CN117694783A

CN117694783A - Control method and device of cleaning equipment, cleaning equipment and storage medium

Info

Publication number: CN117694783A
Application number: CN202211103800.7A
Authority: CN
Inventors: 柳康; 刘新丽; 蔡元力
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-09-09
Filing date: 2022-09-09
Publication date: 2024-03-15

Abstract

The application provides a cleaning equipment's control method and device, cleaning equipment and storage medium, cleaning equipment includes host computer and basic station, and the host computer has sewage case and first negative pressure generator, and the basic station has the second negative pressure generator, and the negative pressure generation direction of first negative pressure generator and second negative pressure generator is different, and above-mentioned method includes: responding to a pollution discharge instruction of the cleaning equipment, and controlling a bottom cover valve of the sewage tank to be opened, wherein the bottom cover valve is used for sealing a first opening of the sewage tank; sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air; and controlling the first negative pressure generator to stop running after running for a preset time period, and controlling the second negative pressure generator to run, wherein the second negative pressure generator is used for sucking liquid in the sewage tank out of the sewage tank through the first opening.

Description

Control method and device of cleaning equipment, cleaning equipment and storage medium

[ field of technology ]

The application relates to the field of smart home, in particular to a control method and device of cleaning equipment, the cleaning equipment and a storage medium.

[ background Art ]

Currently, many cleaning apparatuses are provided with a sump for temporarily storing liquid sucked into the sump by the cleaning apparatus during the cleaning operation, for example, used sewage or the like. The liquid stored in the sewage tank may contain dirt particles, and particularly, after the cleaning device is used for a period of time, impurities with large particles remain in the sewage tank, and the dirt particles are slowly deposited at the bottom of the sewage tank. When a large amount of dirt particles are accumulated at the bottom or the volume of the dirt particles is large, the dirt discharging opening of the sewage tank can be blocked in the process of opening the valve at the bottom of the sewage tank, so that the discharge of liquid in the sewage tank is influenced, and even the closing of the valve can be influenced.

As can be seen from the above, the control method of the cleaning apparatus in the related art has a problem in that the liquid discharge efficiency in the sewage tank is low due to the fact that the sewage discharge opening is easily blocked by the large particle impurities.

[ invention ]

An object of the present invention is to provide a control method and apparatus for a cleaning device, and a storage medium, so as to at least solve the problem that the control method for a cleaning device in the related art has low liquid discharge efficiency in a sewage tank due to a sewage discharge opening being easily blocked by large particle impurities.

The purpose of the application is realized through the following technical scheme:

according to an aspect of the embodiments of the present application, there is provided a control method of a cleaning apparatus including a main machine having a sewage tank and a first negative pressure generator, and a base station having a second negative pressure generator, and negative pressure generation directions of the first negative pressure generator and the second negative pressure generator being different, the method including: controlling a bottom cover valve of the sewage tank to be opened in response to a sewage discharge instruction of the cleaning equipment, wherein the bottom cover valve is used for sealing a first opening of the sewage tank; sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air; and controlling the first negative pressure generator to stop running after running for a preset time period, and controlling the second negative pressure generator to run, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the air of the sewage tank through the first opening.

In an exemplary embodiment, the controlling the bottom cover valve of the sump to open in response to the drain command of the cleaning apparatus includes: controlling a driving member of the bottom cover valve to operate later than the first negative pressure generator in response to a pollution discharge instruction of the cleaning device; or in response to a pollution discharge instruction of the cleaning device, controlling the driving piece of the bottom cover valve and the first negative pressure generator to synchronously operate.

In an exemplary embodiment, before said sucking air into said sewage tank via said first opening by said first negative pressure generator, said method further comprises: and responding to an opening signal of a driving piece of the bottom cover valve, and controlling the first negative pressure generator to operate, wherein the opening signal is used for indicating the driving piece to drive the bottom cover valve to open.

In an exemplary embodiment, the method further comprises: and in the process of opening the bottom cover valve, controlling the power of the first negative pressure generator to be gradually increased.

In one exemplary embodiment, before the controlling the bottom cover valve of the sump to open in response to the drain command of the cleaning apparatus, the method further comprises: starting a self-cleaning operation of the cleaning device, wherein the self-cleaning operation is used for cleaning pieces of the cleaning device; generating the pollution discharge instruction under the condition that the self-cleaning operation is completed; or generating the pollution discharge instruction when the liquid amount of the liquid in the sewage tank is detected to be greater than or equal to a liquid amount threshold value.

In an exemplary embodiment, the controlling the first negative pressure generator to operate for a preset period of time and then to stop operating, and controlling the second negative pressure generator to operate includes: and under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running and controlling the second negative pressure generator to run.

In an exemplary embodiment, the method further comprises: and determining the moment when the driving piece of the bottom cover valve rotates to a preset position as the moment when the bottom cover valve is in an opened state.

In an exemplary embodiment, the controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate when the bottom cover valve is in the opened state includes: and under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running, and sending a control instruction to a base station of the cleaning equipment, wherein the control instruction is used for controlling the second negative pressure generator on the base station to run.

In an exemplary embodiment, a third negative pressure generator is provided on the host or the base station, said third negative pressure generator being in communication with the sewage tank through a second opening and being for supplying liquid to the sewage tank; stopping operation after the first negative pressure generator is controlled to operate for a preset time period, and controlling the second negative pressure generator to operate, wherein the method further comprises the following steps: and responding to the cleaning instruction of the sewage tank, and executing at least one cleaning operation on the sewage tank, wherein in the process of executing the cleaning operation, the third negative pressure generator and the second negative pressure generator are operated simultaneously so as to supply liquid to the sewage tank through the second opening by the third negative pressure generator and pump the liquid in the sewage tank out of the sewage tank through the first opening by the second negative pressure generator.

According to another aspect of the embodiments of the present application, there is also provided a control device of a cleaning apparatus including a main machine having a sewage tank and a first negative pressure generator, and a base station having a second negative pressure generator, and negative pressure generation directions of the first negative pressure generator and the second negative pressure generator being different, the device including: a first control unit for controlling the opening of a bottom cover valve of the sewage tank in response to a sewage discharge instruction of the cleaning device, wherein the bottom cover valve is used for blocking a first opening of the sewage tank; a suction unit for sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve to disturb the liquid in the sewage tank by the sucked air; and the second control unit is used for controlling the first negative pressure generator to stop running after running for a preset time period and controlling the second negative pressure generator to run, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the sewage tank through the first opening.

In an exemplary embodiment, the first control unit includes: the first control module is used for responding to a pollution discharge instruction of the cleaning equipment and controlling a driving piece of the bottom cover valve to run later than the first negative pressure generator; or a second control module for controlling the driving part of the bottom cover valve and the first negative pressure generator to run synchronously in response to a pollution discharge instruction of the cleaning device.

In an exemplary embodiment, the apparatus further comprises: and the third control unit is used for responding to an opening signal of a driving piece of the bottom cover valve before the air is pumped into the sewage tank through the first opening by the first negative pressure generator, and controlling the first negative pressure generator to operate, wherein the opening signal is used for indicating the driving piece to drive the bottom cover valve to open.

In an exemplary embodiment, the apparatus further comprises: and the fourth control unit is used for controlling the power of the first negative pressure generator to be gradually increased in the process of opening the bottom cover valve.

In an exemplary embodiment, the apparatus further comprises: a starting unit for starting self-cleaning operation of the cleaning device before the bottom cover valve of the sewage tank is controlled to be opened in response to a sewage discharge instruction of the cleaning device, wherein the self-cleaning operation is used for cleaning pieces of the cleaning device; the first generation unit is used for generating the pollution discharge instruction under the condition that the self-cleaning operation is completed; or, the second generating unit is configured to generate the pollution discharge instruction when detecting that the liquid amount of the liquid in the sewage tank is greater than or equal to a liquid amount threshold.

In an exemplary embodiment, the second control unit includes: and the third control module is used for controlling the first negative pressure generator to stop running and controlling the second negative pressure generator to run under the condition that the bottom cover valve is in an opened state.

In an exemplary embodiment, the apparatus further comprises: and the determining unit is used for determining the moment when the driving piece of the bottom cover valve rotates to the preset position as the moment when the bottom cover valve is in the opened state.

In an exemplary embodiment, the second control unit includes: and the execution module is used for controlling the first negative pressure generator to stop running and sending a control instruction to a base station of the cleaning equipment under the condition that the bottom cover valve is in an opened state, wherein the control instruction is used for controlling the second negative pressure generator on the base station to run.

In an exemplary embodiment, a third negative pressure generator is provided on the host or the base station, the third negative pressure generator being in communication with the sewage tank through a second opening and being for supplying liquid to the sewage tank; the apparatus further comprises: and the execution unit is used for stopping the operation after the first negative pressure generator is controlled to operate for a preset time period, and responding to the cleaning instruction of the sewage tank after the second negative pressure generator is controlled to operate, and executing at least one cleaning operation on the sewage tank, wherein in the process of executing the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously, so that liquid is supplied to the sewage tank through the second opening by the third negative pressure generator, and the liquid in the sewage tank is pumped out of the sewage tank through the first opening by the second negative pressure generator.

According to still another aspect of embodiments of the present application, there is also provided a cleaning apparatus including: the sewage treatment system comprises a host and a base station, wherein the host comprises a sewage tank and a first negative pressure generator, and a first opening and a bottom cover valve for blocking the first opening are arranged at the bottom of the sewage tank; the base station comprises a second negative pressure generator and a recovery tank, the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, and the sewage tank is communicated with the recovery tank through the first opening under the condition that the host machine is in butt joint with the base station.

According to yet another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of the cleaning apparatus described above when running.

According to still another aspect of the embodiments of the present application, there is further provided an electronic apparatus including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the control method of the cleaning device described above through the computer program.

In the embodiment of the application, in the process of opening the bottom cover, air is sucked from the bottom of the sewage tank to the sewage tank through the negative pressure generator, and in a mode that liquid in the sewage tank is disturbed through sucked air, a bottom cover valve of the sewage tank is controlled to be opened in response to a pollution discharge instruction of the cleaning equipment, wherein the bottom cover valve is used for sealing a first opening at the bottom of the sewage tank; sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air; the first negative pressure generator is controlled to operate for a preset period of time, then the operation is stopped, and the second negative pressure generator is controlled to operate, wherein the second negative pressure generator is used for sucking liquid in the sewage tank out of the sewage tank through the first opening, and because in the process of opening the bottom cover valve, the negative pressure generator sucks air into the sewage tank through the sewage opening blocked by the bottom cover valve (namely, the first opening), the air entering the sewage tank can disturb the liquid in the sewage tank, dirt particles deposited at the bottom of the sewage tank can rotate together with the liquid to form a solid-liquid mixture instead of accumulating at the sewage opening, and meanwhile, the air enters the sewage tank from the sewage opening, so that the solid-liquid mixture in the sewage tank can be prevented from being directly discharged out of the sewage tank through the sewage opening due to gravity in the process of opening the bottom cover valve, the aim of reducing the risk of blocking the sewage opening is fulfilled, the technical effect of improving the liquid discharge efficiency in the sewage tank is achieved, and the problem that the liquid discharge efficiency in the sewage tank is low due to the fact that the sewage opening is blocked by large particles is easy to be blocked is solved in the control method of the cleaning equipment in the related art.

[ description of the drawings ]

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

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

FIG. 2 is a flow chart of an alternative method of controlling a cleaning device according to an embodiment of the present application;

FIG. 3 is a schematic view of another alternative cleaning apparatus according to an embodiment of the present application;

FIG. 4 is a schematic view of yet another alternative cleaning apparatus according to an embodiment of the present application;

FIG. 5 is a schematic illustration of another alternative control method of a cleaning apparatus according to an embodiment of the present application;

FIG. 6 is a block diagram of the control of an alternative cleaning apparatus according to an embodiment of the present application;

Fig. 7 is a block diagram of an alternative electronic device according to an embodiment of the present application.

[ detailed description ] of the invention

The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

According to one aspect of the embodiments of the present application, a control method of a cleaning apparatus is provided. As shown in fig. 1, the above-described cleaning apparatus may include a host computer 11 and a base station 12. The host 11 and the base station 12 may communicate with each other via a network, which may be a wireless network or a wired network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared.

Fig. 2 is a schematic flow chart of an alternative control method of a cleaning device according to an embodiment of the application, and as shown in fig. 2, the flow chart of the method may include the following steps:

In step S202, in response to a sewage command of the cleaning device, a bottom cover valve of the sewage tank is controlled to be opened, wherein the bottom cover valve is used for sealing the first opening of the sewage tank.

The control method of the cleaning device in this embodiment may be applied to a scenario of sewage draining in a sewage tank (or a sewage tank) of a host machine, where the cleaning device may be a sweeping robot, a washing robot, a sweeping and mopping robot, or other devices with cleaning functions. The cleaning apparatus may include a main machine having a sewage tank and a first negative pressure generator, and a base station having a second negative pressure generator, and the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, as shown in fig. 1, the first negative pressure generator may be used to generate an upward negative pressure, and the second negative pressure generator may be used to generate a downward negative pressure. The above-mentioned sewage tank drain operation may be triggered when the detected liquid amount of the liquid in the sewage tank reaches a certain threshold, or may be triggered when the cleaning task is performed, or may be triggered by manual control of a user, which is not limited in this embodiment.

The above-mentioned cleaning task may be a conventional floor cleaning task or a self-cleaning operation of the cleaning device. The self-cleaning herein may be cleaning of cleaning elements, transfer pipes, etc. of the cleaning device, which may be cleaning elements on the cleaning device for performing cleaning tasks, may include, but are not limited to, at least one of: the rolling brush (also called a floor brush), the mop, etc., and the transfer pipe may be a pipe (also called a sewage suction pipe) connected to the sewage tank for transferring sewage or other liquid into the sewage tank, which is not limited in this embodiment.

In this embodiment, the above-mentioned blowdown operation may be performed in response to an acquired blowdown instruction, which may be generated based on the condition that the amount of liquid in the sewage tank reaches a threshold value or the cleaning task is performed, or may be generated in response to a detected trigger operation performed on a blowdown button on the cleaning device, where the blowdown button may be located on a display screen of the cleaning device, or in another position, and may be a physical button, or may be a virtual button, and the trigger operation may be a click operation, a double click operation, a long press operation, or the like; alternatively, the pollution discharge instruction may be sent by a base station, a terminal device bound to the cleaning device, or a matched remote controller, and the mode of acquiring the pollution discharge instruction is not limited in this embodiment.

In this embodiment, the bottom of the tank may be provided with a first opening, also called a drain opening, for draining the liquid in the tank. Here, the first opening may be a circular or other shaped opening provided at the bottom of the sewage tank, and a transfer pipe may be provided at the first opening, so that the liquid in the sewage tank is discharged from the first opening to the outside of the sewage tank through the transfer pipe, which may be a sewage drain pipe. Alternatively, the other end of the transfer pipe may be connected to an opening in the recovery tank of the base station, and the liquid in the sewage tank may reach the sewage tank of the base station from the first opening via the transfer pipe. A bottom cover valve (e.g., a valve cover plate) may be installed at the first opening for blocking the first opening of the tank when no liquid discharge is required.

For example, as shown in fig. 3, a drain opening may be opened at the bottom of the sewage tank 30 of the host machine, and a bottom cover valve 31 may be provided at the drain opening, the drain opening being connected to the outside of the sewage tank 30 through a drain pipe 32. Further, a sewage suction pipe 33 may be provided in the main unit for sucking the liquid into the sewage tank 30.

When the bottom cover valve is in a closed state, liquid in the sewage tank cannot flow out of the first opening. In response to a sewage command of the cleaning apparatus, a bottom cover valve of a sewage tank of the main machine may be controlled to be opened, and after the bottom cover valve is opened, liquid in the sewage tank may be discharged from the sewage tank through the first opening.

For example, taking the example that the cleaning device needs to drain after completing the self-cleaning operation, after acquiring a signal of the completion of the self-cleaning process, the drainage process can be triggered, and the bottom cover valve of the sewage tank can be controlled to be opened. As shown in fig. 4, a sewage suction pipe 33 (a sewage inlet pipe, i.e., a brush suction pipe) is provided inside the sewage tank 30 for transferring liquid used for cleaning the cleaning member 41 (e.g., a roller brush) into the sewage tank in a direction indicated by an arrow in fig. 4, and a bottom cover valve 31 is provided at the bottom of the sewage tank 30 for controlling the discharge of the liquid in the sewage tank through the sewage discharge opening. After the bottom cover valve 31 is opened, the liquid in the sump 30 may be transferred to the recovery tank of the base station through the drain pipe 32, as indicated by the arrow in fig. 4.

In step S204, during the opening of the bottom cover valve, air is sucked into the sewage tank through the first opening by the first negative pressure generator to disturb the liquid air in the sewage tank by the sucked air.

After the cleaning device has performed a cleaning task, in particular after a self-cleaning operation, a large amount of dirt particles may be present in the liquid in the tank, which may contain some large dirt particles. In a stationary state, these dirt particles may accumulate at the bottom of the tank. When the bottom valve of the sewage tank (i.e., the bottom cap valve) is opened, large particles may preferentially pass through the first opening, possibly causing the first opening to be blocked, thereby affecting the liquid discharge efficiency in the sewage tank. Meanwhile, due to the blockage of large particles at the first opening, the situation that the bottom cover valve cannot be normally closed may occur.

In order to solve at least some of the above problems, in this embodiment, during the opening of the bottom cover valve, air may be sucked into the sewage tank through the first opening by the first negative pressure generator, so that the sucked air may disturb the liquid in the sewage tank, and dirt particles deposited at the bottom of the sewage tank may be mixed with the liquid in the sewage tank during the rotation, to form a solid-liquid mixture. Because the accumulated dirt particles are dispersed in the liquid, the dirt particles accumulated at the first opening of the sewage tank can be reduced, and the condition that the first opening is blocked in the sewage discharging process is reduced. The first negative pressure generator may be directly activated in response to a sewage command from the cleaning apparatus, or may be activated after the bottom cover valve of the sewage tank is opened. This embodiment is not limited thereto.

The liquid in the sewage tank can be kept in a rotating state by the air pumped by the first negative pressure generator, and meanwhile, the liquid in the sewage tank can be prevented from being discharged from the first opening as the air enters the sewage tank from the first opening from bottom to top. Meanwhile, the liquid disturbed by the air can wash out dirt particles on the inner wall of the sewage tank, so that the dirt particles are prevented from being adsorbed on the inner wall of the sewage tank, and the cleanliness of the sewage tank is improved. In addition, in the process of carrying out sewage through the first opening, dirt particles in the liquid can not be directly deposited to the bottom of the sewage tank in a short time, so that the first opening is blocked, and the sewage tank sewage draining efficiency can be ensured.

Here, the first negative pressure generator (the second negative pressure generator and the third negative pressure generator described below are similar to the first negative pressure generator) may be a pneumatic element that forms a certain vacuum degree by using the flow of compressed air, and the generation and release of the vacuum are faster, and may be used for suction work in intermittent work where the flow rate is not great, which may be a main motor inside the main machine. Alternatively, when a cleaning task or a self-cleaning operation is performed, sewage generated during the cleaning process may enter the sewage tank through the sewage suction pipe, and when a sewage discharging operation is performed, external air may also enter the sewage tank through the sewage suction pipe.

For example, in the process of opening the valve of the bottom cover of the sewage tank, the main motor is controlled to continuously work, so that external air can enter the sewage tank from the opening at the bottom of the sewage tank besides the suction pipeline of the ground brush, thereby stirring sewage in the sewage tank, disturbing large particles at the bottom of the sewage tank to form a solid-liquid mixture, and preventing the large particles deposited at the bottom of the sewage tank from blocking the bottom cover. Meanwhile, the inner wall of the sewage tank can be flushed, and the sewage draining effect of the sewage tank is improved. In the process, the liquid in the sewage tank is kept from entering the sewage pipeline under the action of the negative pressure of the main motor.

For example, after the sewage draining process is triggered, the bottom cover valve of the sewage tank is opened, and a driving member (which may be a motor) for driving the bottom cover valve to be opened sends a status signal to the processing module, and the processing module acquires the status signal to control the main motor to work, and vice versa.

And S206, stopping the operation after the first negative pressure generator is controlled to operate for a preset time period, and controlling the second negative pressure generator to operate, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the sewage tank through the first opening.

In this embodiment, in order to ensure that the liquid in the sewage tank can be discharged from the first opening, the first negative pressure generator can be controlled to stop running after running for a preset period of time, and the liquid in the sewage tank can be discharged from the first opening by controlling the first negative pressure generator to stop running. In order to accelerate the speed of sewage discharge from the sewage tank, dirt particles in the liquid are prevented from being deposited on the inner wall of the pipeline when passing through the transmission pipeline, and the liquid in the sewage tank can be pumped out of the sewage tank through the first opening by generating negative pressure through the second negative pressure generator. Here, the preset time period may be a preset time period, and the value thereof may be set based on the time required for the bottom cover valve to be opened to the fully opened state, or may be set based on an empirical time period during which the dirt particles may be completely disturbed by air from the bottom of the sewage tank to be dispersed in the liquid. Alternatively, the preset time period may be a time period controlled based on the open state of the bottom cover valve. The second negative pressure generator can be connected with the corresponding transmission pipeline of the first opening to realize the suction of the liquid in the sewage tank, and the working principle of the second negative pressure generator can be similar to that of the first negative pressure generator, so that the embodiment is not repeated here.

In case the first negative pressure generator is stopped or in case the bottom cover valve is in an opened state, the second negative pressure generator may be controlled to operate to suck the liquid in the sewage tank out of the sewage tank through the first opening, for example into a recovery tank on the base station. The condition that the bottom cover valve is in the opened state may be determined according to the rotation of the bottom cover valve to the corresponding position, or may be determined by detecting that the bottom cover valve rotates by a certain angle, which is not limited in this embodiment.

Controlling a bottom cover valve of a sewage tank of the cleaning device to be opened in response to a sewage discharge instruction of the cleaning device through the steps S202 to S206, wherein the bottom cover valve is used for sealing a first opening of the sewage tank; sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air; the first negative pressure generator is controlled to operate for a preset time period, then the operation is stopped, and the second negative pressure generator is controlled to operate, wherein the second negative pressure generator is used for sucking liquid in the sewage tank out of the sewage tank through the first opening, the problem that the control method of the cleaning equipment in the related art is low in liquid discharge efficiency in the sewage tank due to the fact that the sewage discharge opening is easy to be blocked is solved, and the liquid discharge efficiency in the sewage tank is improved.

In one exemplary embodiment, controlling the bottom cover valve of the tank to open in response to a blowdown command of the cleaning device includes:

s11, responding to a pollution discharge instruction of the cleaning equipment, and controlling a driving piece of the bottom cover valve to run later than the first negative pressure generator; or (b)

And S12, controlling the driving piece of the bottom cover valve and the first negative pressure generator to synchronously operate in response to a pollution discharge instruction of the cleaning equipment.

In response to a blowdown command of the cleaning device, the cleaning device may control air to be drawn into the sump through the first opening of the sump by the first negative pressure generator during opening of the bottom cover valve. As an alternative embodiment, in order to avoid that dirt particles accumulated at the bottom of the sewage tank enter the first opening at the moment when the bottom cover valve is opened, and cause the first opening to be blocked, the bottom cover valve can be driven to be opened by the driving piece of the bottom cover valve under the condition that the first negative pressure generator is determined to be operated, that is, the driving piece of the bottom cover valve is controlled to be operated later than the first negative pressure generator.

In this embodiment, the first negative pressure generator may be triggered to start to operate in response to a pollution discharge instruction of the cleaning apparatus, for example, the first negative pressure generator may be controlled to operate first and then the bottom cover valve is controlled to open in response to the pollution discharge instruction of the cleaning apparatus; or may be started before the emission instructions of the cleaning apparatus are obtained. The bottom cap valve may be actuated to open and close by an actuator, which may be a motor. For example, the processing module obtains a pollution discharge instruction, controls the main motor to work, and sends indication information to a driving piece for driving the valve to open so as to indicate that the main motor starts to work. The driving piece obtains the indication information and drives the bottom cover valve of the sewage tank to open.

As an alternative, the opening of the bottom cover valve and the operation of the first negative pressure generator may also be arranged to occur simultaneously. And controlling the driving piece of the bottom cover valve and the first negative pressure generator to synchronously operate in response to a pollution discharge instruction of the cleaning equipment.

Through this embodiment, through the operation that controls first negative pressure generator's operation is not later than the driving piece of bottom valve, can avoid bottom valve to open the dirty granule of the accumulation of sewage tank bottom portion and enter into the blowdown opening in the moment, cause the blowdown opening to block up, can improve blowdown efficiency.

In one exemplary embodiment, the method further comprises, prior to sucking air into the sewage tank through the first opening by the first negative pressure generator:

and S21, responding to an opening signal of a driving piece of the bottom cover valve, and controlling the first negative pressure generator to operate, wherein the opening signal is used for indicating the driving piece to drive the bottom cover valve to open.

Because the bottom cover valve needs a certain time, in order to improve the sewage disposal timeliness, the bottom cover valve can be started to be driven to be opened by a driving piece of the bottom cover valve in response to a sewage disposal instruction of the cleaning equipment. Meanwhile, the driving part of the bottom cover valve sends an opening signal to the processing module, and the processing module responds to the opening signal of the driving part of the bottom cover valve to control the first negative pressure generator to operate, wherein the processing module is a program module for controlling the first negative pressure generator to operate, and the opening signal is used for indicating that the driving part starts to drive the bottom cover valve to open.

For example, the bottom cover valve of the sewage tank is opened, the driving piece for driving the valve to be opened sends an opening signal to the processing module, and the processing module acquires the opening signal and controls the main motor to work.

By the embodiment, the operation of the negative pressure generator is controlled by responding to the opening signal of the driving piece of the bottom cover valve, so that the pollution discharge timeliness can be improved, and the energy consumption in the pollution discharge process can be reduced.

In an exemplary embodiment, the above method further comprises:

s31, controlling the power of the first negative pressure generator to be gradually increased in the process of opening the bottom cover valve.

As the opening degree of the bottom cover valve is larger and larger, the possibility that the liquid in the sewage tank flows out from the first opening is also larger and larger, so as to ensure that the liquid in the sewage tank can remain in the sewage tank and keep a sufficient rotation speed to be mixed with the dirt particles, in this embodiment, the power of the first negative pressure generator can be controlled to be gradually increased in the process of opening the bottom cover valve.

Here, the air amount that first negative pressure generator can suck and its power are positive correlation, and in the in-process of bottom valve opening, along with the continuous increase of bottom valve opening degree, the power of first negative pressure generator gradually, can increase the negative pressure of first negative pressure generator suction air for more air can get into the sewage case from first opening part, guarantees that the liquid in the sewage case can not follow first opening part and discharge.

Through this embodiment, through the power at the in-process of bottom valve opening the negative pressure generator of increase gradually, can guarantee that the liquid in the sewage case can not follow the blowdown opening part in the in-process of bottom valve opening to reduce the risk that the blowdown opening was blocked respectively.

In one exemplary embodiment, the method further comprises, prior to controlling the bottom cover valve of the tank to open in response to a drain command from the cleaning device:

s41, starting self-cleaning operation of the cleaning equipment, wherein the self-cleaning operation is used for cleaning pieces of the cleaning equipment; generating a pollution discharge instruction under the condition that the self-cleaning operation is completed; or,

s42, when the liquid amount of the liquid in the sewage tank is detected to be greater than or equal to the liquid amount threshold, generating a pollution discharge instruction.

In this embodiment, the generating conditions of the pollution discharge instruction may be various, and may be triggered to be generated after the self-cleaning operation is completed, may be generated when the liquid amount of the liquid in the sewage tank is detected to be greater than or equal to the liquid amount threshold, or may be generated when other generating conditions are satisfied.

As an alternative embodiment, the self-cleaning operation of the cleaning device may be initiated in case it is determined that the self-cleaning operation is required. The self-cleaning operation may be used to clean the cleaning elements of the cleaning device, which may be cleaned only once due to a cleaner floor surface or may be required to be cleaned several times due to a dirty floor surface. The device can be arranged after one self-cleaning operation is finished to generate a pollution discharge instruction, or can be arranged after one round of self-cleaning operation is finished to generate a pollution discharge instruction again to discharge liquid in the sewage tank.

As another alternative embodiment, in order to avoid that sewage generated on the cleaning member of the cleaning device cannot be sucked into the sewage tank or the liquid in the sewage tank overflows from the opening gap at the bottom of the sewage tank due to too much liquid in the liquid tank, a liquid amount threshold may be preset, the liquid amount of the liquid in the sewage tank is detected in real time, and when the detected liquid amount of the liquid in the sewage tank is greater than or equal to the liquid amount threshold, a sewage draining instruction is generated to drain the liquid in the sewage tank.

According to the embodiment, the sewage draining instruction is triggered to be generated by the completion of the self-cleaning operation or the fact that the liquid amount of liquid in the sewage tank exceeds the threshold value, so that the timeliness of liquid discharge of the sewage tank can be improved.

In one exemplary embodiment, controlling the first negative pressure generator to operate for a preset period of time and then stopping the operation, and controlling the second negative pressure generator to operate includes:

s51, under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running and controlling the second negative pressure generator to run.

The preset duration may be controlled by the opened state of the bottom cap valve. The first negative pressure generator is controlled to continuously operate in the process of opening the bottom cover valve. And under the condition that the bottom cover valve is in an opened state, the first negative pressure generator is controlled to stop running. Here, the opened state may be used to indicate that the bottom cover valve is completely opened, and in the case that the bottom cover valve is in the opened state, the liquid in the sewage tank may be discharged from the first opening, and the bottom cover valve may not have any barrier thereto.

In this embodiment, the second negative pressure generator may also be controlled to operate to pump the liquid in the tank out of the tank through the first opening, for example into a recovery tank on the base station, with the bottom cover valve in an open state. The description of determining that the bottom cover valve is in the opened state may be the same as that of the previous embodiment, and this embodiment will not be repeated here.

According to the embodiment, after the bottom cover valve is in the opened state, the first negative pressure generator is stopped, and the second negative pressure generator is started, so that the discharge speed of liquid in the sewage tank can be improved.

In an exemplary embodiment, the above method further comprises:

and S61, determining the moment when the driving piece of the bottom cover valve rotates to the preset position as the moment when the bottom cover valve is in the opened state.

The bottom cover valve may be opened by rotating the bottom cover valve by a driving member of the bottom cover valve, and after the bottom cover valve is opened to a certain extent, it may be determined that the bottom cover valve is in an opened state. The open state of the bottom cover valve of the sewage tank can be determined by the position of the driving member of the bottom cover valve.

In this embodiment, a position of the driving member may be preset for determining whether the bottom cover valve is in an opened state. And determining the moment when the driving piece of the bottom cover valve rotates to the preset position as the moment when the bottom cover valve is in the opened state. Alternatively, a button or a sensor may be installed at a preset position, and after the driving member of the bottom cover valve rotates to a corresponding position, the driving member of the bottom cover valve may collide with the button or the sensor, thereby determining that the driving member of the bottom cover valve rotates to the preset position.

For example, after the bottom cover valve of the sewage tank of the control host is opened, the driving member of the bottom cover valve and the main motor are simultaneously operated. The bottom cover valve is gradually opened under the driving of the driving member. When the driving piece rotates to a preset position, the bottom cover valve is determined to be in an opened state, the driving piece sends a signal to the processing module, and the processing module controls the main motor to stop working.

According to the embodiment, the bottom cover valve is determined to be in the opened state by rotating the bottom cover valve to the preset position, so that the accuracy of determining the state of the bottom cover valve can be improved.

In one exemplary embodiment, controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate with the bottom cap valve in an opened state includes:

and S71, under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running, and sending a control instruction to a base station of the cleaning equipment, wherein the control instruction is used for controlling a second negative pressure generator on the base station to run.

In order to reduce the weight of the cleaning device, improve the use experience of the cleaning device, and simultaneously improve the discharge speed of the liquid in the sewage tank, a second negative pressure generator for sucking the liquid in the sewage tank may be installed on the base station and connected to the transmission pipe at the first opening. Further, a recovery tank having a larger capacity (i.e., a tank for recovering the liquid in the sewage tank) may be installed at the base station, and the liquid in the sewage tank may be discharged into the recovery tank.

In this embodiment, when the bottom cover valve is in the opened state, the host may send a control instruction to the base station while controlling the first negative pressure generator to stop operating. The base station starts a second negative pressure generator according to the received control instruction, and sucks liquid in the sewage tank through the transmission pipe. Here, the control instruction may be used to control the operation of the second negative pressure generator on the base station.

Through this embodiment, through the negative pressure generator on the basic station to the sewage of the sewage incasement of host computer suction, can alleviate cleaning equipment's weight, improve cleaning equipment's use experience and feel.

In an exemplary embodiment, the host or the base station may further be provided with a third negative pressure generator, where the third negative pressure generator is connected to the sewage tank through the second opening and is used for supplying liquid to the sewage tank, where the liquid provided by the third negative pressure generator into the sewage tank may be liquid in a clean water tank of the host or may be liquid in other liquid storage parts, and the second opening may be a different opening from the first opening, for example, may be a sewage suction opening or may be another opening except for the sewage suction opening and the sewage discharge opening, which is not limited in this embodiment.

Correspondingly, after the first negative pressure generator is controlled to operate for a preset period of time and the second negative pressure generator is controlled to operate, the method further comprises the following steps:

and S81, performing at least one cleaning operation on the sewage tank in response to the cleaning instruction of the sewage tank, wherein the third negative pressure generator and the second negative pressure generator are operated simultaneously in the process of performing the cleaning operation so as to supply liquid to the sewage tank through the second opening by the third negative pressure generator and suck the liquid in the sewage tank out of the sewage tank through the first opening by the second negative pressure generator.

After the liquid in the sewage tank is discharged, a part of dirt particles or dirt substances may remain in the sewage tank. In order to completely discharge dirt particles in the sewage tank and to secure the cleanliness of the sewage tank, the sewage tank may be cleaned by injecting a liquid (e.g., clean water added with a cleaning liquid, etc.) into the sewage tank after the liquid discharge in the sewage tank is completed.

In this embodiment, at least one cleaning operation is performed on the sewage tank in response to a cleaning instruction of the sewage tank. The cleaning instruction of the sewage tank may be generated after the completion of the liquid discharge in the sewage tank is detected, or may be generated by triggering in other ways. Alternatively, the completion of the liquid discharge in the sewage tank may be determined by detecting the liquid amount of the liquid in the sewage tank, or the speed at which the liquid flows out of the sewage tank, or the like, or may be determined based on the fact that the second negative pressure generator can no longer suck the liquid from the inside of the sewage tank.

The cleaning liquid used in the cleaning operation of the sewage tank may be supplied to the sewage tank through the second opening by the third negative pressure generator, and the liquid in the sewage tank may be sucked out of the sewage tank through the first opening by the second negative pressure generator after the cleaning operation. The third negative pressure generator can be the first negative pressure generator, can also be other negative pressure generators in the host machine independent of the first negative pressure generator, and can also be negative pressure generators arranged on the base station. In case the third negative pressure generator is a different negative pressure generator than the first negative pressure generator, the third negative pressure generator may be in communication with the sewage tank through the second opening and be adapted to supply liquid to the sewage tank.

In the process of executing the cleaning operation, the liquid can be pumped into the sewage tank through the third negative pressure generator, and the liquid in the sewage tank can be discharged through the second negative pressure generator after the cleaning is finished, or the liquid in the sewage tank can be discharged while the clean liquid is pumped into the sewage tank. Correspondingly, the third negative pressure generator and the second negative pressure generator can be operated in a staggered manner or can be operated simultaneously.

Alternatively, in order to prevent the cleaning member from shortening its service life due to bacterial growth and mold growth in a closed, wet environment for a long period of time, the cleaning member may be subjected to a drying operation after the cleaning operation is completed, so as to ensure that the cleaning member is in a dry state. In addition, can also dry the inside sewage case to improve the life of sewage case.

Through this embodiment, wash the sewage case through the blowdown after accomplishing, can improve the inside cleanliness of sewage case, and then improve the life of sewage case.

The following explains a control method of the cleaning apparatus in the embodiment of the present application with reference to an alternative example. In this alternative example, the cleaning device is a floor washer, the detection component is an infrared pair of tubes, the first negative pressure generator is a main motor of the floor washer, the second negative pressure generator is a base station motor, and the cleaning element is a floor brush (i.e., a roller brush).

This optional example provides a scheme of avoiding sewage case bottom uncapping by big granule shutoff, through in the blowdown in-process, control main motor work, stirs the sewage rotation of sewage incasement for the dirty granule of sewage incasement mixes in sewage, avoids its deposit in the blowdown opening part of sewage case bottom, thereby avoids the problem that sewage case bottom uncapping blowdown was shutoff.

As shown in connection with fig. 5, the flow of the control method of the cleaning apparatus in this alternative example may include the steps of:

step 1, acquiring a signal of the completion of the self-cleaning process, and triggering a pollution discharge process.

And 2, opening a sewage valve at the bottom of the sewage tank (namely, a bottom cover valve), and simultaneously starting the main motor of the machine body to work, wherein air enters the sewage tank from the ground brush suction pipeline and the bottom opening of the water tank.

And 3, after the sewage valve is completely opened (the bottom cover driving piece rotates to a preset position), stopping the main motor.

And 4, starting the sewage discharge work by the base station motor.

And 5, cleaning the sewage tank twice.

And 6, drying the floor brush.

And 7, closing a sewage discharging valve at the bottom of the sewage tank.

Through this optional example, through the bottom valve of sewage case begins to open to the sewage case bottom valve open before completely, control fuselage main motor work, make the air get into the sewage case, stir the sewage in the sewage case, make the big granule of bottom mix with sewage into solid-liquid mixture to avoid the sewage case bottom to uncap the blowdown by big granule shutoff, can improve the blowdown efficiency of sewage case, promote user experience.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), including instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided a control device for a cleaning apparatus for implementing the control method of a cleaning apparatus described above, where the cleaning apparatus includes a main unit having a sewage tank and a first negative pressure generator, and a base station having a second negative pressure generator, and the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. Fig. 6 is a block diagram of the control device of an alternative cleaning apparatus according to an embodiment of the present application, and as shown in fig. 6, the device may include:

A first control unit 602 for controlling the opening of a bottom cover valve of the sewage tank in response to a sewage discharge instruction of the cleaning apparatus, wherein the bottom cover valve is used for blocking a first opening of the sewage tank;

a suction unit 604 connected to the first control unit 602 for sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve to disturb the liquid in the sewage tank by the sucked air;

and a second control unit 606 connected to the suction unit 604, and configured to control the first negative pressure generator to stop operating after a preset period of time, and control the second negative pressure generator to operate, where the second negative pressure generator is configured to suck the liquid in the sewage tank out of the sewage tank through the first opening.

It should be noted that, the first executing unit 602 in this embodiment may be used to execute the above-mentioned step S202, the sucking unit 604 in this embodiment may be used to execute the above-mentioned step S204, and the second controlling unit 606 in this embodiment may be used to execute the above-mentioned step S206.

By the module, the bottom cover valve of the sewage tank is controlled to be opened by responding to a sewage discharge instruction of the cleaning equipment, wherein the bottom cover valve is used for sealing the first opening of the sewage tank; sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air; the first negative pressure generator is controlled to operate for a preset period of time, then the operation is stopped, and the second negative pressure generator is controlled to operate, wherein the second negative pressure generator is used for sucking liquid in the sewage tank out of the sewage tank through the first opening, the problem that the control method of the cleaning equipment in the related art is low in liquid discharge efficiency in the sewage tank due to the fact that the sewage discharge opening is easy to be blocked by large-particle impurities is solved, and the liquid discharge efficiency in the sewage tank is improved.

In one exemplary embodiment, the first control unit includes:

the first control module is used for responding to a pollution discharge instruction of the cleaning equipment and controlling a driving piece of the bottom cover valve to run later than the first negative pressure generator; or (b)

And the second control module is used for responding to a pollution discharge instruction of the cleaning equipment and controlling the driving piece of the bottom cover valve to synchronously operate with the first negative pressure generator.

In an exemplary embodiment, the above apparatus further includes:

and a third control unit for controlling the operation of the first negative pressure generator in response to an opening signal of the driving member of the bottom cover valve before air is sucked into the sewage tank through the first opening by the first negative pressure generator, wherein the opening signal is used for instructing the driving member to drive the bottom cover valve to open.

In an exemplary embodiment, the above apparatus further includes:

and the fourth control unit is used for controlling the power of the first negative pressure generator to be gradually increased in the process of opening the bottom cover valve.

In an exemplary embodiment, the above apparatus further includes:

a starting unit for starting self-cleaning operation of the cleaning device before controlling the bottom cover valve of the sewage tank to be opened in response to a sewage discharge instruction of the cleaning device, wherein the self-cleaning operation is used for cleaning the cleaning piece of the cleaning device;

The first generation unit is used for generating a pollution discharge instruction under the condition that the self-cleaning operation is completed; or,

and the second generation unit is used for generating a pollution discharge instruction when detecting that the liquid amount of the liquid in the sewage tank is greater than or equal to the liquid amount threshold value.

In one exemplary embodiment, the second control unit includes:

and the third control module is used for controlling the first negative pressure generator to stop running and controlling the second negative pressure generator to run under the condition that the bottom cover valve is in an opened state.

In an exemplary embodiment, the above apparatus further includes:

and a determining unit for determining a time when the driving member of the bottom cover valve is rotated to a preset position as a time when the bottom cover valve is in an opened state.

In one exemplary embodiment, the second control unit includes:

and the execution module is used for controlling the first negative pressure generator to stop running under the condition that the bottom cover valve is in an opened state and sending a control instruction to a base station of the cleaning equipment, wherein the control instruction is used for controlling the second negative pressure generator on the base station to run.

In one exemplary embodiment, a third negative pressure generator is arranged on the host or the base station, and the third negative pressure generator is communicated with the sewage tank through the second opening and is used for supplying liquid to the sewage tank; the device further comprises:

And the execution unit is used for stopping the operation after controlling the first negative pressure generator to operate for a preset time period, and responding to the cleaning instruction of the sewage tank to execute at least one cleaning operation on the sewage tank after controlling the second negative pressure generator to operate, wherein in the process of executing the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously so as to supply liquid to the sewage tank through the second opening by the third negative pressure generator and suck the liquid in the sewage tank out of the sewage tank through the first opening by the second negative pressure generator.

It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.

According to yet another aspect of embodiments of the present application, a cleaning apparatus is also provided. Alternatively, in the present embodiment, the cleaning apparatus described above may be used to perform the control method of any one of the cleaning apparatuses described above in the embodiments of the present application.

Optionally, the cleaning apparatus may include: a host and a base station, wherein,

the host comprises a sewage tank and a first negative pressure generator, wherein the bottom of the sewage tank is provided with a first opening and a bottom cover valve for blocking the first opening;

the base station comprises a second negative pressure generator and a recovery tank, the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, and the sewage tank is communicated with the recovery tank through a first opening under the condition that the host machine is in butt joint with the base station.

Optionally, a third negative pressure generator is arranged on the host or the base station, and the third negative pressure generator is communicated with the sewage tank through the second opening and is used for supplying liquid to the sewage tank.

Optionally, the cleaning device may further comprise a processor, which may be located on the host computer, which may be used to perform the steps of:

s1, responding to a pollution discharge instruction of cleaning equipment, and controlling a bottom cover valve of a sewage tank to be opened, wherein the bottom cover valve is used for sealing a first opening of the sewage tank;

s2, sucking air into the sewage tank through the first opening by the first negative pressure generator in the process of opening the bottom cover valve so as to disturb liquid in the sewage tank by the sucked air;

S3, stopping the operation after the first negative pressure generator is controlled to operate for a preset time period, and controlling the second negative pressure generator to operate, wherein the second negative pressure generator is used for sucking liquid in the sewage tank out of the sewage tank through the first opening.

The processor may also be configured to perform the steps of the control method of any of the above cleaning devices, which have been described and will not be described in detail herein.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

According to yet another aspect of embodiments of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used to execute the program code of the control method of the cleaning apparatus of any one of the above-described embodiments of the present application.

Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.

Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the control method of the cleaning apparatus described above, which may be a server, a terminal, or a combination thereof.

Fig. 7 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 702, a communication interface 704, a memory 706, and a communication bus 708, as shown in fig. 7, wherein the processor 702, the communication interface 704, and the memory 706 communicate with one another via the communication bus 708, wherein,

A memory 706 for storing a computer program;

the processor 702, when executing the computer program stored on the memory 706, performs the following steps:

Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.

The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an example, the memory 706 may include, but is not limited to, a first control unit 602, a pumping unit 604, and a second control unit 606 in a control apparatus including the device. In addition, other module units in the control device of the above apparatus may be included, but are not limited to, and are not described in detail in this example.

The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.

It will be understood by those skilled in the art that the structure shown in fig. 7 is only illustrative, and the device implementing the control method of the cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 7 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 7, or have a different configuration than shown in FIG. 7.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims

1. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes a main machine having a sewage tank and a first negative pressure generator, and a base station having a second negative pressure generator, and negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, the method comprising:

controlling a bottom cover valve of the sewage tank to be opened in response to a sewage discharge instruction of the cleaning equipment, wherein the bottom cover valve is used for sealing a first opening of the sewage tank;

Sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve so as to disturb the liquid in the sewage tank by the sucked air;

and controlling the first negative pressure generator to stop running after running for a preset time period, and controlling the second negative pressure generator to run, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the sewage tank through the first opening.

2. The method of claim 1, wherein controlling the bottom cover valve of the tank to open in response to a blowdown command from the cleaning device comprises:

controlling a driving member of the bottom cover valve to operate later than the first negative pressure generator in response to a pollution discharge instruction of the cleaning device; or (b)

And responding to a pollution discharge instruction of the cleaning equipment, and controlling the driving piece of the bottom cover valve and the first negative pressure generator to synchronously operate.

3. The method of claim 1, wherein prior to said drawing air into said tank through said first opening by said first negative pressure generator, said method further comprises:

And responding to an opening signal of a driving piece of the bottom cover valve, and controlling the first negative pressure generator to operate, wherein the opening signal is used for indicating the driving piece to drive the bottom cover valve to open.

4. The method according to claim 1, wherein the method further comprises:

and in the process of opening the bottom cover valve, controlling the power of the first negative pressure generator to be gradually increased.

5. The method of claim 1, wherein prior to said controlling the bottom cover valve of the tank to open in response to a blowdown command from the cleaning device, the method further comprises:

starting a self-cleaning operation of the cleaning device, wherein the self-cleaning operation is used for cleaning pieces of the cleaning device; generating the pollution discharge instruction under the condition that the self-cleaning operation is completed; or,

and generating the pollution discharge instruction under the condition that the liquid amount of the liquid in the sewage tank is detected to be greater than or equal to a liquid amount threshold value.

6. The method of claim 1, wherein the controlling the first negative pressure generator to operate is stopped after a preset period of time, and controlling the second negative pressure generator to operate includes:

And under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running and controlling the second negative pressure generator to run.

7. The method of claim 6, wherein the method further comprises:

and determining the moment when the driving piece of the bottom cover valve rotates to a preset position as the moment when the bottom cover valve is in an opened state.

8. The method of claim 6, wherein controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate with the bottom cover valve in an open state comprises:

and under the condition that the bottom cover valve is in an opened state, controlling the first negative pressure generator to stop running, and sending a control instruction to a base station of the cleaning equipment, wherein the control instruction is used for controlling the second negative pressure generator on the base station to run.

9. A method according to any one of claims 1-8, characterized in that a third negative pressure generator is arranged on the host or the base station, which third negative pressure generator is connected to the sewage tank via a second opening and is used for supplying liquid to the sewage tank; stopping operation after the first negative pressure generator is controlled to operate for a preset time period, and controlling the second negative pressure generator to operate, wherein the method further comprises the following steps:

And responding to the cleaning instruction of the sewage tank, and executing at least one cleaning operation on the sewage tank, wherein in the process of executing the cleaning operation, the third negative pressure generator and the second negative pressure generator are operated simultaneously so as to supply liquid to the sewage tank through the second opening by the third negative pressure generator and pump the liquid in the sewage tank out of the sewage tank through the first opening by the second negative pressure generator.

10. A sewage disposal device of a cleaning apparatus, wherein the cleaning apparatus comprises a main machine and a base station, the main machine has a sewage tank and a first negative pressure generator, the base station has a second negative pressure generator, and the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, the device comprises:

a first control unit for controlling the opening of a bottom cover valve of the sewage tank in response to a sewage discharge instruction of the cleaning device, wherein the bottom cover valve is used for blocking a first opening of the sewage tank;

a suction unit for sucking air into the sewage tank through the first opening by the first negative pressure generator during the opening of the bottom cover valve to disturb the liquid in the sewage tank by the sucked air;

And the second control unit is used for controlling the first negative pressure generator to stop running after running for a preset time period and controlling the second negative pressure generator to run, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the sewage tank through the first opening.

11. A cleaning apparatus, the cleaning apparatus comprising: a host and a base station, wherein,

the base station comprises a second negative pressure generator and a recovery tank, the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, and the sewage tank is communicated with the recovery tank through the first opening under the condition that the host machine is in butt joint with the base station.

12. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 9.

13. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 9 by means of the computer program.