaning effect and on the other hand the rationality of the first, second and third preset thresholds, to avoid too frequent water addition to the clean water tank 20, charging of the battery 40 and draining of the dirty water tank 30.

Referring to fig. 1 and 9, in order to better implement the cleaning method according to the embodiment of the present application, the embodiment of the present application further provides a cleaning device 10. The cleaning device 10 may include a judging module 11 and an executing module 12. The judging module 11 is configured to, when receiving the self-cleaning instruction, judge whether the remaining water amount of the clean water tank 20 is greater than a first preset threshold, whether the remaining water amount of the sewage tank 30 is less than a second preset threshold, and whether the remaining electric power of the battery 40 is greater than a third preset threshold. The execution module 12 is configured to enter a self-cleaning mode when the remaining water amount of the clean water tank 20 is greater than a first preset threshold, the remaining water amount of the sewage tank 30 is less than a second preset threshold, and the remaining power of the battery 40 is greater than a third preset threshold.

The cleaning device 10 further comprises a detection module 13 and a first control module 14. The detection module 13 is used for detecting whether the cleaning device 100 is located on the base 210 of the base station 200. The first control module 14 is arranged to enter a self-cleaning mode in case the cleaning device 100 is located in the base 210 of the base station 200.

The detection module 13 is specifically configured to detect whether the cleaning device 100 is in a chargeable state; detecting whether a pressure value output by the pressure sensor 220 of the base 210 is greater than a preset threshold; and/or whether the signal output from the occlusion detection sensor 230 of the detection base 210 is a preset signal.

The detection module 13 is specifically further configured to detect whether the cleaning device 100 establishes serial communication with the base station 200.

The first control module 14 is in particular also used to enter a self-cleaning mode in case the cleaning device 100 establishes serial communication with the base station 200.

The cleaning device 10 further comprises a second control module 15. The second control module 15 is configured to send a drying instruction to the base station 200 through serial communication after the self-cleaning is finished, so as to control the drying device 240 of the base station 200 to dry the cleaning apparatus 100.

The cleaning device 10 further includes a water outlet module 16, a water pumping module 17, and a charging module 18. The water outlet module 16 is configured to outlet water through the clean water pipe 250 when the remaining water amount of the clean water tank 20 is less than or equal to a first preset threshold. The pumping module 17 is used for pumping water through the sewer piping 260 in case the remaining water amount of the sewer tank 30 is greater than or equal to the second preset threshold. The charging module 18 is configured to charge the battery 40 through the charging interface of the base station 200 when the remaining power of the battery 40 is less than or equal to the third preset threshold.

The cleaning apparatus 10 further comprises a determining module 19, wherein the determining module 19 is configured to obtain the dirt information of the cleaning device 100 detected when the cleaning device 100 ends the cleaning operation before receiving the self-cleaning instruction; and determining a cleaning strategy of the self-cleaning mode according to the dirty information, wherein the first preset threshold value, the second preset threshold value and the third preset threshold value are determined according to the dirty information.

The cleaning device 10 has been described above in connection with the accompanying drawings from the perspective of functional modules, which may be implemented in hardware, instructions in software, or a combination of hardware and software modules. Specifically, each step of the method embodiment in the embodiment of the present application may be implemented by an integrated logic circuit of hardware in the processor 50 and/or an instruction in software form, and the steps of the method disclosed in connection with the embodiment of the present application may be directly implemented as a hardware encoding processor or implemented by a combination of hardware and software modules in the encoding processor. Alternatively, the software modules may be located in a well-established storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, and the like. The storage medium is located in a memory, and the processor reads information in the memory, and in combination with hardware, performs the steps in the above method embodiments.

Referring again to fig. 1, a cleaning apparatus 100 in accordance with an embodiment of the present application includes a processor 50, a memory 90, and a computer program stored in the memory 90 and executed by the processor 50, the computer program including instructions for performing the cleaning method of any of the above embodiments.

Referring again to fig. 1, a cleaning system 1000 according to an embodiment of the present application includes a cleaning apparatus 100 and a base station 200, where the cleaning apparatus 100 performs self-cleaning at the base station 200. The cleaning apparatus 100 can implement the steps of the cleaning method according to any of the above embodiments, and for brevity, will not be described in detail herein.

Referring to fig. 10, an embodiment of the present application further provides a computer readable storage medium 500, on which a computer program 510 is stored, where the computer program 510 is executed by the processor 50 to implement the steps of the cleaning method according to any one of the above embodiments, which is not described herein for brevity.

In the description of the present specification, reference to the terms "certain embodiments," "in one example," "illustratively," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (14)

1. A cleaning method, comprising:

under the condition that a self-cleaning instruction is received, judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value;

And under the condition that the residual water quantity of the clean water tank is larger than the first preset threshold value, the residual water quantity of the sewage tank is smaller than the second preset threshold value and the residual electric quantity of the battery is larger than the third preset threshold value, entering a self-cleaning mode.

2. The cleaning method of claim 1, further comprising:

detecting whether the cleaning device is positioned on a base of the base station;

if yes, entering the self-cleaning mode.

3. The cleaning method of claim 2, wherein detecting whether the cleaning device is located at the base of the base station comprises:

detecting whether the cleaning device is in a chargeable state;

detecting whether the pressure value output by the pressure sensor of the base is larger than a preset threshold value or not; and/or

And detecting whether a signal output by the shielding detection sensor of the base is a preset signal or not.

4. The cleaning method of claim 1, further comprising:

detecting whether the cleaning equipment establishes serial communication with a base station;

if yes, entering the self-cleaning mode.

5. The cleaning method of claim 4, further comprising:

after self-cleaning is finished, a drying instruction is sent to the base station through serial port communication, so that a drying device of the base station is controlled to dry the cleaning equipment.

6. The cleaning method of claim 1, wherein the second predetermined threshold is inversely related to the first predetermined threshold.

7. The cleaning method of claim 1, wherein a clean water pipe of a base station extends into the clean water tank with a cleaning device located on a base of the base station, a sewage pipe of the base station extends into the sewage tank, the base station being electrically connected to the cleaning device, the method further comprising:

under the condition that the residual water quantity of the clean water tank is smaller than or equal to the first preset threshold value, water is discharged through the clean water pipe;

pumping water through the sewer pipe under the condition that the residual water amount of the sewer tank is larger than or equal to the second preset threshold value;

and under the condition that the residual electric quantity of the battery is smaller than or equal to the third preset threshold value, charging the battery through a charging interface of the base station.

8. The cleaning method according to claim 1, characterized in that the self-cleaning instruction is generated after a self-cleaning key of the cleaning device is pressed or by a terminal connected to the cleaning device.

9. The cleaning method according to claim 1, wherein the cleaning step of the self-cleaning mode includes preparing a sterilizing liquid, cleaning a rolling brush, cleaning a pipe, and deep cleaning, which are sequentially performed after entering the self-cleaning mode.

10. The cleaning method of claim 1, further comprising:

acquiring dirt information of the cleaning equipment detected when the cleaning equipment finishes cleaning work before receiving the self-cleaning instruction;

and determining a cleaning strategy of the self-cleaning mode according to the dirt information, wherein the first preset threshold value, the second preset threshold value and the third preset threshold value are determined according to the dirt information.

11. A cleaning device, the cleaning device comprising:

the judging module is used for judging whether the residual water quantity of the clean water tank is larger than a first preset threshold value, whether the residual water quantity of the sewage tank is smaller than a second preset threshold value and whether the residual electric quantity of the battery is larger than a third preset threshold value under the condition that the self-cleaning instruction is received; and

And the execution module is used for entering a self-cleaning mode under the conditions that the residual water quantity of the clean water tank is larger than the first preset threshold value, the residual water quantity of the sewage tank is smaller than the second preset threshold value and the residual electric quantity of the battery is larger than the third preset threshold value.

12. A cleaning apparatus, comprising:

a processor, a memory; and

A computer program, wherein the computer program is stored in the memory and executed by the processor, the computer program comprising instructions for performing the cleaning method of any one of claims 1 to 10.

13. A cleaning system, comprising:

the cleaning apparatus of claim 12; and

And the cleaning equipment performs self-cleaning on the base station.

14. A non-transitory computer readable storage medium containing a computer program which, when executed by a processor, causes the processor to perform the cleaning method of any one of claims 1-10.