CN117179660A - 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 that under the condition that a self-cleaning process is interrupted, cleaning information before interruption is stored, the cleaning information at least comprises a current cleaning step and cleaning parameters corresponding to the current cleaning step, and the current cleaning step is any cleaning step in the self-cleaning process; and under the condition that the self-cleaning process is restored, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step. Therefore, the current cleaning step executed before interruption can be continuously executed after the interruption of the self-cleaning process is resumed by recording the current cleaning step and the corresponding cleaning parameters, and all the cleaning steps do not need to be executed again from the first cleaning step of the self-cleaning process, so that the time consumed by the self-cleaning process is saved, the self-cleaning can be completed quickly and efficiently, and the resources consumed by repeatedly executed cleaning steps are saved.

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

At present, more and more electric appliances are on the market, for example, cleaning equipment has a self-cleaning function, and the self-cleaning function is mainly used for cleaning the cleaning equipment so as to ensure the cleanliness of the electric appliances and prevent dirt of the electric appliances from affecting the normal use of the electric appliances. With the development of these electronic devices, users have higher demands on the efficiency of the self-cleaning function, so how to quickly and efficiently complete self-cleaning is a problem to be solved.

Disclosure of Invention

The embodiments of the present application provide a cleaning method, a cleaning apparatus, a cleaning device, a cleaning system, and a non-volatile computer readable storage medium, which enable a processor to continue to execute a current cleaning step executed before an interruption after the interruption of the self-cleaning process is resumed by recording the current cleaning step and the cleaning parameter, so as to save time consumed by the self-cleaning process, thereby rapidly and efficiently completing the self-cleaning, and also saving resources consumed by repeatedly executing the cleaning step.

The cleaning method of the embodiment of the application comprises the steps of storing the cleaning information before interruption under the condition that the self-cleaning process is interrupted, wherein the cleaning information at least comprises the current cleaning step and the cleaning parameters corresponding to the current cleaning step, and the current cleaning step is the cleaning step in the self-cleaning process at the moment of interruption; and under the condition that the self-cleaning process is restored, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step.

In some embodiments, the cleaning information further includes a cleaned duration of the current cleaning step, and in case the self-cleaning process is resumed, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, including: under the condition that the self-cleaning process is restored, determining the residual cleaning duration of the current cleaning step according to the preset cleaning duration corresponding to the current cleaning step and the cleaned duration; and continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, and continuing the residual cleaning time.

In certain embodiments, the cleaning method is applied to a cleaning apparatus comprising a clean water tank, a dirty water tank, and a battery, the method further comprising: interrupting the self-cleaning process if the remaining water quantity of the clean water tank is less than a first preset threshold value; interrupting the self-cleaning process if the remaining water volume of the sewage tank is greater than a second preset threshold; or if the remaining capacity of the battery is smaller than a third preset threshold value, interrupting the self-cleaning process.

In some embodiments, the cleaning apparatus performs the self-cleaning process at a base station, the base station comprising a clean water pipe and a sewer pipe, the clean water pipe extending into the clean water tank and the sewer pipe extending into the sewer tank with the cleaning apparatus located at the base station, the base station charging the cleaning apparatus, the method further comprising: under the condition that the residual water quantity of the clean water tank is smaller than the first preset threshold value, water is discharged through the clean water pipe; and pumping water through the sewage pipe under the condition that the residual water quantity of the sewage tank is larger than the second preset threshold value.

In certain embodiments, the cleaning method is applied to a cleaning apparatus comprising a clean water tank, a dirty water tank, and a battery, the method further comprising: and recovering the self-cleaning process under the condition that the residual water quantity of the clean water tank is larger than a fourth preset threshold value, the residual water quantity of the sewage tank is smaller than a fifth preset threshold value and the residual electric quantity of the battery is larger than a sixth preset threshold value.

In certain embodiments, the cleaning method is applied to a cleaning apparatus, the method further comprising: stopping charging the battery of the cleaning device during the self-cleaning process; or in the self-cleaning process, controlling the battery to stop discharging, and supplying power to a load in the cleaning equipment through a public power grid, wherein the load at least comprises the battery, a main board of the cleaning equipment, a rolling brush and a motor.

In certain embodiments, the cleaning method is applied to a cleaning apparatus, the method further comprising: under the condition that a self-cleaning instruction is acquired, detecting whether the cleaning equipment is positioned on a base of a base station or not; if yes, the self-cleaning process is entered.

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 some embodiments, the cleaning method is applied to a cleaning device, the cleaning device comprises a rolling brush, a motor and a suction pipeline connected with the motor, the cleaning step comprises preparation of a sterilizing liquid, cleaning of the rolling brush, cleaning of the cleaning pipeline and deep cleaning, and the cleaning parameters comprise a sterilizing liquid volume gear corresponding to the preparation of the sterilizing liquid, a first water outlet gear and a first rolling brush rotating speed gear corresponding to the cleaning of the rolling brush, a first suction gear corresponding to the cleaning pipeline, and a second water outlet gear, a second rolling brush rotating speed gear and a second suction gear corresponding to the deep cleaning.

In certain embodiments, the cleaning method is applied to a cleaning device that includes a prompter, the method further comprising: under the condition that the self-cleaning process is interrupted, controlling the prompter to send interrupt information and guiding information, wherein the interrupt information comprises interrupt indication information and interrupt reason information, and the guiding information comprises information for guiding a user to process the interrupt; in the self-cleaning process, the prompter is controlled to send out the information of the current cleaning step, and the special effect of the ticker is displayed; and under the condition that the self-cleaning process is finished, controlling the prompter to send out finishing information, and stopping displaying the special effect of the ticker.

In some embodiments, the self-cleaning process includes a plurality of preset time periods, the preset time periods and the cleaning steps corresponding one to one, the method further comprising: acquiring the interruption time, and determining a target preset time period in which the interruption time is located, wherein the target preset time period is any preset time period; and determining the cleaning step at which the interruption moment is positioned according to the target preset period.

The cleaning device of the embodiment of the application comprises a storage module and an execution module. The storage module is used for storing cleaning information before interruption under the condition that the self-cleaning process is interrupted, the cleaning information at least comprises a current cleaning step and cleaning parameters corresponding to the current cleaning step, and the current cleaning step is a cleaning step in the self-cleaning process at the moment of interruption; and the execution module is used for continuously executing the current cleaning step corresponding to the current cleaning step according to the stored cleaning parameters under the condition that the self-cleaning process is restored.

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.

In the case where the self-cleaning process is interrupted, the cleaning method, the cleaning apparatus, the cleaning system, and the computer-readable storage medium according to the embodiments of the present application may store the cleaning information before the interruption of the self-cleaning process, wherein the cleaning information includes at least the current cleaning step and the cleaning parameters. And then, under the condition that the self-cleaning process is restored, the current cleaning step can be continuously executed according to the stored cleaning parameters corresponding to the current cleaning step. Therefore, after the interruption of the self-cleaning process is resumed, the current cleaning step executed before the interruption can be continuously executed by recording the current cleaning step and the corresponding cleaning parameters, and all the cleaning steps do not need to be re-executed from the first cleaning step of the self-cleaning process, so that the time consumed by the self-cleaning process is saved, the self-cleaning can be quickly and efficiently completed, and the resources consumed by repeatedly executed cleaning steps are saved.

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 illustration of a scenario of a cleaning method according to certain embodiments of the present application;

FIG. 10 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 11 is a schematic flow chart of a cleaning method according to some embodiments of the application;

FIG. 12 is a schematic block diagram of a cleaning apparatus according to certain embodiments of the present application;

FIG. 13 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.

In view of the technical problems mentioned in the background art, embodiments of the present application provide a cleaning method.

In the following, an application scenario of the cleaning method of the present application will be described, as shown in fig. 1, which is a schematic diagram of an application scenario of the cleaning method of the present application, where a cleaning system 1000 includes a cleaning device 100 and a base station 200, the cleaning device 100 can move to the base station 200 to perform self-cleaning, and in a case where the cleaning device 100 enters the self-cleaning process, the cleaning device 100 starts the self-cleaning, and sequentially performs each cleaning step of the self-cleaning process.

Alternatively, fig. 1 exemplarily illustrates one cleaning apparatus 100 and one base station 200, and actually may include other numbers of cleaning apparatuses 100, such as one base station 200 implementing self-cleaning of a plurality of cleaning apparatuses 100, which is not limited in the embodiment of the present application.

Optionally, the base station 200 is also capable of charging the cleaning device 100.

Alternatively, the cleaning device 100 may be a device having cleaning capabilities. As the cleaning apparatus 100 may be a scrubber, a sweeping robot, etc., but is not limited thereto.

Alternatively, the base station 200 and the cleaning apparatus 100 can communicate, and the cleaning method provided by the embodiment of the present application can be performed in an interactive manner, or the cleaning method provided by the embodiment of the present application can be performed by the cleaning apparatus 100 or the base station 200.

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: under the condition that the self-cleaning process is interrupted, storing cleaning information before interruption, wherein the cleaning information at least comprises a current cleaning step and cleaning parameters corresponding to the current cleaning step, and the current cleaning step is a cleaning step in the self-cleaning process at the moment of interruption;

Specifically, the processor 20 of the cleaning apparatus 100 may perform cleaning and self-cleaning by controlling the cooperation of a plurality of devices. For example, taking the cleaning apparatus 100 as a floor washing machine, the floor washing machine generally includes a rolling brush 30, a motor 40 and a suction pipe 50 connected to the motor 40, the rolling brush 30 can roll to drive dirt when the floor washing machine performs a cleaning task, and the motor 40 operates to make the suction pipe 50 generate suction force to suck the dirt carried up into the suction pipe 50. It will be appreciated that these devices may become stained with certain soils during the cleaning process. The self-cleaning process 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 process typically 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 20 performs each cleaning step according to the corresponding cleaning parameters.

For example, the floor washing machine further includes a clean water tank 60 and a sewage tank 70, and a water outlet pipe of the clean water tank 60 discharges water and sprays the water onto the roller brush 30 so that the roller brush 30 is wetted, thereby improving the cleaning effect. The suction duct 50 is connected to the sewage tank 70, and the sewage passes through the suction duct 50 and then enters the sewage tank 70, and the sewage tank 70 can store the sewage. The self-cleaning process of the floor scrubber includes preparing the sterilizing fluid, cleaning the roll brush 30, cleaning the pipes and deep cleaning.

First, a stage of preparing a degerming liquid:

the preparation of the sterilizing fluid refers to the sterilizing fluid manufactured by the scrubber and used for cleaning, and an electrolysis device is further provided in the clean water tank 60 of the scrubber, which can prepare the sterilizing fluid 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 30:

after the preparation of the sterilizing liquid is finished, the self-cleaning can be formally started, the rolling brush 30 can be cleaned firstly, the sterilizing liquid is sprayed to the rolling brush 30 by cleaning the rolling brush 30 specifically through the water outlet pipe of the clean water tank 60, and then the rolling brush 30 can scrape off dirt on the rolling brush 30 through rotating parts such as a baffle plate in front of the rolling brush 30, so that the cleaning of the rolling brush 30 is realized.

The cleaning parameters corresponding to the cleaning roller brush 30 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 30 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 30 are different from each other. If the first rolling brush rotating speed gear is higher, the rotating speed of the rolling brush 30 is higher; alternatively, the lower the first brush speed gear, the greater the speed of the brush 30.

The first cleaning time period is different, and the cleaning time period of the roll brush 30 is different. The longer the first cleaning period, the longer the cleaning period of the roll brush 30.

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 rotation of the roller brush 30, and the longer the duration of cleaning of the roller brush 30.

Third, cleaning the pipeline:

after which the pipe is cleaned. The cleaning pipe specifically sucks dirt in the suction pipe 50 into the sewage tank 70 by suction force generated when the motor 40 is operated, and cleaning of the suction pipe 50 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 50. 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 40 pumping is different. The longer the second cleaning period, the longer the motor 40 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 40.

Fourth, deep cleaning stage:

after cleaning the roller brush 30 and the suction duct 50, the roller brush 30 and the suction duct 50 may be deeply cleaned again in order to further improve the cleaning effect. Deep cleaning may simultaneously clean the roller brush 30 and the suction duct 50.

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 cleaning period is different, and the cleaning period of the roller brush 30 and the suction period of the motor 40 are different. The longer the third cleaning period, the longer the cleaning period of the roller brush 30 and the suction period of the motor 40.

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 speeds of the second different rolling brushes are different from each other, and the rotational speeds of the rolling brushes 30 are different from each other. If the second rolling brush rotating speed gear is higher, the rotating speed of the rolling brush 30 is higher; alternatively, the lower the second brush rotational speed gear, the greater the rotational speed of the brush 30.

A second, different suction gear, the suction force drawn by the motor 40 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.

During the self-cleaning process, an emergency may occur, resulting in interruption of the self-cleaning process, for example, in case the remaining water in the clean water tank 60 of the cleaning apparatus 100 is insufficient for the cleaning apparatus 100 to complete the self-cleaning. At this time, the processor 20 may confirm the cleaning step at the time of interruption as the current cleaning step, and it is understood that the current cleaning step may be any cleaning step in the self-cleaning process. The processor 20 may then store the cleaning information before the interruption of the self-cleaning process, wherein the cleaning information includes at least the cleaning step and the cleaning parameter corresponding to the current cleaning step, so as to facilitate the subsequent continued execution of the current cleaning step executed before the interruption.

Step 012: and under the condition that the self-cleaning process is restored, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step.

Specifically, when the factor causing the interruption of the self-cleaning process is eliminated, the processor 20 may resume the self-cleaning process. In the case that the self-cleaning process is resumed, the processor 20 may continue to perform the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, without re-performing all cleaning steps from the first cleaning step of the self-cleaning process, thereby greatly improving the self-cleaning efficiency.

For example, when the self-cleaning process is interrupted and the cleaning device 100 has performed a cleaning step to clean the pipe and the first suction level is the second level, the processor 20 records this information. In case the self-cleaning process is resumed, the processor 20 may read that the self-cleaning process is interrupted at the cleaning step of the cleaning pipe, and then control the suction force of the suction pipe 50 according to the second gear to continue cleaning the pipe. Thus, the processor 20 does not need to perform the cleaning step of preparing the sterilizing fluid and cleaning the roll brush 30 once again, thereby improving self-cleaning efficiency and saving resources consumed by repeatedly performing the cleaning steps of preparing the sterilizing fluid and cleaning the roll brush 30.

In the case that the self-cleaning process is interrupted, the cleaning method of the embodiment of the application can store the cleaning information before the interruption of the self-cleaning process, wherein the cleaning information at least comprises the current cleaning step and the cleaning parameters. And then, under the condition that the self-cleaning process is restored, the current cleaning step can be continuously executed according to the stored cleaning parameters corresponding to the current cleaning step. Therefore, after the interruption of the self-cleaning process is resumed, the current cleaning step executed before the interruption can be continuously executed by recording the current cleaning step and the corresponding cleaning parameters, and all the cleaning steps do not need to be re-executed from the first cleaning step of the self-cleaning process, so that the time consumed by the self-cleaning process is saved, the self-cleaning can be quickly and efficiently completed, and the resources consumed by repeatedly executed cleaning steps are saved.

Referring to fig. 1 and 3, in some embodiments, the cleaning information further includes a cleaning duration of the current cleaning step, step 012: under the condition that the self-cleaning process is restored, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, wherein the method comprises the following steps:

step 0121: under the condition that the self-cleaning process is restored, determining the residual cleaning duration of the current cleaning step according to the preset cleaning duration and the cleaned duration corresponding to the current cleaning step;

step 0122: and continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, and continuing to remain the cleaning time.

Specifically, the processor 20 may also record the cleaned duration of the current cleaning step and the preset cleaning duration required to complete each cleaning step.

In the case that the self-cleaning process is resumed, the processor 20 may further determine the remaining cleaning duration of the current cleaning step according to the preset cleaning duration and the cleaned duration corresponding to the current cleaning step when the self-cleaning process is interrupted. The processor 20 then proceeds to execute the current cleaning step based on the stored cleaning parameters and remaining cleaning duration corresponding to the current cleaning step. For example, when the preset cleaning time period corresponding to the preparation of the sterilizing liquid is 2 minutes and the self-cleaning process is interrupted, the cleaning step of preparing the sterilizing liquid is already performed for 1 minute and 30 seconds, namely, the cleaned time period is 1 minute and 30 seconds, and the remaining cleaning time period is 30 seconds. It will be appreciated that at this point the processor 20 has performed the operation corresponding to the first 1 minute and 30 seconds, then in the event that the self-cleaning process is resumed, the processor 20 may control the cleaning apparatus 100 to perform the operation corresponding to the remaining 30 seconds. The processor 20 thus does not need to re-execute the current cleaning step from the first operation of the current cleaning step, but executes the operation which is not executed according to the remaining cleaning time period, and continues the remaining cleaning time period, thereby further improving the self-cleaning efficiency while saving the resources consumed for repeatedly executing the operation which has been executed.

Referring to fig. 1 and 4, in some embodiments, the cleaning method is applied to a cleaning apparatus 100, the cleaning apparatus 100 including a clean water tank 60, a sewage tank 70, and a battery 80, the method further comprising:

step 013: in case the remaining amount of water of the clean water tank 60 is less than a first preset threshold value, interrupting the self-cleaning process;

step 014: in case the remaining amount of water of the sump 70 is greater than a second preset threshold value, interrupting the self-cleaning process; or alternatively

Step 015: in the case where the remaining amount of the battery 80 is less than the third preset threshold, the self-cleaning process is interrupted.

Specifically, the remaining amount of water of the fresh water tank 60, the remaining amount of water of the sewage tank 70, and the remaining amount of electricity of the battery 80 may affect the self-cleaning process. The first preset threshold is a lower water volume value of a reasonable range of the remaining water volume of the clean water tank 60, and once the remaining water volume is less than the first preset threshold, it represents that the cleaning apparatus 100 cannot obtain enough clean water for self-cleaning. The second preset threshold is a water amount upper limit value of a reasonable range of the remaining water amount of the sewage tank 70, and once the remaining water amount is greater than the second preset threshold, it represents that the sewage tank 70 cannot have sufficient space to collect sewage generated in the self-cleaning process. The third preset threshold is a lower limit value of the remaining power of the battery 80 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.

Thus, in some embodiments, the processor 20 obtains the remaining amount of water of the clean water tank 60, the remaining amount of water of the sewage tank 70, or the remaining amount of power of the battery 80 in real time in the case where the cleaning apparatus 100 is self-cleaning, or before and during the self-cleaning of the cleaning apparatus 100, to ensure that the processor 20 can timely find that the remaining amount of water of the clean water tank 60, the remaining amount of water of the sewage tank 70, or the remaining amount of power of the battery 80 is less than the corresponding threshold.

In other embodiments, the processor 20 obtains the remaining power of the battery 80 before performing the self-cleaning process, and determines whether the remaining power is sufficient to complete the self-cleaning process, and does not obtain the remaining power during the self-cleaning process, thereby saving energy consumption for obtaining the remaining power. In the same way, the processor 20 may also obtain the remaining water amount of the fresh water tank 60 and the remaining water amount of the sewage tank 70 before performing the self-cleaning, and determine whether the remaining water amount of the fresh water tank 60 and the remaining water amount of the sewage tank 70 allow the cleaning apparatus 100 to complete the entire self-cleaning process, and not obtain the remaining water amount of the fresh water tank 60 and the remaining water amount of the sewage tank 70 during the self-cleaning process, thereby saving energy consumption for obtaining the remaining water amount of the fresh water tank 60 and the remaining water amount of the sewage tank 70.

In the case that the remaining water amount of the fresh water tank 60 is smaller than the first preset threshold, the remaining water amount of the sewage tank 70 is larger than the second preset threshold, or the remaining power of the battery 80 is smaller than the third preset threshold, at least any one of these three conditions is satisfied, the processor 20 may interrupt the self-cleaning process to ensure that the cleaning apparatus 100 can interrupt the self-cleaning in time without meeting the requirement of the self-cleaning, thereby improving the use safety of the cleaning apparatus 100.

Referring to fig. 1 and 5, in some embodiments, the cleaning apparatus 100 performs a self-cleaning process at the base station 200, the base station 200 includes a clean water pipe 210 and a sewage pipe 220, the clean water pipe 210 extends into the clean water tank 60, the sewage pipe 220 extends into the sewage tank 70, and the base station 200 charges the cleaning apparatus 100, and the cleaning method further includes:

step 016: in case that the remaining water amount of the clear water tank 60 is less than a first preset threshold value, water is discharged through the clear water pipe 210;

step 017: in case the remaining amount of water of the sump 70 is greater than the second preset threshold value, water is pumped through the sump 220.

Specifically, the cleaning apparatus 100 may perform a self-cleaning process at the base station 200, in which case the clear water pipe 210 in the base station 200 may extend into the clear water tank 60 to facilitate water supply to the clear water tank 60 through the clear water pipe 210, and the sewage pipe 220 in the base station 200 may extend into the sewage tank 70 to facilitate sewage discharge to the sewage tank 70 through the sewage pipe 220.

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 60 is less than the first preset threshold, the processor 20 may discharge water through the clean water pipe 210 to add water to the clean water tank 60. For example, one end of the clean water pipe 210 is connected to a faucet, the other end extends into the clean water tank 60, the clean water pipe 210 is further provided with a clean water valve, and the processor 20 can enable the clean water pipe 210 to discharge water by opening the clean water valve so that the residual water amount of the clean water tank 60 is greater than or equal to a first preset threshold value.

In case the cleaning device 100 is located at the base station 200 and the remaining water amount of the sewage tank 70 is greater than the second preset threshold, the processor 20 may pump water through the sewage pipe 220 to drain the sewage pipe 220. For example, one end of the sewage pipe 220 is inserted into the sewage tank 70, the other end is connected to a sewage outlet, and the sewage pipe 220 is further connected to a water pump, and the processor 20 may pump out sewage in the sewage tank 70 by controlling the water pump to turn on such that the remaining amount of water of the sewage pipe 220 is less than or equal to a second preset threshold.

Of course, in the case where the cleaning apparatus 100 is located in the base station 200 and the remaining power of the battery 80 is less than the third preset threshold, the processor 20 may also charge the battery 80 using the base station 220.

In this way, in the case that the cleaning apparatus 100 is located in the base station 200, the processor 20 may use the clean water pipe 210 to supply water to the clean water tank 60, use the sewage pipe 220 to drain sewage from the sewage pipe 220, or charge the battery 80 to actively exclude the factors interrupting the self-cleaning process, and reduce the interruption time of the self-cleaning process, so that the self-cleaning process can be resumed as soon as possible.

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

step 018: in the case where the remaining water amount of the fresh water tank 60 is greater than the fourth preset threshold, the remaining water amount of the sewage tank 70 is less than the fifth preset threshold, and the remaining power of the battery 80 is greater than the sixth preset threshold, the self-cleaning process is resumed.

Specifically, the processor 20 may set a fourth preset threshold according to the amount of fresh water required for the self-cleaning process, once the remaining amount of water in the fresh water tank 60 is greater than the fourth preset threshold, it is indicative that the fresh water plant is able to obtain sufficient fresh water for self-cleaning. The fourth preset threshold may be the same as the first preset threshold, and the fourth preset threshold may be greater than the first preset threshold, which may be set according to actual use.

The processor 20 may set a fifth preset threshold according to the amount of sewage that will be discharged by the self-cleaning process, and once the remaining amount of water in the sewage tank 70 is less than the fifth preset threshold, it represents that the sewage tank 70 has enough space to accommodate the sewage generated by the self-cleaning process. The fifth preset threshold value and the second preset threshold value may be the same, and the fifth preset threshold value may also be smaller than the second preset threshold value, which may be set according to actual use.

The processor 20 may set a sixth preset threshold based on the amount of power required for the self-cleaning process, once the remaining power of the battery 80 is greater than the sixth preset threshold, it is indicative that the battery 80 has sufficient power for the self-cleaning to proceed normally. The sixth preset threshold may be the same as the third preset threshold, and the sixth preset threshold may be greater than the third preset threshold, which may be set according to actual use.

During interruption of the self-cleaning process, the processor 20 may also acquire the remaining water amount of the fresh water tank 60, the remaining water amount of the sewage tank 70, and the remaining power of the battery 80 in real time, and resume the self-cleaning process in case the remaining water amount of the fresh water tank 60 is greater than the fourth preset threshold, the remaining water amount of the sewage tank 70 is less than the fifth preset threshold, and the remaining power of the battery 80 is greater than the sixth preset threshold. Thus, the processor 20 can timely resume the self-cleaning process to reduce the interruption time of the self-cleaning process in case that the remaining water amount of the clean water tank 60, the remaining water amount of the sewage tank 70, and the remaining power of the battery 80 all meet the requirement of being able to smoothly perform the self-cleaning process.

Referring to fig. 1 and 7, in some embodiments, the cleaning method further includes:

Step 019: during self-cleaning, the charging of the battery 80 of the cleaning device 100 is stopped; or alternatively

Step 020: during self-cleaning, the battery 80 is controlled to stop discharging and power is supplied to the load in the cleaning apparatus 100 through the public power grid, the load including at least the battery 80, and the main board 90, the roller brush 30, and the motor 40 of the cleaning apparatus 100.

Specifically, the simultaneous charging and discharging of the battery 80 may cause a certain damage to the battery 80, thereby affecting the safety and service life of the battery 80. Thus, during self-cleaning, if battery 80 is required to be powered outward, processor 20 will cease charging battery 80 at this point. For example, the battery 80 is also provided with a dedicated charge switch tube to control the charging of the battery 80. The processor 20 may control the charging switch of the battery 80 to be turned off at this time, or may stop the charging of the battery 80 by disconnecting the charging switch from the charging plug (or charging port) of the base station 200 from the public power grid.

If the cleaning device 100 is also connected to a utility grid, and the utility grid can directly supply power to the load in the cleaning device 100, the processor 20 can also control the battery 80 to stop discharging, and supply power to the load in the cleaning device 100 through the utility grid, wherein the load includes at least the battery 80, the main board 90 of the cleaning device 100, the roller brush 30, and the motor 40, so that the battery 80 can be charged only while ensuring that the self-cleaning process can be smoothly performed. For example, the utility grid may be powered by a corresponding circuit to the load in the cleaning device 100, and the battery 80 may be further provided with a dedicated discharge switch to control the discharge of the battery 80, at which time the processor 20 may control the discharge switch of the battery 80 to be turned off to stop the discharge of the battery 80, while turning off the charge switch of the battery 80 to charge the battery 80 with the utility grid.

In this way, the processor 20 can control the battery 80 to charge or discharge according to the actual situation, so as to avoid the battery 80 from being charged or discharged simultaneously while ensuring that the self-cleaning process can be smoothly performed, thereby improving the safety and the service life of the battery 80.

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

step 021: in the case that the self-cleaning instruction is acquired, it is detected whether the cleaning device 100 is located at the base 230 of the base station 200;

step 022: if yes, a self-cleaning process is entered.

Specifically, the processor 20 acquires the self-cleaning control instruction (i.e., the control instruction for controlling the cleaning apparatus 100 to enter the self-cleaning process), and also needs to determine whether the cleaning apparatus 100 is located at the base 230 of the base station 200, and only if the cleaning apparatus 100 is located at the base 230 of the base station 200, the processor 20 controls the cleaning apparatus 100 to enter the self-cleaning process. In this way, the processor 20 can prevent the user from touching the self-cleaning button by mistake during the execution of the cleaning task, and enter the self-cleaning process when the cleaning apparatus 100 is not located on the base 230 of the base station 200, thereby ensuring the accuracy of the self-cleaning execution.

Alternatively, when the cleaning device 100 is placed on the base 230, the cleaning device 100 is electrically connected to the base 230 (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 230 can be determined according to whether the cleaning device 100 is capable of charging.

Optionally, a detection sensor may also be provided on the base 230 to detect whether the cleaning device 100 is located on the base 230. For example, the detection sensor is a pressure sensor, and when the pressure of the pressure sensor is greater than the pressure threshold, it is determined that the cleaning apparatus 100 is located on the base 230. For another example, the detection sensor is an infrared ranging sensor, where the distance measured is greater when the cleaning device 100 is not on the base 230, and where the distance is smaller (e.g., less than a distance threshold) when the cleaning device 100 is on the base 230, then it may be determined that the cleaning device 100 is on the base 230.

Alternatively, the self-cleaning instruction may be generated after the self-cleaning key of the cleaning apparatus 100 is pressed, or by a terminal 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 20 controls the cleaning apparatus 100 to start self-cleaning according to the acquired self-cleaning control command.

Referring to fig. 9, for another example, the cleaning apparatus 100 has a wireless communication module to perform wireless communication (such as bluetooth communication, wifi communication, etc.) with a terminal of a user, and the user may issue a self-cleaning control instruction to the cleaning apparatus 100 through an application program installed in the terminal for controlling the cleaning apparatus 100, and the processor 20 controls the cleaning apparatus 100 to start self-cleaning according to the received self-cleaning control instruction.

Alternatively, the base station 200 has a wireless communication module, and since the cleaning apparatus 100 is located on the base 230 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, and the user can issue a self-cleaning control instruction to the base station 200 through an application program installed in the terminal 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 20 controls the cleaning device 100 to start self-cleaning according to the received self-cleaning control instruction.

Referring to fig. 1 and 10, in some embodiments, the cleaning apparatus 100 includes a prompter 110, and the cleaning method further includes:

step 023: in the case that the self-cleaning process is interrupted, the control prompter 110 sends out interrupt information including interrupt indication information and interrupt cause information and guide information including information guiding the user to process the interrupt;

step 024: in the self-cleaning process, the control prompter 110 sends out the information of the current cleaning step and displays the special effect of the ticker;

step 025: in the case that the self-cleaning process is completed, the control prompter 110 issues a completion message and stops displaying the ticker special effect.

Specifically, the cleaning apparatus 100 further includes a reminder 110, for example, the reminder 110 is a display screen, a speaker, or an indicator light, etc., and the processor 20 can inform the user of the status of the self-cleaning process at this time through the reminder 110. Of course, the cleaning apparatus 100 may be provided with one or more prompters 110, and the processor 20 may control the plurality of prompters 110 to issue the prompting message at the same time, or may control only one prompter 110 to issue the prompting message, which is not limited herein.

In the event that the self-cleaning process is interrupted, the processor 20 may control the prompter 110 to issue interrupt information including interrupt indication information, such as "in interrupt", and interrupt cause information, such as "fresh water tank 60 is out of water", and guide information including information guiding the user to handle the interrupt, such as "please add water". For example, the prompter 110 is a display screen on which the processor 20 may display interrupt information and guidance information. Alternatively, the reminder 110 may be a speaker through which the processor 20 may speak the interrupt message and the guidance message. Alternatively, the processor 20 may set a corresponding light color for each of the interrupt information and the guide information, for example, when the fresh water tank 60 lacks water and needs the user to add water, the indication lamp may be controlled to turn on the red light; the processor 20 may control the indicator light to illuminate orange when the tank 70 stores too much sewage and the user is required to drain.

During the self-cleaning process, the processor 20 may control the reminder 110 to issue a message of the current cleaning step and display the ticker special effect. For example, the reminder 110 may be a display screen and an indicator light, and the processor 20 may control the display screen to display information of the current cleaning step, such as control the display screen to display "cleaning brush 30", and control the indicator light to emit a ticker effect. For another example, the reminder 110 may be a speaker and an indicator light, and the processor 20 may control the speaker to emit information about the current cleaning step, such as the speaker broadcasting a "cleaning the pipe" voice, and control the indicator light to emit a ticker effect.

In the event that the self-cleaning process is complete, processor 20 may control prompter 110 to issue a completion message and cease displaying ticker special effects. For example, the reminder 110 may be a display and an indicator light, and the processor 20 may control the display to complete a message, such as control the display to display "self-cleaning complete" and control the indicator light to stop emitting ticker special effects. For another example, the reminder 110 may be a speaker and an indicator light, and the processor 20 may control the speaker to send a completion message, such as a speaker to announce "self-cleaning completed" and control the indicator light to stop sending ticker special effects. If the cleaning device 100 further comprises an idle state light, the processor 20 may also control the idle state light to be normally on in case the self-cleaning is completed.

In this way, the processor 20 can inform the user of the state of the self-cleaning process at this time through the prompter 110, so that the user knows the state of the cleaning apparatus 100 and solves the problem in time in the case that the self-cleaning process is interrupted, thereby ensuring that the self-cleaning process can proceed.

Referring to fig. 1 and 11, in some embodiments, the self-cleaning process includes a plurality of preset time periods, the preset time periods correspond to the cleaning steps one by one, and the cleaning method further includes:

step 026: acquiring an interruption time, and determining a target preset time period in which the interruption time is positioned, wherein the target preset time period is any preset time period;

step 027: and determining the cleaning step at which the interruption moment is positioned according to the target preset period.

Specifically, the processor 20 may also determine the cleaning step at which the interruption time is based on the time period. The processor 20 may determine the preset time period corresponding to each cleaning step according to the preset cleaning time period of each cleaning step, where the preset time period corresponds to the cleaning step one by one. For example, 1 minute is required for the preparation of the sterilizing liquid, 1 minute is required for the cleaning of the roller brush 30, 1 minute is required for the cleaning of the pipe, and 3 minutes is required for the deep cleaning. The cleaning step corresponding to the preset time period of 0-1 min is a stage of preparing the sterilizing liquid, the cleaning step corresponding to the preset time period of 1-2 min is a stage of cleaning the rolling brush 30, the cleaning step corresponding to the preset time period of 2-3 min is a stage of cleaning the pipeline, and the cleaning step corresponding to the preset time period of 3-6 min is a deep cleaning stage.

The processor 20 may acquire the interruption time, determine a target preset period in which the interruption time is located, and then determine a cleaning step corresponding to the target preset period according to the cleaning step corresponding to each preset period, thereby determining the cleaning step in which the interruption time is located. For example, the interruption time is 2.5 minutes, the processor 20 may confirm that the target preset period of time at the interruption time is a preset period of 2-3 minutes, and then may confirm that the cleaning step at the interruption time is a pipe cleaning stage.

In this way, the processor 20 can quickly determine which cleaning step is the current cleaning step when the self-cleaning process is interrupted according to the interruption time of the self-cleaning process and the preset time period corresponding to each cleaning step, so as to facilitate the subsequent continuous execution of the current cleaning step when the self-cleaning process is resumed.

Referring to fig. 1 and 12, to facilitate 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 storage module 101 and an execution module 102. The storage module 101 is configured to store, when the self-cleaning process is interrupted, cleaning information before the interruption, where the cleaning information includes at least a current cleaning step and a cleaning parameter corresponding to the current cleaning step, and the current cleaning step is a cleaning step in the self-cleaning process at the moment of the interruption. The execution module 102 is configured to, in a case where the self-cleaning process is resumed, continue to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step.

The execution module 102 is specifically configured to determine a remaining cleaning duration of the current cleaning step according to a preset cleaning duration and a cleaned duration corresponding to the current cleaning step when the self-cleaning process is resumed; and continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, and continuing to remain the cleaning time.

The cleaning device 10 further comprises an interruption module 103, the interruption module 103 being adapted to interrupt the self-cleaning process in case the remaining water volume of the clean water tank 60 is smaller than a first preset threshold; in case the remaining amount of water of the sump 70 is greater than a second preset threshold value, interrupting the self-cleaning process; or in the case where the remaining amount of the battery 80 is less than the third preset threshold, the self-cleaning process is interrupted.

The cleaning device 10 further comprises a processing module 104, wherein the processing module 104 is configured to discharge water through the clean water pipe 210 when the remaining water amount of the clean water tank 60 is less than a first preset threshold; and for pumping water through the sewer pipe 220 in case the remaining amount of water of the sewer tank 70 is greater than the second preset threshold.

The cleaning device 10 further comprises a recovery module 105, wherein the recovery module 105 is configured to recover the self-cleaning process when the remaining water amount of the clean water tank 60 is greater than the fourth preset threshold, the remaining water amount of the sewage tank 70 is less than the fifth preset threshold, and the remaining power of the battery 80 is greater than the sixth preset threshold.

The cleaning device 10 also includes a control module 106. The control module 106 is used for stopping the charging of the battery 80 of the cleaning device 100 during self-cleaning and for controlling the battery 80 to stop discharging during self-cleaning and supplying power to a load in the cleaning device 100 via a public power grid, the load comprising at least the battery 80, and the main board 90, the roller brush 30 and the motor 40 of the cleaning device 100.

The cleaning device 10 further comprises a detection module 107. The detection module 107 is configured to detect whether the cleaning apparatus 100 is located on the base 230 of the base station 200 when the self-cleaning instruction is acquired. The control module 106 is in particular also used to enter a self-cleaning process in case the cleaning device 100 is located in the base 230 of the base station 200.

The control module 106 is specifically further configured to control the prompter 110 to send out interrupt information and guide information when the self-cleaning process is interrupted, where the interrupt information includes interrupt indication information and interrupt cause information, and the guide information includes information for guiding the user to process the interrupt; in the self-cleaning process, the control prompter 110 sends out the information of the current cleaning step and displays the special effect of the ticker; in the case that the self-cleaning process is completed, the control prompter 110 issues a completion message and stops displaying the ticker special effect.

The cleaning device 10 further includes an acquiring module 108 and a determining module 109, where the acquiring module 108 is configured to acquire the interruption time and determine a target preset period in which the interruption time is located, where the target preset period is any preset period; the determining module 109 is configured to determine, according to the target preset period, a cleaning step at which the interruption time is located.

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 20 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 the memory 120, and the processor 20 reads the information in the memory 120, and in combination with its hardware, performs the steps in the above-described method embodiments.

Referring again to fig. 1, a cleaning apparatus 100 according to an embodiment of the present application includes a processor 20, a memory 120, and a computer program, wherein the computer program is stored in the memory 120 and executed by the processor 20, and the computer program includes instructions for executing the cleaning method according to 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. 13, an embodiment of the present application further provides a computer readable storage medium 300, on which a computer program 310 is stored, where the computer program 310, when executed by the processor 20, implements the steps of the cleaning method of any 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 (15)

1. A cleaning method, comprising:

under the condition that a self-cleaning process is interrupted, storing cleaning information before interruption, wherein the cleaning information at least comprises a current cleaning step and cleaning parameters corresponding to the current cleaning step, and the current cleaning step is a cleaning step in the self-cleaning process at the moment of interruption;

And under the condition that the self-cleaning process is restored, continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step.

2. The cleaning method according to claim 1, wherein the cleaning information further includes a cleaned duration of the current cleaning step, and the continuing of the current cleaning step is performed according to the stored cleaning parameters corresponding to the current cleaning step in the case that the self-cleaning process is resumed, including:

under the condition that the self-cleaning process is restored, determining the residual cleaning duration of the current cleaning step according to the preset cleaning duration corresponding to the current cleaning step and the cleaned duration;

and continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step, and continuing the residual cleaning time.

3. The cleaning method according to claim 1 or 2, characterized by being applied to a cleaning apparatus including a clean water tank, a sewage tank, and a battery, the method further comprising:

interrupting the self-cleaning process if the remaining water quantity of the clean water tank is less than a first preset threshold value;

Interrupting the self-cleaning process if the remaining water volume of the sewage tank is greater than a second preset threshold; or alternatively

And under the condition that the residual electric quantity of the battery is smaller than a third preset threshold value, interrupting the self-cleaning process.

4. A cleaning method according to claim 3, characterized in that the cleaning device performs the self-cleaning process at a base station, which base station comprises a clean water pipe and a sewage pipe, which clean water pipe extends into the clean water tank and which sewage pipe extends into the sewage tank, in the case of the cleaning device being located at the base station, which base station charges the cleaning device, the method further comprising:

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

and pumping water through the sewage pipe under the condition that the residual water quantity of the sewage tank is larger than the second preset threshold value.

5. The cleaning method according to claim 1 or 2, characterized by being applied to a cleaning apparatus including a clean water tank, a sewage tank, and a battery, the method further comprising:

and recovering the self-cleaning process under the condition that the residual water quantity of the clean water tank is larger than a fourth preset threshold value, the residual water quantity of the sewage tank is smaller than a fifth preset threshold value and the residual electric quantity of the battery is larger than a sixth preset threshold value.

6. The cleaning method of claim 1, applied to a cleaning apparatus, the method further comprising:

stopping charging the battery of the cleaning device during the self-cleaning process; or alternatively

And in the self-cleaning process, controlling the battery to stop discharging, and supplying power to a load in the cleaning equipment through a public power grid, wherein the load at least comprises the battery, a main board of the cleaning equipment, a rolling brush and a motor.

7. The cleaning method of claim 1, applied to a cleaning apparatus, the method further comprising:

under the condition that a self-cleaning instruction is acquired, detecting whether the cleaning equipment is positioned on a base of a base station or not;

if yes, the self-cleaning process is entered.

8. The cleaning method according to claim 7, 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 apparatus is applied to a cleaning apparatus including a rolling brush, a motor, and a suction pipe connected to the motor, the cleaning step includes preparing a sterilizing liquid, washing the rolling brush, washing the pipe, and deep washing, and the cleaning parameters include a sterilizing liquid accumulation gear corresponding to the preparing the sterilizing liquid, a first water outlet gear and a first rolling brush rotation speed gear corresponding to the washing rolling brush, a first suction gear corresponding to the washing pipe, and a second water outlet gear, a second rolling brush rotation speed gear, and a second suction gear corresponding to the deep washing.

10. The cleaning method of claim 1, applied to a cleaning device comprising a prompter, the method further comprising:

under the condition that the self-cleaning process is interrupted, controlling the prompter to send interrupt information and guiding information, wherein the interrupt information comprises interrupt indication information and interrupt reason information, and the guiding information comprises information for guiding a user to process the interrupt;

in the self-cleaning process, the prompter is controlled to send out the information of the current cleaning step, and the special effect of the ticker is displayed;

and under the condition that the self-cleaning process is finished, controlling the prompter to send out finishing information, and stopping displaying the special effect of the ticker.

11. The cleaning method of claim 1, wherein the self-cleaning process includes a plurality of preset time periods, the preset time periods and the cleaning steps being in one-to-one correspondence, the method further comprising:

acquiring the interruption time, and determining a target preset time period in which the interruption time is located, wherein the target preset time period is any preset time period;

and determining the cleaning step at which the interruption moment is positioned according to the target preset period.

12. A cleaning device, the cleaning device comprising:

the device comprises a storage module, a control module and a control module, wherein the storage module is used for storing cleaning information before interruption under the condition that the self-cleaning process is interrupted, the cleaning information at least comprises a current cleaning step and cleaning parameters corresponding to the current cleaning step, and the current cleaning step is a cleaning step in the self-cleaning process at the moment of interruption; a kind of electronic device with high-pressure air-conditioning system

And the execution module is used for continuing to execute the current cleaning step according to the stored cleaning parameters corresponding to the current cleaning step under the condition that the self-cleaning process is restored.

13. A cleaning apparatus, comprising:

a processor, a memory; a kind of electronic device with high-pressure air-conditioning system

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 11.

14. A cleaning system, comprising:

the cleaning apparatus of claim 13; a kind of electronic device with high-pressure air-conditioning system

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

15. 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 1-11.