US20220248927A1 - Method for recovering waste liquid, maintenance station, cleaning robot and system for recovering waste liquid - Google Patents

Method for recovering waste liquid, maintenance station, cleaning robot and system for recovering waste liquid Download PDF

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Publication number
US20220248927A1
US20220248927A1 US17/548,804 US202117548804A US2022248927A1 US 20220248927 A1 US20220248927 A1 US 20220248927A1 US 202117548804 A US202117548804 A US 202117548804A US 2022248927 A1 US2022248927 A1 US 2022248927A1
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Prior art keywords
liquid
cleaning robot
waste liquid
maintenance station
usage amount
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US17/548,804
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English (en)
Inventor
Jun Li
Linlin Zhou
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Shenzhen Fly Rodent Dynamics Intelligent Technology Co Ltd
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Shenzhen Fly Rodent Dynamics Intelligent Technology Co Ltd
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Assigned to SHENZHEN FLY RODENT DYNAMICS INTELLIGENT TECHNOLOGY CO., LTD. reassignment SHENZHEN FLY RODENT DYNAMICS INTELLIGENT TECHNOLOGY CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LI, JUN, ZHOU, Linlin
Publication of US20220248927A1 publication Critical patent/US20220248927A1/en
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4027—Filtering or separating contaminants or debris
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers

Definitions

  • the present disclosure relates to the technical field of robots, and in particular, relates to a method for recovering waste liquid, a maintenance station, a cleaning robot and a system for recovering waste liquid.
  • Typical robots can not only mop the floor, but also recycle the waste liquid generated in the process of mopping the floor to a waste tank, thus preventing the humidity of the floor from being too high.
  • the waste liquid in the waste tank needs to be cleaned, the user needs to clean the waste tank manually, which is troublesome.
  • An embodiment of the present disclosure provides a method for recovering waste liquid, including: obtaining a liquid usage amount of a cleaning robot, and controlling a maintenance station to recover the waste liquid collected by the cleaning robot according to the liquid usage amount.
  • FIG. 1 is a schematic flowchart diagram of a method for recovering waste liquid provided by an embodiment of the present disclosure, in which the executive body is an electronic device such as a maintenance station or a mobile terminal;
  • FIG. 2 is a schematic flowchart diagram of S 12 shown in FIG. 1 ;
  • FIG. 3 is a schematic flowchart diagram of a method for recovering waste liquid provided by another embodiment of the present disclosure, in which the executive body is an electronic device such as a maintenance station or a mobile terminal;
  • FIG. 4 is a schematic flowchart diagram of a method for recovering waste liquid provided by an embodiment of the present disclosure, in which the executive body is an electronic device such as a cleaning robot or a mobile terminal;
  • FIG. 5 is a schematic flowchart diagram of a method for recovering waste liquid provided by another embodiment of the present disclosure, in which the executive body is an electronic device such as a cleaning robot or a mobile terminal;
  • FIG. 6 is a schematic flowchart diagram of S 23 shown in FIG. 5 ;
  • FIG. 7 is a schematic flowchart diagram of S 21 shown in FIG. 4 ;
  • FIG. 8 is a front view of a maintenance station provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a waste liquid collecting assembly shown in FIG. 8 ;
  • FIG. 10 is another schematic structural diagram of the waste liquid collecting assembly shown in FIG. 8 ;
  • FIG. 11 is a schematic structural diagram of a cleaning robot provided by an embodiment of the present disclosure.
  • FIG. 12 is a schematic circuit structure diagram of a cleaning robot provided by an embodiment of the present disclosure.
  • FIG. 13 is a schematic structural diagram of a waste liquid collection box assembly provided by an embodiment of the present disclosure.
  • FIG. 14 is a schematic structural diagram of a system for recovering waste liquid provided by an embodiment of the present disclosure.
  • FIG. 15 is a schematic circuit structure diagram of an electronic device provided by an embodiment of the present disclosure.
  • This embodiment provides a method for recovering waste liquid, which may be applied to any suitable device.
  • the device may be a maintenance station or a mobile terminal, and the mobile terminal may be any of smart phones, smart watches and tablet computers.
  • the maintenance station in the embodiment of the present disclosure may recover the waste liquid collected by the cleaning robot.
  • the maintenance station may also realize at least one of the following functions: providing clean liquid and power for the cleaning robot, cleaning and drying the mopping parts carried by the cleaning robot or the like.
  • the method S 100 for recovering waste liquid includes:
  • the liquid usage amount is the amount of liquid consumed by the cleaning robot every time it performs the cleaning operation, wherein the liquid here may be clean water or liquid containing cleaning chemical components.
  • the liquid in the clean liquid tank of the cleaning robot will flow to the mopping parts, and the cleaning robot will mop the floor with the wet mopping parts.
  • the liquid usage amount is the amount of liquid consumed by the cleaning robot.
  • the cleaning robot will collect the waste liquid generated during the cleaning operation when it performs the cleaning operation, and after the cleaning robot finishes the cleaning operation, it will automatically drive back to the maintenance station so that the maintenance station recovers the waste liquid collected by the cleaning robot. After driving back to the maintenance station, the cleaning robot will automatically send the liquid usage amount consumed by this cleaning operation to the maintenance station. In this way, the maintenance station obtains the liquid usage amount of the cleaning robot.
  • the cleaning robot starts to move out of the maintenance station at time t 0 to perform cleaning operations.
  • the cleaning robot drives back to the maintenance station. Therefore, the liquid usage amount is the amount of liquid consumed by the cleaning robot during the period from time t 0 to t 100 .
  • the cleaning robot may suspend the cleaning operation during any period from time t 0 to t 100 , and in this period, no water will flow out for mopping. In this case, the cleaning robot may still use the amount of liquid consumed during the period from time t 0 to t 100 as the liquid usage amount.
  • the cleaning robot may package the amount of liquid consumed by this cleaning operation into a waste liquid recovery instruction and send it to the maintenance station.
  • the cleaning robot sends the waste liquid recovery instruction to the maintenance station, and the maintenance station analyzes the waste liquid recovery instruction and extracts the liquid usage amount therefrom.
  • the cleaning robot records the liquid usage amount every time the cleaning robot performs the cleaning operation and consumes liquid.
  • the cleaning robot may calculate the liquid usage amount according to a unit liquid consumption flow and a liquid consumption time collected by a clean liquid flowmeter.
  • the unit liquid consumption flow is the volume of liquid output by the cleaning robot to the mopping part in unit time. For example, if the unit time is one second, then correspondingly, the unit liquid consumption flow is the volume of liquid output by the cleaning robot to the mopping part per second, and the liquid consumption time is the period during which the cleaning robot uses the liquid for each cleaning operation.
  • a pressure sensor is provided at the bottom of a clean liquid tank of the cleaning robot, and when the cleaning operation is started, the cleaning robot obtains an initial pressure sent by the pressure sensor. When the cleaning robot drives back to the maintenance station, the cleaning robot obtains the last pressure sent by the pressure sensor again. Therefore, the cleaning robot subtracts the initial pressure from the last pressure to obtain a pressure difference, and then calculates the liquid usage amount according to the pressure difference.
  • the maintenance station can obtain the liquid usage amount, thereby efficiently and reliably recovering the waste liquid collected by the cleaning robot according to the liquid usage amount and any suitable algorithms.
  • the maintenance station may recover the waste liquid collected by the cleaning robot quickly and reliably according to the PID algorithm in combination with the liquid usage amount.
  • the method can recover the waste liquid collected by the cleaning robot quantitatively and intelligently without manual participation, thus improving the recovery efficiency and improving the user experience.
  • S 12 includes: calculating the current recovery time by the maintenance station according to the liquid usage amount, and controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the current recovery time and a designated recovery time.
  • the unit recovery flow of the maintenance station may be the volume of waste liquid recovered by the maintenance station.
  • the designated recovery time may be a preset time length value, or the designated recovery time is equal to the product of the current recovery time multiplied by a preset coefficient.
  • the step of controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the current recovery time and the designated recovery time may specifically includes: calculating the sum of the current recovery time and the designated recovery time, and controlling the maintenance station to recover the waste liquid collected by the cleaning robot according to the sum. In this way, the waste liquid in the cleaning robot may be recovered more thoroughly.
  • the current recovery time is 10 seconds and the designated recovery time is 2 seconds.
  • the sum of the current recovery time and the designated recovery time is calculated to be 12 seconds, and the maintenance station is controlled to work for 12 seconds to recover the waste liquid collected by the cleaning robot.
  • the maintenance station will continuously determine whether it receives a liquid signal, which indicates that the waste liquid is continuously input into the maintenance station. If the maintenance station receives the liquid signal, the maintenance station will continue to work until the current recovery time is finished. Then, the maintenance station again determines whether the liquid signal is received. If the liquid signal is received, the maintenance station continues to work (the time at which the maintenance station continues to work here is labeled as t 01 ) until the waste liquid stops being continuously input into the maintenance station (the time at which the waste liquid stops being continuously input into the maintenance station is labeled as t 02 ).
  • the maintenance station will continue to work for the designated recovery time after working for the two time periods (the two time periods are the time length between t 01 and t 02 ). With this method, the maintenance station can recover the waste liquid of the cleaning robot reliably and completely.
  • the maintenance station may take the liquid usage amount as a reference quantity, and deeply determine the recovery amount of the waste liquid again. Therefore, referring to FIG. 2 , S 12 includes:
  • the recovery amount of the waste liquid is the amount of the waste liquid that needs to be recovered by the maintenance station.
  • the recovery amount of the waste liquid is the amount of waste liquid collected by the cleaning robot that is recovered accurately and reliably by the maintenance station to the greatest extent. Since the liquid consumption environment and the waste liquid collection environment vary among cleaning robots, even if the same amount of liquid is used, the waste liquid collected by each cleaning robot may be different. By determining the corresponding recovery amount of waste liquid according to the liquid usage amount, waste liquid collection requirements of various cleaning robots can be met, which may not only recover the waste liquid collected by the cleaning robots to the greatest extent, but also avoid waste of electric energy caused by idle operation of the maintenance station.
  • the liquid consumption of the cleaning robot requires the participation of various components.
  • the components may include a clean liquid tank, a first clean liquid pipe, a clean liquid solenoid valve, a clean liquid pump, a second clean liquid pipe and a clean liquid flowmeter. Calculation errors may exist in one or more of the above components, which will result in the amount of liquid actually consumed being not equal to the liquid usage amount calculated.
  • the clean liquid flowmeter becomes not sensitive enough due to long-term use, and this may cause the liquid usage amount to be larger or smaller than the amount of liquid actually consumed.
  • the liquid flowing out of the gap in the clean liquid box does not pass through the clean liquid flowmeter, and thus the clean liquid flowmeter cannot fully count the liquid usage amount of the cleaning robot. That is, the counted liquid usage amount is smaller than the amount of liquid actually consumed.
  • the cleaning robot it is certain to have some liquid loss, and this kind of liquid loss will affect the calculation error of the liquid usage amount.
  • the cleaning robot sprays liquid to the mopping part, and the mopping part mops the floor.
  • part of the liquid will be sucked into the mopping part so that the cleaning robot cannot recover this part of liquid, and part of the liquid will be absorbed by the floor, and the cleaning robot is also unable to recover this part of liquid.
  • another part of the liquid will flow into other places, such as flowing out of the clean liquid tank but staying in the conduit, or being sprayed into the body of the cleaning robot or the like.
  • this kind of liquid loss will affect the calculation error of the liquid usage amount.
  • the method S 100 for recovering waste liquid further includes S 120 : obtaining the liquid loss coefficient.
  • S 121 includes determining the recovery amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount.
  • the liquid loss coefficient is used to evaluate the liquid loss of the maintenance station in the process of recovering waste liquid and/or the liquid loss of the cleaning robot in the process of liquid consumption.
  • the liquid loss coefficient is a coefficient that comprehensively summarizes the liquid loss of the maintenance station and/or the cleaning robot in the process of liquid consumption.
  • the liquid loss of the cleaning robot in the process of liquid consumption includes the liquid absorption loss of the mopping part and/or the liquid absorption loss of the floor and/or liquid loss caused by other factors.
  • the liquid loss coefficient may be a preset empirical constant. For example, the designer tests the liquid loss of the maintenance station for recovering the waste liquid of the cleaning robot as well as the liquid loss of the cleaning robot in the cleaning operation for many times, and accordingly generates the liquid loss coefficient according to the test data.
  • the liquid loss coefficient may be calculated according to algorithms such as the least square method or variance.
  • the liquid loss coefficient may be calculated in real time by the maintenance station or the cleaning robot.
  • the liquid loss coefficient calculated at the current time may be applied to the next recovery process of waste liquid, so as to continuously and iteratively update the liquid loss coefficient and finally converge to an optimal liquid loss coefficient.
  • the maintenance station can calculate the recovery amount of the waste liquid reliably and accurately.
  • the time at which the acquisition of the liquid loss coefficient is performed currently is recorded as a first designated time.
  • the historical recovery amount is the waste liquid amount corresponding to the waste liquid collected by the cleaning robot that is recovered by the maintenance station before the first designated time.
  • the maintenance station recovers the waste liquid collected by the cleaning robot at t 1 , and ends the recovery operation at t 10 .
  • the amount of waste liquid collected by the cleaning robot that is recovered by the maintenance station is M 1 .
  • the maintenance station After the cleaning robot completes the second cleaning operation, the maintenance station recovers the waste liquid collected by the cleaning robot at t 2 , and ends the recovery operation at t 20 .
  • the amount of waste liquid collected by the cleaning robot that is recovered by the maintenance station is M 2 .
  • M 1 is the historical recovery amount.
  • the maintenance station After the cleaning robot finishes the second cleaning operation, the maintenance station recovers the waste liquid collected by the cleaning robot at t 3 , and ends the recovery operation at t 30 .
  • the amount of waste liquid collected by the cleaning robot that is recovered by the maintenance station is M 3 , and as compared to M 3 , either M 1 or M 2 may be the historical recovery amount.
  • the historical recovery amount may be the amount of waste liquid corresponding to a recovery before and closest to the first designated time. Since the amount of waste liquid corresponding to the recovery closest to the first designated time may be selected as the historical recovery amount, the historical recovery amount has higher timeliness, and thus, it is possible to calculate the recovery amount of waste liquid required at the current time more accurately.
  • the historical recovery amount may specifically be the total amount of waste liquid of the cleaning robot recovered by the maintenance station before the first designated time.
  • the sum of M 1 and M 2 may be the historical recovery amount.
  • the historical recovery amount is calculated according to the historical recovery time when the maintenance station recovers the waste liquid of the cleaning robot and the unit recovery flow of the maintenance station.
  • the historical recovery time may be the time spent by the maintenance station to recover all the waste liquid collected by the cleaning robot, or the time spent by the maintenance station to recover a preset amount of waste liquid. For example, during the first cleaning operation, the maintenance station starts to recover the waste liquid collected by the cleaning robot at t 11 and recovers all the waste liquid collected by the cleaning robot at t 12 . In this case, the time from t 11 to t 12 is the historical recovery time.
  • the unit recovery flow of the maintenance station may be the volume of the waste liquid collected by the cleaning robot that is recovered by the maintenance in unit time.
  • the historical liquid consumption is the amount of liquid consumed by the cleaning robot in the cleaning operation before the second designated time.
  • a cleaning operation before and closest to the first designated time is recorded as the current cleaning operation.
  • the second designated time is the time when the current cleaning operation is started.
  • the historical liquid consumption is the amount of liquid consumed by the cleaning robot in a single cleaning operation before the second designated time.
  • the amount of liquid consumed by the cleaning robot in order to complete the first cleaning operation, the second cleaning operation and the third cleaning operation is labeled as N 1 , N 2 and N 3 , respectively, and N 1 is the historical liquid consumption for the second cleaning operation.
  • N 1 is the historical liquid consumption for the second cleaning operation.
  • N 2 may be used as the historical liquid consumption.
  • the historical liquid consumption is the total amount of liquid consumed by the cleaning robot in multiple cleaning operations before the second designated time.
  • the historical liquid consumption is calculated according to the unit liquid consumption flow of the cleaning robot and the historical liquid consumption time.
  • the unit liquid consumption flow is the volume of liquid output by the cleaning robot to the mopping part per second.
  • the historical liquid consumption time may be the time consumed by the cleaning robot when it finishes the cleaning operation, or the time consumed by the cleaning robot when it performs a preset part of the cleaning operation. For example, before the second designated time, the cleaning robot starts to perform the first cleaning operation at t 41 , and finishes the cleaning operation at t 42 . In this case, the time from t 41 to t 42 is the historical liquid consumption time.
  • this method can fully consider all kinds of errors and calculate the recovery amount of the waste liquid by combining the liquid loss coefficient with the liquid usage amount, so the calculated recovery amount of the waste liquid is more accurate.
  • the maintenance station calculates the correction amount of the waste liquid according to the liquid loss coefficient and the liquid usage amount, and determines the liquid replenishment amount according to the correction amount of the waste liquid.
  • the maintenance station can calculate a more reliable and accurate recovery amount of the waste liquid at one time without the participation of the cleaning robot.
  • the recovery amount of the waste liquid may be determined reliably and accurately by combining the liquid loss coefficient, which is beneficial for the maintenance station to recover the waste liquid collected by the cleaning robot reliably, accurately and efficiently.
  • Liquid loss e.g., the liquid absorption loss of the mopping part and the liquid absorption loss of the floor, certainly exists in the process of liquid consumption by the cleaning robot. Such loss will cause the amount of waste liquid recovered by the cleaning robot to be less than the amount of liquid consumed by the cleaning robot in performing cleaning operations.
  • the overall situation is that: for the cleaning robot, the detected liquid usage amount may be less than the amount of waste liquid recovered by the cleaning robot. For example, if the clean liquid actually ejected is large in amount, but the detected flow is very small because the flowmeter fails to operate normally, then it may appear that the detected liquid usage amount is less than the amount of waste liquid recovered by the cleaning robot.
  • the maintenance station may have errors itself, and the detected recovery amount of waste liquid may be less than or greater than the liquid usage amount sent by the cleaning robot. Based on this fact, the following deduction is made hereinafter:
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 12 ml of liquid is used, and the liquid consumption time is 12 seconds.
  • the cleaning robot sends 12 ml to the maintenance station to recover the waste liquid.
  • the maintenance station needs to recover 12 ml of waste liquid, but considering the liquid loss of the cleaning robot, when the maintenance station actually recovers 10 ml of waste liquid, all the waste liquid of the cleaning robot has been recovered, so the maintenance station only works for 10 seconds.
  • the cleaning robot performs the second cleaning operation, it actually uses 8 ml of liquid, but it is detected that 10 ml of liquid is used, and the liquid consumption time is 10 seconds.
  • the cleaning robot sends 10 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 10 ml of waste liquid, that is, it needs to work for 10 s.
  • the maintenance station actually recovers 8 ml of waste liquid, all the waste liquid of the cleaning robot is recovered, so the maintenance station actually only works for 8 s.
  • the 8.33 s actually required by the maintenance station after correction is not much different from the 8 s actually required by the maintenance station without correction, but is quite different from the 10 s theoretically required. Therefore, after correction, the error of the maintenance station may be reduced to a certain extent.
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 8 ml of liquid is used, and the time of liquid consumption is 8 s.
  • the cleaning robot sends 8 ml to the maintenance station to recover the waste liquid.
  • the maintenance station needs to recover 8 ml of waste liquid.
  • the waste liquid of the cleaning robot has not yet been completely recovered, and the maintenance station needs to continue to work for 2 seconds in order to recover the waste liquid of the cleaning robot completely. Therefore, the cleaning robot actually worked for 10 seconds.
  • the cleaning robot when the cleaning robot performs the second cleaning operation, the cleaning robot actually uses 8 ml of liquid, but it is detected that 6 ml of liquid is used, and the time of liquid consumption is 6 seconds.
  • the cleaning robot sends 6 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 6 ml of waste liquid.
  • the maintenance station actually needs to recover 8 ml of waste liquid in order to recover all the waste liquid of the cleaning robot, so the maintenance station actually worked for 8 seconds.
  • the 7.5 s actually required by the maintenance station after correction is not much different from the 8 s actually required by the maintenance station without correction, but it is quite different from the 6 s theoretically required. Therefore, the error of the maintenance station may be reduced to a certain extent after correction.
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 12 ml of liquid is used, and the time of liquid consumption is 12 seconds.
  • the cleaning robot sends 12 ml to the maintenance station to recover the waste liquid.
  • the maintenance station needs to recover 12 ml of waste liquid, but when the maintenance station recovers for 12 seconds, the waste liquid of the cleaning robot has not yet been recovered completely, and the maintenance station needs to continue to recover for 2 seconds in order to recover the waste liquid of the cleaning robot completely. Therefore, the cleaning robot actually works for 14 seconds.
  • the cleaning robot performs the second cleaning operation, it actually uses 8 ml of liquid, but it is detected that 10 ml of liquid is used, and the time of liquid consumption is 10 seconds.
  • the cleaning robot sends 10 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 10 ml, but only when the maintenance station actually recovers 12 ml of waste liquid, can all the waste liquid of the cleaning robot be recovered. Therefore, the maintenance station actually worked for 12 seconds.
  • the 11.66 s actually required by the maintenance station after correction is not much different from the 12 s actually required by the maintenance station without correction, but it is quite different from the 10 s theoretically required. Therefore, the error of the maintenance station may be reduced to a certain extent after correction.
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 8 ml of liquid is used, and the liquid consumption time is 8 s.
  • the cleaning robot sends 8 ml to the maintenance station to recover the waste liquid.
  • the maintenance station needs to recover 8 ml of waste liquid, but when 6 ml of waste liquid is actually recovered, all the waste liquid of the cleaning robot has been recovered. Therefore, the maintenance station actually worked for 6 seconds.
  • the cleaning robot performs the second cleaning operation, it actually uses 6 ml of liquid, but it is detected that 4 ml of liquid is used, and the liquid consumption time is 4 s.
  • the cleaning robot sends 4 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 4 ml of waste liquid, but all the waste liquid of the cleaning robot has been recovered when the maintenance station actually recovers 2 ml of waste liquid, so the maintenance station actually worked for 2 seconds.
  • the 3 s actually required by the maintenance station after correction is not much different from the 2 s actually required by the maintenance station without correction, but is quite different from the 4 s theoretically required. Therefore, the error of the maintenance station may be reduced to a certain extent after correction.
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 12 ml of liquid is used, and the liquid consumption time is 12 seconds.
  • the cleaning robot sends 12 ml to the maintenance station for waste liquid recovery.
  • the maintenance station needs to recover 12 ml of waste liquid, but all the waste liquid of the cleaning robot has been recovered when the maintenance station actually recovers 10 ml of waste liquid. Therefore, the maintenance station actually worked for 10 seconds.
  • the cleaning robot performs the second cleaning operation, it actually uses 8 ml of liquid, but it is detected that 10 ml of liquid is used, and the liquid consumption time is 10 s.
  • the cleaning robot sends 10 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 10 ml of waste liquid, but all the waste liquid of the cleaning robot has been recovered when the maintenance station actually recovers 8 ml of waste liquid. Therefore, the maintenance station actually worked for 8 seconds.
  • the 8.33 s actually required by the maintenance station after correction is not much different from the 8 s actually required by the maintenance station without correction, but is quite different from the 10 s theoretically required. Therefore, the error of the maintenance station may be reduced to a certain extent after correction.
  • the cleaning robot performs the first cleaning operation, it actually uses 10 ml of liquid, but it is detected that 8 ml of liquid is used, and the liquid consumption time is 8 s.
  • the cleaning robot sends 8 ml to the maintenance station to recover the waste liquid.
  • the maintenance station needs to recover 8 ml of waste liquid, but when the maintenance station recovers for 8 seconds, the waste liquid of the cleaning robot has not yet been recovered completely, and the maintenance station needs to continue to recover for 2 seconds in order to recover the waste liquid of the cleaning robot completely. Therefore, the cleaning robot actually works for 10 seconds.
  • the cleaning robot performs the second cleaning operation, it actually uses 6 ml of liquid, but it is detected that 4 ml of liquid is used, and the liquid consumption time is 4 s.
  • the cleaning robot sends 4 ml to the maintenance station to recover the waste liquid.
  • the maintenance station theoretically needs to recover 4 ml of waste liquid, but only when the maintenance station actually recovers 6 ml of waste liquid, can all the waste liquid of the cleaning robot be recovered. Therefore, the maintenance station actually worked for 6 seconds.
  • the recovery error may be reduced by using the liquid loss coefficient to correct the liquid usage amount, so that the maintenance station can recover the waste liquid collected by the cleaning robot quickly, accurately and reliably.
  • the maintenance station may train and optimize the liquid loss coefficient in advance, record the liquid loss coefficient during each recovery operation, process all the liquid loss coefficients according to the centroid algorithm, least square method or variance algorithm to obtain the optimal liquid loss coefficient, and correct the liquid usage amount according to the optimal liquid loss coefficient.
  • the maintenance station may be instructed to accurately and reliably recover the waste liquid collected by the cleaning robot by obtaining and using the optimal liquid loss coefficient from many liquid loss coefficients.
  • the optimized liquid loss coefficient is helpful to improve the recovery efficiency and accuracy of the maintenance station.
  • the embodiment of the present disclosure provides a method for recovering waste liquid, which may be applied to any suitable device.
  • the device may be a cleaning robot or a mobile terminal, and the mobile terminal may be any of the following: a smart phone, a smart watch and a tablet computer.
  • the method S 200 for recovering the waste liquid includes:
  • the liquid usage amount may be detected by the cleaning robot using the structure provided in the above embodiment, e.g., detected by a clean liquid flowmeter, or detected by the cleaning robot using other detection structures.
  • a pressure sensor is installed at the bottom of the clean liquid tank of the cleaning robot, and the cleaning robot calculates the liquid usage amount according to the pressure sampled by the pressure sensor.
  • This method can recover the waste liquid collected by the cleaning robot quantitatively and intelligently without manual participation, thereby improving the recovery efficiency and improving the user experience.
  • the method S 200 for recovering waste liquid further includes S 23 : correcting the liquid usage amount.
  • S 22 includes: sending the corrected liquid usage amount to control the maintenance station to recover the waste liquid collected by the cleaning robot according to the corrected liquid usage amount.
  • S 23 includes:
  • the liquid loss coefficient is calculated according to the historical recovery amount when the maintenance station recovers the waste liquid of the cleaning robot and the historical liquid consumption when the cleaning robot performs the cleaning operation.
  • the historical recovery amount is calculated according to the historical recovery time when the maintenance station recovers the waste liquid of the cleaning robot and the unit recovery flow of the maintenance station.
  • the historical liquid consumption is calculated according to the unit liquid consumption flow of the cleaning robot and the historical liquid consumption time.
  • S 21 includes:
  • the embodiment of the present disclosure provides a maintenance station, which is a device for maintaining a cleaning robot, and the maintenance station in this embodiment may recover the waste liquid collected by the cleaning robot.
  • the maintenance station may also realize at least one of the following functions: providing power to the cleaning robot, adding liquid to the cleaning robot, and cleaning the mopping part carried by the cleaning robot.
  • the maintenance station includes at least one first processor and a first memory communicatively connected with the at least one first processor.
  • the first memory stores a first instruction executable by the at least one first processor, and the first instruction, when executed by the at least one first processor, cause the at least one first processor to execute steps in each embodiment of the method for recovering waste liquid in Embodiment 1 above, e.g., steps S 11 and S 12 shown in FIG. 1 .
  • the maintenance station 300 includes a housing 31 , a cleaning assembly 32 , a clean liquid supply assembly 33 , a waste liquid collection assembly 34 , a power supply assembly 35 , a first processor 36 and a first memory 37 .
  • the housing 31 is used for accommodating the above-mentioned components, and the bottom of the housing 31 is provided with an accommodating cavity 311 into which the cleaning robot may move.
  • the cleaning assembly 32 is installed in the accommodating cavity 311 , and is used for cleaning the mopping part carried by the cleaning robot.
  • the mopping part includes other objects of suitable materials and shapes, such as mops or sponges.
  • the mopping part is detachably installed at the bottom of the cleaning robot, and the cleaning robot may control the rotation of the mopping part.
  • the clean liquid supply assembly 33 is installed in the housing 31 for supplying clean liquid.
  • the waste liquid collection assembly 34 is installed in the housing 31 and arranged side by side with the clean liquid supply assembly 33 for extracting waste liquid.
  • the waste liquid collection assembly 34 includes a waste liquid storage tank 341 , a waste liquid solenoid valve 342 , a first waste liquid conduit 343 , a waste liquid flowmeter 344 , a fan assembly 345 and a second waste liquid conduit 346 .
  • the waste liquid storage tank 341 is installed at the upper part of the housing 31 and arranged side by side with the cleaning liquid tank 331 , and is used for storing waste liquid collected by the cleaning robot or waste liquid generated by cleaning the mopping part or the like.
  • the waste liquid storage tank 341 is provided with a liquid inlet.
  • One end of the first waste liquid conduit 343 communicates with the liquid inlet and the other end thereof communicates with an output end of the fan assembly 345 .
  • the waste liquid solenoid valve 342 is installed on the first waste liquid conduit 343 .
  • the input end of the fan assembly 345 communicates with one end of the second waste liquid conduit 346 , and the other end of the second waste liquid conduit 346 is accommodated in the housing 31 .
  • the waste liquid flowmeter 344 is installed on the first waste liquid conduit 343 for detecting the unit recovery flow of the waste liquid.
  • the first processor 36 is electrically connected with the waste liquid flowmeter 344 , the fan assembly 345 and the first memory 37 respectively, and controls the working state of the fan assembly 345 .
  • the first processor 36 controls the fan assembly 345 to work in an on state, and the fan assembly 345 draws the waste liquid from the waste liquid collection box of the cleaning robot back to the waste liquid storage box 341 .
  • the waste liquid flowmeter 344 may detect the unit recovery flow of the waste liquid flowing into the waste liquid storage box 341 .
  • the first processor 36 controls the fan assembly 345 to work in a dormant state.
  • the unit recovery flow may be variable or fixed, and the first processor 36 may adjust the waste liquid solenoid valve 342 or the fan assembly 345 according to rules to adjust the unit recovery flow.
  • the waste liquid flowmeter 344 sends the current unit recovery flow detected to the first processor 36 , and the first processor 36 determines whether the current unit recovery flow matches a preset unit recovery flow. If the current unit recovery flow does not match the preset unit recovery flow and the current unit recovery flow is less than the preset unit recovery flow, then the first processor 36 may increase the working power of the fan assembly 345 to increase the rate of pumping the waste liquid. Alternatively, the first processor 36 may increase the opening of the waste liquid solenoid valve 342 to allow the inflow of more waste liquid.
  • the first processor 36 may reduce the working power of the fan assembly 345 to reduce the rate of pumping the waste liquid. Alternatively, the first processor 36 may reduce the opening of the waste liquid solenoid valve 342 to block the inflow of more waste liquid.
  • the waste liquid collection assembly 34 may also reliably detect whether all the waste liquid in the waste liquid collection box in the cleaning robot have been extracted. Referring to FIG. 10 , the waste liquid collection assembly 34 further includes a liquid detection assembly 347 installed in the second waste liquid conduit 346 and electrically connected with the first processor 36 for detecting whether the waste liquid continuously passes through the second waste liquid conduit 346 .
  • the waste liquid will continue to pass through the second waste liquid conduit 346 under the action of the fan assembly 345 when the waste liquid collection assembly 24 collects the waste liquid from the waste liquid collection box.
  • the liquid detection assembly 347 will generate a liquid signal indicating that the waste liquid remains in the cleaning robot 300 . Therefore, the first processor 36 continues to control the fan assembly 345 to be in the on state to extract the waste liquid according to the liquid signal.
  • the liquid detection assembly 347 does not detect the liquid signal, it indicates that the waste liquid of the cleaning robot has been drained. Therefore, the first processor 36 controls the fan assembly 345 to be in a dormant state.
  • the liquid detection assembly 347 includes a first conductive pole piece 3471 , a second conductive pole piece 3472 , a sampling circuit 3473 and a signal amplifying circuit 3474 .
  • the first conductive pole piece 3471 and the second conductive pole piece 3472 are separated by a preset distance and respectively installed on the inner side of the second waste liquid conduit 346 .
  • the sampling circuit 3473 is electrically connected with the first conductive pole piece 3471 and the second conductive pole piece 3472 respectively, and the signal amplifying circuit 3474 is electrically connected with the sampling circuit 3473 and the first processor 36 respectively, wherein the preset distance is user-defined, e.g., 1 cm, 2 cm or 5 cm or the like.
  • the waste liquid When the waste liquid continuously passes through the second waste liquid conduit 346 , the waste liquid will short-circuit the first conductive pole piece 3471 and the second conductive pole piece 3472 . Therefore, the first conductive pole piece 3471 , the second conductive pole piece 3472 and the sampling circuit 3473 form a loop, and the sampling circuit 3473 generates a sampling voltage greater than 0. After the sampling voltage is amplified by the signal amplifying circuit 3474 , an amplified signal is obtained. The amplified signal is sent to the first processor 36 , and according to the amplified signal, the first processor 36 continues to control the fan assembly 345 to be in the on state to extract the waste liquid.
  • the first conductive pole piece 3471 , the second conductive pole piece 3472 and the sampling circuit 3473 cannot form a loop because the first conductive pole piece 3471 and the second conductive pole piece 3472 are in an open circuit.
  • the sampling voltage of the sampling circuit 3473 is 0, and the first processor 36 controls the fan assembly 345 to be in a dormant state.
  • the sampling circuit 3473 may be composed of any suitable discrete devices.
  • the sampling circuit 3473 is composed of a resistor network, or a resistor and a capacitor, or a resistor, an electronic switch tube and a capacitor, or the like.
  • the signal amplifying circuit 3474 may be any amplifying circuit of suitable forms.
  • the signal amplifying circuit 3474 adopts an operational amplifier, or is a common-emitter amplifier circuit, a common-source amplifier circuit, or a common-gate amplifier circuit or the like.
  • the power supply assembly 35 is used for connecting with the charging assembly of the cleaning robot to provide power for the cleaning robot.
  • the power supply assembly 35 includes a power supply pole piece and a power supply circuit, and the power supply circuit converts the commercial power into a voltage suitable for the cleaning robot, e.g., a voltage of 5 volts or 12 volts, and the cleaning robot steps down and charges according to the voltage.
  • the embodiment of the present disclosure provides a cleaning robot, which is detailed as follows.
  • the cleaning robot includes at least one second processor and a second memory communicatively connected with the at least one second processor.
  • the second memory stores second instructions executable by the at least one second processor, and the second instructions, when executed by the at least one second processor, cause the at least one second processor to perform steps in each embodiment of the method for recovering waste liquid in Embodiment 2 above, e.g., steps S 21 and S 22 shown in FIG. 4 .
  • the cleaning robot 400 includes a main body 40 , a water tank assembly 41 , a second processor 42 , a second memory 43 , a sensing unit 44 , a wireless communication unit 45 , a cleaning unit 46 and a driving unit 47 .
  • the main body 40 is used for protecting the cleaning robot 400 , and a water tank assembly 41 is accommodated in the main body 40 .
  • the water tank assembly 41 includes a clean liquid tank assembly for providing clean liquid and a waste liquid collection tank assembly 48 for collecting waste liquid.
  • the waste collection box assembly 48 includes a waste liquid filter assembly 481 , a waste liquid collection box 482 and a fan module 483 .
  • the waste liquid filter assembly 481 is installed at the waste liquid collection port of the main body 40
  • the waste liquid collection box 482 is installed at the bottom of the waste liquid filter assembly 481 .
  • the waste liquid collection box 482 is provided with a waste liquid collection port
  • the fan module 483 is installed inside the main body 40 .
  • the fan module 483 When the fan module 483 generates wind power, the wind power flows through the waste liquid collection port, the waste liquid filter assembly 481 , the wind passage of the main body 40 , the wind input end of the fan module 483 , the wind output end of the fan module 483 and the external environment in turn.
  • the mopping part is sprayed wet and rubs against the floor.
  • the fan module 483 starts to work, and the wind draws the waste liquid generated by the mopping part on the floor into the waste liquid collection port. Then, the wind carrying the waste liquid moves centrifugally after passing through the waste liquid filter assembly 481 , and the waste liquid falls into the waste liquid collection box 482 so that the waste liquid is collected by the waste liquid collection box 482 .
  • the second processor 42 may adopt various path planning algorithms to control the cleaning robot to perform traversal work.
  • the second memory 43 is electrically connected with the second processor 42 , and the second memory 43 stores second instructions executable by the at least one second processor 42 .
  • the second instructions when executed by the at least one second processor 42 , cause the at least one second processor 42 to perform steps in each embodiment of the method for recovering waste liquid in Embodiment 2 above.
  • the sensing unit 44 is used to collect some motion parameters of the cleaning robot 400 and various types of environmental data.
  • the sensing unit 44 includes various suitable sensors, such as an inertial measurement unit (IMU), a gyroscope, a magnetic field meter, an accelerometer or speedometer, a laser radar or an acoustic radar or the like.
  • the wireless communication unit 45 is electrically connected with the second processor 42 .
  • the wireless communication unit 45 receives the control instruction and sends the control instruction to the second processor 42 , and the second processor 42 controls the cleaning robot 400 to complete the traversal work according to the control instruction.
  • the external terminal includes but is not limited to terminals such as a smart phone, a remote controller, a smart tablet and the like.
  • the wireless communication unit 45 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless Internet module, a short-distance communication module and a positioning information module.
  • the driving unit 47 is used to drive the cleaning robot 400 to move forward or backward.
  • the second processor 42 sends a control instruction to the driving unit 47 , and the driving unit 47 drives the cleaning unit 46 to complete the cleaning work according to the control instruction.
  • the system 500 for recovering waste liquid includes the maintenance station 300 as described in Embodiment 3 above and the cleaning robot 400 as described in Embodiment 4 above.
  • the cleaning robot 400 is communicatively with the maintenance station 300 through wireless communication or wired communication.
  • wireless communication may include any of the following: Bluetooth, WI-FI, Global System for Mobile communications (GSM communication), ZigBee communication (ZigBee, ZigBee protocol), and cellular mobile communication.
  • FIG. 15 is a schematic circuit structure diagram of an electronic device provided by an embodiment of the present disclosure.
  • the electronic device may be any suitable type of electronic product.
  • the electronic device includes electronic products with logical calculation and analysis functions such as maintenance stations, cleaning robots, computers or mobile phones.
  • the electronic device 600 includes one or more processors 61 and a memory 62 .
  • one processor 61 is taken as an example.
  • the processor 61 and the memory 62 may be connected by a bus or other means, and the connection achieved by a bus is taken as an example in FIG. 15 .
  • the memory 62 may be used to store nonvolatile software programs, nonvolatile computer executable programs and modules, such as program instructions/modules corresponding to the method for recovering waste liquid in the embodiment of the present disclosure.
  • the processor 61 executes the method for recovering waste liquid provided by the above embodiments of the method by running nonvolatile software programs, instructions and modules stored in the memory 62 .
  • the memory 62 may include a high-speed random access memory, and may also include a nonvolatile memory, such as at least one magnetic disk memory device, flash memory device, or other nonvolatile solid-state memory device.
  • the memory 62 optionally includes memories remotely located relative to the processor 61 , and these remote memories may be connected to the processor 61 through a network. Examples of the above network include but are not limited to the Internet, Intranet, local area networks, mobile communication networks and combinations thereof.
  • the program instructions/modules are stored in the memory 62 , and when executed by the one or more processors 61 , execute the method for recovering waste liquid in any of the above embodiments of the method.
  • the embodiments of the present disclosure also provide a nonvolatile computer storage medium, in which computer executable instructions are stored.
  • the computer executable instructions when executed by one or more processors, e.g., a processor 61 in FIG. 15 , cause the one or more processors to execute the method for recovering waste liquid in any of the above embodiments of the method.
  • the embodiments of the present disclosure also provide a computer program product, which includes a computer program stored on a nonvolatile computer readable storage medium, and the computer program includes program instructions.
  • the program instructions when executed by an electronic device, cause the electronic device to execute any of the method for recovering waste liquids.
  • the embodiments of the above-described devices or equipments are only schematic.
  • the unit modules described as separate components may or may not be physically separated, and components displayed as module units may or may not be physical units, that is, they may be located in one place or distributed over multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.
  • each embodiment may be realized by means of software plus a general hardware platform, and of course, it may also be realized by hardware.
  • the computer software products may be stored in computer-readable storage media, such as a ROM/RAM, a magnetic disk, an optical disk or the like, and they include several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the method described in various embodiments or some parts of embodiments.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Sustainable Development (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Cleaning In General (AREA)
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