WO2024051829A1 - 清洁过程中断调整方法、基站、清洁排污系统及存储介质 - Google Patents

清洁过程中断调整方法、基站、清洁排污系统及存储介质 Download PDF

Info

Publication number
WO2024051829A1
WO2024051829A1 PCT/CN2023/117774 CN2023117774W WO2024051829A1 WO 2024051829 A1 WO2024051829 A1 WO 2024051829A1 CN 2023117774 W CN2023117774 W CN 2023117774W WO 2024051829 A1 WO2024051829 A1 WO 2024051829A1
Authority
WO
WIPO (PCT)
Prior art keywords
sewage
cleaning
bucket
self
base station
Prior art date
Application number
PCT/CN2023/117774
Other languages
English (en)
French (fr)
Inventor
王远
谭贵鑫
夏抑非
闾浩
蒋洪彬
吴培
邵校
李玉杰
李晨丞
王刚
高鑫
谭丰
李安波
朱晓晨
丁鹏
何吾佳
Original Assignee
添可智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202211105234.3A external-priority patent/CN115486756B/zh
Priority claimed from CN202211103290.3A external-priority patent/CN115381343A/zh
Priority claimed from CN202211106244.9A external-priority patent/CN116076959A/zh
Priority claimed from CN202211105466.9A external-priority patent/CN116269087A/zh
Priority claimed from CN202211105249.XA external-priority patent/CN116115127A/zh
Priority claimed from CN202211105365.1A external-priority patent/CN115486764B/zh
Priority claimed from CN202211105235.8A external-priority patent/CN115500750B/zh
Priority claimed from CN202211287907.1A external-priority patent/CN115624300A/zh
Application filed by 添可智能科技有限公司 filed Critical 添可智能科技有限公司
Publication of WO2024051829A1 publication Critical patent/WO2024051829A1/zh

Links

Classifications

    • 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
    • A47L11/24—Floor-sweeping machines, motor-driven
    • 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
    • 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
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid 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
    • A47L11/29—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
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/08—Cleaning containers, e.g. tanks
    • B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Definitions

  • the present application relates to the field of electrical equipment, and in particular to a cleaning process interruption adjustment method, a base station, a cleaning and sewage drainage system and a storage medium.
  • the handheld floor scrubber is a kind of cleaning equipment that is more popular among users.
  • a handheld floor washing machine generally includes: a detachably connected base station and a floor washing machine, wherein a sewage bucket is provided on the floor washing machine.
  • a sewage bucket is provided on the floor washing machine.
  • the self-cleaning process includes: using the trigger on the base station to trigger the switch mechanism on the sewage barrel, opening the sewage outlet on the sewage barrel, discharging the sewage in the sewage barrel, and cleaning the sewage barrel after the discharge.
  • a cleaning process interruption adjustment method is provided, which is applied to a base station that is communicatively connected to a cleaning equipment.
  • the cleaning equipment is provided with a sewage bucket; the method includes: performing a self-cleaning process when the self-cleaning process needs to be executed. Among the multiple steps, determine the first step to be executed when an interruption of the set type occurs; if the sewage bucket has not been cleaned when the first step is executed, continuing to complete the execution means that the sewage bucket has been cleaned. The second step of cleaning is completed and the self-cleaning process is stopped.
  • embodiments of the present application also provide a computer-readable storage medium storing a computer program.
  • the one or more processors When the computer program is executed by one or more processors, the one or more processors at least implement the following: Action: Among the multiple steps that need to be executed in the self-cleaning process, determine the first step to be executed when an interruption of the set type occurs; if the sewage bucket has not been cleaned when the first step is executed, continue execution to indicate completion. The second step of cleaning the sewage bucket is completed and the self-cleaning process is stopped, wherein the sewage bucket is set on a cleaning device, and the cleaning device is communicatively connected with the base station.
  • embodiments of the present application also provide a base station for a cleaning device, the base station is communicatively connected to the cleaning device, and a sewage bucket is provided on the cleaning device;
  • the base station includes: one or more processors, and One or more memories storing a computer program; the one or more processors are used to execute the computer program to determine whether a set type occurs in the multiple steps that need to be performed in the self-cleaning process.
  • the first step executed when interrupted; if the sewage bucket has not been cleaned when the first step is executed, continue to execute the second step indicating that the sewage bucket has been cleaned, and stop the automatic Cleaning process.
  • inventions of the present application also provide a cleaning and sewage drainage system.
  • the cleaning and sewage drainage system includes: cleaning equipment and a base station that are connected by communication, and a sewage bucket is provided on the cleaning equipment; and the base station is used in the self-cleaning process.
  • the second step of cleaning has been completed and the self-cleaning process is stopped.
  • the first step to be executed when a set type of interruption occurs is determined. If the sewage bucket has not been cleaned when the first step is executed, then Continue to execute the second step indicating that the sewage bucket has been cleaned, ensuring that when the user removes the cleaning device from the base station, the sewage bucket on the cleaning device is in a clean state and can be used directly and normally, and the user experience is better.
  • a cleaning and sewage drainage system including: a floor washing machine and a base station, the floor washing machine is provided with a sewage bucket;
  • the floor washing machine is removably installed on the base station and is used to clean the target site;
  • the sewage barrel is used to accommodate the sewage generated by the cleaning process.
  • the sewage barrel is provided with a device for controlling sewage discharge.
  • the base station is provided with a retractable trigger, which is used to control the trigger to be in a non-contact position with the sewage barrel after the sewage in the sewage barrel is discharged or before the sewage discharge operation is performed.
  • the trigger In the first extended state, when performing the sewage discharge operation, the trigger is controlled to open the switch structure in the second extended state, and to close the switch structure in the third extended state;
  • the trigger member in the first extended state corresponds to the first movement stroke
  • the trigger member in the second extension state and the third extension state corresponds to the second movement stroke
  • the first movement The stroke is smaller than the second moving stroke
  • embodiments of the present application also provide a base station for a floor washing machine, including: a controller and a retractable trigger; wherein, the floor washing machine is provided with a sewage bucket, and the sewage bucket is provided with a device for controlling The switch structure of the sewage outlet switch;
  • the controller is used to control the trigger member to be in a first extended state without contact with the sewage barrel after the sewage in the sewage barrel is discharged or before the sewage discharge operation is performed.
  • the trigger is controlled to open the switch structure in the second extended state and close the switch structure in the third extended state;
  • the trigger member in the first extended state corresponds to the first movement stroke
  • the trigger member in the second extension state and the third extension state corresponds to the second movement stroke
  • the first movement The stroke is smaller than the second moving stroke
  • embodiments of the present application also provide a trigger control method, which is applied to a base station corresponding to a floor washing machine.
  • the floor washing machine is provided with a sewage bucket, and the sewage bucket is provided with a trigger for controlling the switch of the sewage outlet.
  • switch structure the method includes:
  • the triggering member is controlled to be in a first extended state without contact with the sewage barrel;
  • the trigger When performing the sewage discharge operation, the trigger is controlled to open the switch structure in the second extended state and close the switch structure in the third extended state;
  • the trigger member in the first extended state corresponds to the first movement stroke
  • the trigger member in the second extension state and the third extension state corresponds to the second movement stroke
  • the first movement The stroke is smaller than the second moving stroke
  • the technical solution provided by the embodiments of this application can achieve cleaning of the target site by setting up a floor washing machine.
  • a floor washing machine By installing a sewage bucket on the floor washing machine, the sewage generated during the cleaning process of the floor washing machine can be collected.
  • the floor washing machine can only be removed from the base station before or after sewage discharge operations. Therefore, by setting up the base station and controlling the sewage in the sewage barrel after or before sewage discharge operations, The trigger member is in a first extended state without contact with the sewage barrel, which prevents the trigger member from colliding with the switch structure on the sewage barrel when the floor washing machine is connected to the base station.
  • the sewage in the sewage barrel is discharged, and the sewage can be smoothly closed after the sewage discharge is completed.
  • the sewage outlet on the barrel completes a complete set of cleaning and sewage discharge work.
  • a self-cleaning method for cleaning equipment is provided, which is applied to a self-cleaning system, including: cleaning equipment and a base station, where the cleaning equipment at least includes a sewage bucket and a floor brush; the method includes:
  • An embodiment of the present application also provides a base station, including: a base station main body and a base for carrying cleaning equipment; a controller and a memory are provided on the base station main body; the memory is used to store computer programs; the controller and the The memory is coupled and used to execute the computer program to execute steps in the self-cleaning method for cleaning equipment provided by embodiments of the present application.
  • An embodiment of the present application also provides a cleaning device, including: a handle, a body and a cleaning component.
  • the body is provided with at least a sewage bucket and a treatment system.
  • the cleaning component at least includes a floor brush; the processor system is At:
  • the cleaning instruction is sent when the base station determines that the first self-cleaning of the sewage bucket is completed;
  • a notification message of completion of floor brush self-cleaning is sent to the base station, so that the base station continues to perform secondary self-cleaning on the sewage bucket.
  • the structure and function of the base station are improved.
  • the self-cleaning of the entire cleaning equipment can be realized, including cleaning
  • the self-cleaning of the cleaning components on the equipment also includes the self-cleaning of the sewage barrel on the cleaning equipment. No user intervention is required during the entire self-cleaning process, which simplifies the cleaning operation of the cleaning equipment and improves the cleaning efficiency of the sewage barrel and the entire machine.
  • a self-cleaning method for a sewage bucket is provided, which is applied to a self-cleaning system, including: cleaning equipment and a base station.
  • the cleaning equipment at least includes a sewage bucket, and a sewage drain tank is provided on the base station. and a flushing system for flushing the sewage barrel.
  • the cleaning equipment is connected to the base station, the sewage outlet of the sewage barrel is at least connected to the sewage tank; the method includes: when the cleaning equipment is connected to the base station, In response to the cleaning trigger event of the sewage bucket, the sewage bucket emptying and sewage bucket flushing operations are performed in sequence to achieve self-cleaning of the sewage bucket.
  • An embodiment of the present application provides a base station, including: a base station main body and a base for carrying cleaning equipment.
  • a controller and a memory are provided on the base station main body.
  • the memory is used to store computer programs.
  • the controller and the memory The coupling is used to execute the computer program to implement the self-cleaning method of the sewage barrel provided by the embodiment of the present application.
  • the embodiment of the present application provides a cleaning equipment, including: a handle, a body and a cleaning component.
  • the body is provided with at least a sewage bucket, a clean water bucket and a processing system; the processor system is used to: in the cleaning equipment When docking with the base station, detect whether the sewage bucket is full of water; send indication information of whether the sewage bucket is full of water to the base station, so that the base station determines whether it needs to be repaired based on the indication information.
  • Embodiments of the present application provide a method of filling a sewage bucket, which is applied to cleaning equipment.
  • the cleaning equipment includes a sewage bucket, a clean water bucket and a cleaning component.
  • the method includes: when the cleaning equipment is connected to a base station, detecting the Whether the sewage bucket is in a full state; sending indication information to the base station indicating whether the sewage bucket is in a full state, so that the base station determines whether the sewage bucket needs to be filled with water based on the indication information; and after receiving the
  • the base station sends a water filling instruction
  • the clean water bucket is controlled to fill water into the accommodation tank on the base station for accommodating the cleaning component through the first water supply pipe, and the liquid in the accommodation tank is sucked to the base station through the suction channel.
  • the holding tank is connected to the clean water bucket and the sewage bucket respectively through the first water supply pipeline and the suction channel.
  • Embodiments of the present application also provide a self-cleaning method for a sewage bucket, which is applied to a self-cleaning system, including: cleaning equipment and a base station.
  • the cleaning equipment at least includes a sewage bucket.
  • the base station is provided with a sewage discharge tank and a sewage discharge tank for flushing sewage.
  • Bucket flushing system when the cleaning equipment is connected to the base station, the sewage outlet of the sewage bucket is at least connected to the sewage trough, and the cleaning component of the cleaning equipment is located in the accommodation tank on the base of the base station;
  • the methods include:
  • the cleaning equipment detects that the sewage bucket is not full
  • the base station injects water into the holding tank, and the main motor of the cleaning equipment is turned on to suck the liquid in the holding tank into the sewage bucket through the suction channel until the sewage bucket is full of water;
  • the base station opens the sewage outlet of the sewage barrel to empty the sewage barrel;
  • the flushing system of the base station flushes the sewage bucket
  • the base station After confirming that the sewage bucket is flushed, the base station closes the sewage outlet of the sewage bucket.
  • the structure and function of the base station are modified.
  • a sewage tank and a flushing system for rinsing sewage barrels are added to the base station.
  • the sewage barrels are self-cleaning. No user intervention is required during the entire self-cleaning process, which simplifies the cleaning operation of sewage barrels. , improve the cleaning efficiency of sewage barrels.
  • Embodiments of the present application provide a self-cleaning method for cleaning equipment, which is applied to a self-cleaning system, including: cleaning equipment and a base station.
  • the cleaning equipment at least includes a sewage bucket and a floor brush; the method includes: connecting the cleaning equipment and the base station.
  • the current water level status of the sewage bucket is obtained; from the target complete machine cleaning processes corresponding to different water level statuses, the first target complete machine cleaning process that is adapted to the current water level status is determined; according to the first A target complete machine cleaning process performs complete machine self-cleaning on the cleaning equipment.
  • Each target complete machine cleaning process includes self-cleaning of the sewage tank and self-cleaning of the floor brush.
  • An embodiment of the present application also provides a base station, including: a base station main body and a base for carrying cleaning equipment; a controller and a memory are provided on the base station main body; the memory is used to store computer programs; the controller and the The memory is coupled and used to execute the computer program to execute steps in the self-cleaning method for cleaning equipment provided by embodiments of the present application.
  • An embodiment of the present application also provides a cleaning device, including: a handle, a body and a cleaning component.
  • the body is provided with at least a sewage bucket and a treatment system.
  • the cleaning component at least includes a floor brush;
  • the processor system is In the case of: when the cleaning equipment is connected to the base station, detecting the current water level status of the sewage bucket; sending the current water level status of the sewage bucket to the base station, so that the base station changes from corresponding to different water level status Determine the first target complete machine cleaning process that is adapted to the current water level state in the target complete machine cleaning process; and cooperate with the base station to perform complete machine self-cleaning of the cleaning equipment according to the first target complete machine cleaning process, each time
  • the target whole machine cleaning process includes self-cleaning of the sewage tank and self-cleaning of the floor brush.
  • the structure and function of the base station are improved.
  • the self-cleaning of the entire cleaning equipment can be realized, including cleaning
  • the self-cleaning of the cleaning components on the equipment also includes the self-cleaning of the sewage barrel on the cleaning equipment. No user intervention is required during the entire self-cleaning process, which simplifies the cleaning operation of the cleaning equipment and improves the cleaning efficiency of the sewage barrel and the entire machine.
  • the first aspect of the embodiments of this application provides an equipment self-cleaning startup method, which is suitable for base stations.
  • the method includes:
  • a cleaning function is activated that assists the cleaning device in self-cleaning.
  • an equipment self-cleaning startup method is also provided, which is suitable for cleaning equipment.
  • the method includes:
  • the self-cleaning function is activated
  • a start instruction is sent to the base station through the communication link, so that the base station starts a cleaning function that assists the self-cleaning of the cleaning equipment.
  • a cleaning system which system includes:
  • the base station is used to detect whether the cleaning equipment is located at the set position at the base station; detect the communication link with the cleaning equipment; if it is detected that the cleaning equipment is located at the set position, and the communication link If the communication requirements are met, it is determined that the base station and the cleaning equipment are successfully connected; an instruction to start the self-cleaning function is sent to the cleaning equipment through the communication link; and the cleaning function to assist the self-cleaning of the cleaning equipment is started.
  • a cleaning device configured to activate the self-cleaning function in response to an instruction sent by the cleaning device to activate the self-cleaning function.
  • a cleaning system which system includes:
  • Cleaning equipment used to detect the communication link with the base station; determine whether it is located at the set position at the base station; if the communication link meets the communication requirements and is determined to be at the set position, start the self-cleaning function; Send a startup instruction to the base station through the communication link;
  • a base station configured to respond to the starting instruction and start a cleaning function that assists the cleaning equipment in self-cleaning.
  • a base station in yet another embodiment of the present application, includes: a base station body and a base for carrying cleaning equipment; a controller and a memory are provided on the base station body; the memory is used to store a computer Program, the controller is coupled with the memory, and is used to execute the computer program, so as to execute the steps in the equipment self-cleaning startup method provided by an embodiment of the present application.
  • a cleaning device in yet another embodiment of the present application, includes: an equipment body, a controller and a memory provided on the equipment body; the memory is used to store a computer program, and the A controller is coupled to the memory and configured to execute the computer program to execute the steps in the device self-cleaning startup method provided by another embodiment of the present application.
  • Embodiments of the present application also provide a self-cleaning method for cleaning equipment, which is applied to a self-cleaning system, including: cleaning equipment and a base station, where the cleaning equipment at least includes a sewage bucket and a floor brush; the method includes:
  • An embodiment of the present application also provides a base station, including: a base station main body and a base for carrying cleaning equipment; a controller and a memory are provided on the base station main body; the memory is used to store computer programs; the controller and the The memory is coupled and used to execute the computer program to execute steps in the self-cleaning method for cleaning equipment provided by embodiments of the present application.
  • An embodiment of the present application also provides a cleaning device, including: a handle, a body and a cleaning component.
  • the body is provided with at least a sewage bucket and a treatment system.
  • the cleaning component at least includes a floor brush; the processor system is At:
  • the cleaning instruction is sent when the base station determines that the first self-cleaning of the sewage bucket is completed;
  • a notification message of completion of floor brush self-cleaning is sent to the base station, so that the base station continues to perform secondary self-cleaning on the sewage bucket.
  • the base station detects whether the cleaning equipment is located at a set position at the base station and detects the communication link with the cleaning equipment.
  • the base station detects that the cleaning equipment is located at the set position and the communication link
  • it is determined that the base station and the cleaning equipment are successfully connected and further sends an instruction to start the self-cleaning function to the cleaning equipment through the communication link, and starts the cleaning function to assist the self-cleaning of the cleaning equipment.
  • the base station in this solution has the function of identifying whether the connection with the cleaning equipment is successful and can automatically start the cleaning function, which simplifies the cleaning operation and improves the user experience.
  • the cleaning equipment can detect the communication link with the base station and determine whether it is located at the set position at the base station; and can determine that the communication link meets the communication requirements and is in the device. Based on the determined position, the self-cleaning function is automatically started, and a start command is sent to the base station through the communication link, so that the base station starts the cleaning function that assists the cleaning equipment in self-cleaning. It can be seen that the cleaning equipment in this solution has the function of identifying whether the connection with the cleaning equipment is successful and can automatically start the cleaning function, which effectively simplifies the cleaning operation and improves the user experience.
  • the structure and function of the base station are improved.
  • the self-cleaning of the entire cleaning equipment can be realized. , including self-cleaning of the cleaning components on the cleaning equipment, and self-cleaning of the sewage barrel on the cleaning equipment.
  • the entire self-cleaning process does not require user intervention, simplifying the cleaning operation of the cleaning equipment, and improving the efficiency of the sewage barrel and the entire machine. Cleaning efficiency.
  • the embodiment of the present application provides a method for blockage detection, including:
  • the immersion duration of the immersion period is determined according to the detection result of the sensor installed in the sewage bucket of the cleaning equipment, wherein the detection result of the sensor is used to indicate whether the sensor is immersed in liquid, and the immersion time period includes the target period.
  • a target time period in which the detection result of the sensor indicates that the sensor is immersed;
  • abnormal indication information is output.
  • the abnormal indication information is used to indicate that the sewage bucket is clogged, and the time required for the cleaning equipment to perform drainage-related processing is less than The second target threshold.
  • the embodiment of the present application provides a cleaning equipment, including a sewage bucket, a sensor and a clogging detection device;
  • the sensor is arranged in the sewage bucket, and the sensor is used to detect whether the sensor is submerged in liquid;
  • the clogging detection device is used to determine the immersion duration of the immersion time period according to the detection result of the sensor, wherein the immersion time period includes a target time period, and the detection result of the sensor indicates in the target time period
  • the sensor is submerged;
  • the clogging detection device is also used to output abnormal indication information when the immersion duration is greater than or equal to the second target threshold.
  • the abnormal indication information is used to indicate that the sewage bucket is blocked, and the cleaning equipment performs The time required for drainage-related processing is less than the second target threshold.
  • the embodiment of the present application provides a blockage detection method, including:
  • the detection result of the sensor is used to indicate whether the sensor is immersed in liquid.
  • the detection time point is when the cleaning equipment completes drainage-related processing. After the predicted end time point;
  • abnormal indication information is output, and the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • Embodiments of the present application provide a blockage detection device, including a processing unit and an output unit;
  • the processing unit is configured to determine the immersion duration of the immersion period based on the detection result of the sensor installed in the sewage bucket of the cleaning equipment, wherein the detection result of the sensor is used to indicate whether the sensor is immersed in liquid, and the The immersion period includes a target period in which the detection result of the sensor indicates that the sensor is immersed;
  • the output unit is used to output abnormal indication information when the immersion duration is greater than or equal to the second target threshold.
  • the abnormal indication information is used to indicate that the sewage bucket is clogged, and the cleaning equipment performs drainage.
  • the time required for the relevant processing is less than the second target threshold.
  • Embodiments of the present application provide a blockage detection device, including an acquisition unit and an output unit;
  • the acquisition unit is used to acquire the detection result of the sensor installed in the sewage bucket of the cleaning equipment at the detection time point.
  • the detection result of the sensor is used to indicate whether the sensor is immersed in liquid.
  • the detection time point is at the detection time point.
  • the output unit is configured to output an abnormality indication when the detection result indicates that the sensor is immersed.
  • Information the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • Embodiments of the present application provide a blockage detection device, including: a processor and a memory;
  • the memory is used to store programs, and the processor calls the program stored in the memory to execute the above-described congestion detection method.
  • Embodiments of the present application provide a storage medium that stores programs and data, and the program is executed by a processor to implement the above-described congestion detection method.
  • a sensor is provided in the sewage bucket of the cleaning equipment, and the second target threshold value is set according to the time required for the cleaning equipment to perform drainage-related processing, so that the second target threshold value is greater than the time required for drainage-related processing. of duration. Therefore, during the clogging detection process, the characteristics of the cleaning equipment for drainage-related processing are fully considered. If the length of time the sensor is immersed is greater than or equal to the second target threshold value and exceeds the time required for the cleaning equipment to perform drainage-related processing, the sewage can be determined. Bucket is blocked, making blockage detection more timely and accurate.
  • Embodiments of the present application provide a cleaning method for cleaning equipment, including:
  • a target self-cleaning mode is determined among a plurality of self-cleaning modes for self-cleaning the cleaning device.
  • the operating parameter information includes the cleaning operation time for the cleaning component to clean the object to be cleaned; and according to the operating parameter information, the cleaning equipment is used for self-cleaning in a plurality of times.
  • Determine the target self-cleaning mode in the self-cleaning mode including:
  • the target self-cleaning mode is determined to be the first self-cleaning mode, and the first self-cleaning mode among the plurality of self-cleaning modes is The most powerful cleaning power.
  • the operating parameter information includes a degree duration corresponding to each preset degree of dirtiness in at least one preset degree of dirtiness, and the degree duration corresponding to each preset degree of dirtiness is used to indicate that the cleaning component is in the specified condition.
  • Determining a target self-cleaning mode among a plurality of self-cleaning modes for self-cleaning the cleaning device according to the operating parameter information includes: determining the target self-cleaning mode according to the at least one degree duration. .
  • the plurality of self-cleaning modes include a first self-cleaning mode and a second self-cleaning mode, and among the plurality of self-cleaning modes, the first self-cleaning mode has the strongest cleaning intensity; according to the At least one degree of duration, identifying the target self-cleaning mode, includes:
  • the target self-cleaning mode is the first self-cleaning mode
  • the target self-cleaning mode is the second self-cleaning mode.
  • both the first self-cleaning mode and the second self-cleaning mode include sequentially rinsing, drying and ultraviolet sterilizing the roller brush in the cleaning component.
  • the first drying time for drying the roller brush is longer than the second drying time for drying the roller brush in the second self-cleaning mode.
  • determining a target self-cleaning mode among a plurality of self-cleaning modes for self-cleaning the cleaning device according to the operating parameter information including:
  • the target self-cleaning mode is determined based on the operation parameter information.
  • the method is applied to the base station in the cleaning equipment
  • the method also includes:
  • the cleaning device When the cleaning component is located in a preset area of the base station, the cleaning device is self-cleaned according to the target self-cleaning mode.
  • the embodiment of the present application provides a cleaning equipment, including: cleaning components and a processing device;
  • the cleaning component is used to clean the object to be cleaned
  • the processing device is configured to determine a target self-cleaning mode among a plurality of self-cleaning modes for self-cleaning the cleaning device according to the operating parameter information of the cleaning component in the cleaning device.
  • the operation parameter information includes the cleaning operation time for the cleaning component to clean the object to be cleaned
  • the processing device is specifically configured to determine that the target self-cleaning mode is the first self-cleaning mode when the cleaning operation duration is greater than or equal to a preset first value.
  • the first self-cleaning mode has the strongest cleaning power.
  • the operating parameter information includes a degree duration corresponding to each preset degree of dirtiness in at least one preset degree of dirtiness, and the degree duration corresponding to each preset degree of dirtiness is used to indicate that the cleaning component is in the specified condition.
  • the processing device is specifically configured to determine the target self-cleaning mode according to the at least one degree duration.
  • the plurality of self-cleaning modes include a first self-cleaning mode and a second self-cleaning mode, and the first self-cleaning mode has the strongest cleaning power among the plurality of self-cleaning modes;
  • the processing device is specifically configured to determine, based on the at least one degree of duration, a target environment operating duration for the cleaning component to operate under a target degree of dirtiness in the at least one preset degree of dirtiness;
  • the target self-cleaning mode is the first self-cleaning mode
  • the target self-cleaning mode is the second self-cleaning mode.
  • both the first self-cleaning mode and the second self-cleaning mode include sequentially rinsing, drying and ultraviolet sterilizing the roller brush in the cleaning component.
  • the first drying time for drying the roller brush is longer than the second drying time for drying the roller brush in the second self-cleaning mode.
  • the processing device is specifically configured to determine the target self-cleaning mode based on the operating parameter information when the cleaning operation duration is greater than or equal to a preset third value.
  • the processing device is located in a base station in the cleaning equipment
  • the processing device is also configured to perform self-cleaning on the cleaning equipment according to the target self-cleaning mode when the cleaning component is located in a preset area of the base station.
  • Embodiments of the present application provide a cleaning device for cleaning equipment, including an acquisition unit and a processing unit;
  • the acquisition unit is used to acquire operating parameter information of cleaning components in the cleaning equipment, and the cleaning components are used to clean objects to be cleaned;
  • the processing unit is configured to determine a target self-cleaning mode among a plurality of self-cleaning modes for self-cleaning the cleaning device according to the operating parameter information.
  • Embodiments of the present application provide a cleaning device for cleaning equipment, including: a processor and a memory;
  • the memory is used to store programs, and the processor calls the programs stored in the memory to execute the cleaning method for cleaning equipment described above.
  • An embodiment of the present application provides a storage medium, which is characterized in that the storage medium stores programs and data, and the program is executed by a processor and is used to implement the above-mentioned cleaning method for cleaning equipment.
  • the target self-cleaning mode for cleaning the cleaning equipment is determined.
  • the operation conditions of the cleaning components used to clean the object are considered, so that the target self-cleaning mode is more suitable for the operation conditions of the cleaning parts. Therefore, when the cleaning equipment is self-cleaned according to the target self-cleaning mode, the cleaning effect is better and the cleaning efficiency is higher.
  • Figure 1 is a schematic structural diagram of a handheld floor scrubber provided by an embodiment of the present application.
  • Figure 2 is a flow chart of a cleaning process interruption adjustment method provided by an embodiment of the present application.
  • Figure 3 is a specific flow chart of a cleaning process interruption adjustment method provided by an embodiment of the present application.
  • Figure 4 is a flow chart of a method for prompting users with information provided by an embodiment of the present application
  • Figure 5 is a first scene example diagram of a cleaning process interruption adjustment method provided by an embodiment of the present application.
  • Figure 6 is a second scene example diagram of a cleaning process interruption adjustment method provided by an embodiment of the present application.
  • Figure 7 is a schematic structural diagram of the first form of the cleaning sewage system provided by the embodiment of the present application.
  • Figure 8 is a schematic structural diagram of the second form of the cleaning sewage system provided by the embodiment of the present application.
  • Figure 9a is a schematic diagram of the first push rod provided by the embodiment of the present application in a second extended state
  • Figure 9b is a schematic diagram of the second push rod provided by the embodiment of the present application in a third extended state
  • Figure 9c is a schematic diagram of the first push rod and the second push rod provided by the embodiment of the present application in a first extended state
  • Figure 10a is a schematic diagram of the state of the first push rod and the second push rod when opening the sewage bucket provided by the embodiment of the present application;
  • Figure 10b is a schematic diagram of the state of the first push rod and the second push rod when closing the sewage bucket provided by the embodiment of the present application;
  • Figure 10c is a schematic diagram of the first push rod and the second push rod provided in the embodiment of the present application in the first extended state;
  • Figure 11 is a schematic structural diagram of a base station of a floor washing machine provided by an embodiment of the present application.
  • Figure 12 is a flow chart of a method for controlling the opening and closing of a sewage barrel provided by an embodiment of the present application
  • Figure 13a is a schematic structural diagram of a cleaning equipment system, cleaning equipment and base station provided by an embodiment of the present application;
  • Figure 13b is a schematic diagram of the docking state of the cleaning equipment and the base station in the cleaning equipment system shown in the embodiment of the present application;
  • Figure 13c is a schematic structural diagram of another cleaning equipment system and a cleaning equipment and base station provided by the application embodiment
  • Figure 13d is a schematic structural diagram of a cleaning device (corresponding to the cleaning device in the cleaning system shown in Figure 13c) according to an embodiment of the present application;
  • Figure 14 is a partial structural schematic diagram of the cleaning equipment provided by the embodiment of the present application when it is connected to the base station;
  • Figure 15a is a schematic flow chart of a self-cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figure 15b is a schematic flow chart of another self-cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figures 16a-16d are flow diagrams of several other self-cleaning methods for cleaning equipment provided by embodiments of the present application.
  • Figures 16e-16f are schematic diagrams of the partial structure and liquid flow direction of the cleaning equipment provided by the embodiment of the present application when it is connected to the base station;
  • Figure 17 is a schematic flow chart of a cleaning equipment self-cleaning method described from the perspective of cleaning equipment provided by the embodiment of the present application;
  • Figure 18a is a schematic flow chart of yet another self-cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figure 18b is a schematic flow chart of another cleaning equipment self-cleaning method described from the perspective of cleaning equipment provided by the embodiment of the present application;
  • Figure 18c is a schematic flow chart of a self-cleaning method for a sewage barrel provided by an embodiment of the present application.
  • Figure 18d is a schematic flow chart of another self-cleaning method for a sewage barrel provided by an embodiment of the present application.
  • Figure 19 is a schematic flowchart of an equipment self-cleaning startup method provided by an embodiment of the present application.
  • Figure 20a is a schematic diagram of the working principle of the sensing element and triggering element provided by the embodiment of the present application;
  • Figure 20b is a schematic diagram illustrating the induction signal generated by the sensing element as the trigger element approaches;
  • Figure 21a is a schematic diagram of the circuit principle after the base station and cleaning equipment are connected according to the embodiment of the present application;
  • Figure 21b is a schematic diagram of a transformed charging signal according to an embodiment of the present application.
  • Figure 22 is a schematic diagram of another variation of the charging signal according to the embodiment of the present application.
  • Figure 23 is a schematic flow chart of another equipment self-cleaning startup method provided by an embodiment of the present application.
  • Figure 24 is a schematic diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 25 is a schematic diagram of a base station in the cleaning equipment shown in Figure 24;
  • Figure 26 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • Figure 27 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • Figure 28 is a schematic structural diagram of a water immersion sensor provided by an embodiment of the present application.
  • Figure 29 is a schematic diagram of the peripheral circuit of the water immersion sensor shown in Figure 28;
  • Figure 30 is a schematic diagram of the position of the water immersion sensor in the sewage discharge device provided by the embodiment of the present application.
  • Figure 31 is a schematic diagram of the detection results of the water immersion sensor provided by the embodiment of the present application.
  • Figure 32 is a schematic diagram of the output waveform of the water immersion sensor provided by the embodiment of the present application.
  • Figure 33 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • Figure 34 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 35 is a schematic structural diagram of a clogging detection device provided by an embodiment of the present application.
  • Figure 36 is a schematic structural diagram of another blockage detection device provided by an embodiment of the present application.
  • Figure 37 is a schematic structural diagram of yet another blockage detection device provided by an embodiment of the present application.
  • Figure 38 is a schematic flow chart of a cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figure 39 is a schematic flow chart of a cleaning method for cleaning equipment provided by an embodiment of the present application.
  • Figure 40 is a schematic flow chart of a method for determining a target self-cleaning mode provided by an embodiment of the present application.
  • Figure 41 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • Figure 42 is a schematic structural diagram of a cleaning device for cleaning equipment provided by an embodiment of the present application.
  • Figure 43 is a schematic structural diagram of another cleaning device for cleaning equipment provided by an embodiment of the present application.
  • a handheld floor washing machine includes: a cleaning device 10 and a base station 11 that is communicatively connected to the cleaning device 10 .
  • the cleaning device 10 and the base station 11 are detachably connected.
  • the cleaning equipment 10 is provided with a sewage bucket 12, the sewage bucket 12 is provided with a sewage outlet, and the base station 11 is provided with a retractable trigger (not shown in the figure), and the trigger is used in the first state.
  • the cleaning equipment 10 includes: a floor washing machine, a sweeping robot, a carpet cleaning machine, a cloth cleaning machine, etc. The present application will be described below taking the cleaning equipment 10 as a floor washing machine as an example.
  • the cleaning equipment 10 and the base station 11 can be connected through wireless communication (such as Bluetooth), so that the cleaning equipment 10 sends control instructions to the base station 11 or the base station 11 sends control instructions to the cleaning equipment 10 when the user needs to clean the target site. , remove the cleaning equipment 10 from the base station 11, and use the cleaning equipment 10 to clean the target site. The sewage generated during this process will be directly sucked into the sewage barrel 12. After the cleaning work is completed, the cleaning equipment 10 and the sewage will be The bucket 12 is returned to the base station 11, and the handheld floor scrubber can start self-cleaning.
  • wireless communication such as Bluetooth
  • the self-cleaning process includes: using the trigger on the base station 11 to trigger the switch mechanism on the sewage barrel 12 to open the sewage outlet on the sewage barrel 12, discharge the sewage in the sewage barrel 12, and after the discharge is completed, clean the sewage barrel. 12 Carry out cleaning.
  • embodiments of the present application provide a cleaning process interruption adjustment method, which is applied to a base station that is communicatively connected to the cleaning equipment. As shown in Figure 2, the method includes:
  • Step 201 Among the multiple steps that need to be executed in the self-cleaning process, determine the first step to be executed when an interrupt exception of the set type occurs.
  • Step 202 If the sewage bucket has not been cleaned when the first step is executed, continue to execute the second step indicating that the sewage bucket has been cleaned.
  • the self-cleaning process of a handheld floor scrubber requires multiple steps.
  • the multiple steps include the following three steps performed in sequence: filling the sewage bucket with water, Drainage the sewage bucket and clean the sewage bucket; if the first step executed when a set type of interruption exception occurs is any one of the three steps, the second step is: clean the sewage bucket.
  • the first step executed is to fill the sewage bucket with water. This means that the sewage bucket has not been cleaned when the first step is executed. At this time, the subsequent steps continue to be executed. Until the second step is completed (cleaning the sewage bucket). In this way, it can be ensured that the sewage bucket is cleaned after performing the second step.
  • the set type of interruption includes at least any of the following: interruption of the communication connection between the cleaning equipment and the base station, power outage of the cleaning equipment, power outage of the base station, and interruption operation by the user.
  • interruption of the communication connection between the cleaning equipment and the base station it means that the connection between the cleaning equipment and the base station is abnormal; or, if the base station power key used to control the base station switch is pressed, the base station is powered off; or , when the cleaning equipment is placed on the base station for self-cleaning, the user triggers the self-cleaning button of the floor washer (triggering includes long press, short press, or two consecutive short presses), interrupting the self-cleaning process; or, suddenly indoors In the event of a power outage, the cleaning equipment and base station connected to the indoor power supply will be powered off at the same time.
  • the power outage in this application refers to a delayed power outage. For example, if a power outage occurs at the base station, it will complete the
  • the cleaning process interruption adjustment method determines the first step to be executed when a set type of interruption occurs among the multiple steps that need to be executed in the self-cleaning process. If the sewage bucket is not used when the first step is executed, After the cleaning is completed, continue to execute the second step indicating that the sewage bucket has been cleaned. This ensures that when the user removes the cleaning device from the base station, the sewage bucket on the cleaning device is in a clean state and can be used directly and normally. User experience better.
  • the trigger on the base station is triggering the switch mechanism on the sewage bucket. Therefore, if the cleaning equipment is removed rashly at this time, the trigger will be damaged and the handheld floor scrubber will be damaged. cause damage. Therefore:
  • the second step further includes: resetting the trigger member to a contracted state without contact with the sewage bucket.
  • the method further includes: resetting the trigger member to a contracted state without contact with the sewage bucket.
  • resetting the trigger to the retracted state can occur in the second step, or after executing the second step, as long as the user can reset the trigger before taking the cleaning device. .
  • resetting the trigger piece to a contracted state without contact with the sewage bucket it is ensured that the trigger piece will not be damaged when the user takes the cleaning equipment, and the safety of the user when taking the cleaning equipment is also improved.
  • Figure 3 is a flow chart of a cleaning process interruption adjustment method provided by an embodiment of the present application. As shown in Figure 3, the method includes:
  • Step 301 Among the multiple steps that need to be executed in the self-cleaning process, determine the first step to be executed when an interrupt exception of the set type occurs.
  • Step 302 If the sewage bucket has not been cleaned when the first step is executed, continue to execute the second step indicating that the sewage bucket has been cleaned.
  • Step 303 Reset the trigger member to a contracted state without contact with the sewage bucket.
  • Step 304 If the interruption abnormality is detected within the set time and has not been recovered, the self-cleaning process remains stopped. Alternatively, if the interruption is detected within the set time and has been recovered, the steps after the second step are continued.
  • this application determines whether the interruption has been restored after resetting the trigger to a contracted state without contact with the sewage bucket. If the interruption abnormality is detected within the set time and has not been restored, the self-cleaning process will continue to be stopped. status, if it is detected that the interruption has been restored within the set time, the steps after the second step will continue to be executed, which can not only ensure that the self-cleaning can be completed smoothly, but also improve work efficiency.
  • Figure 4 is a flow chart of a method for prompting users with information according to an embodiment of the present application. As shown in Figure 4, the method includes:
  • Step 401 Among the multiple steps that need to be executed in the self-cleaning process, determine the first step to be executed when an interrupt exception of the set type occurs.
  • Step 402 If the sewage bucket has not been cleaned when the first step is executed, continue to execute the second step indicating that the sewage bucket has been cleaned.
  • Step 403 Reset the trigger member to a contracted state without contact with the sewage bucket.
  • Step 404 Control the cleaning equipment to output or locally output first prompt information for prompting the user that the cleaning equipment can be taken away.
  • Step 405 If the interruption abnormality is detected within the set time and has not been recovered, the self-cleaning process remains stopped. Alternatively, if the interruption is detected within the set time and has been recovered, the steps after the second step are continued.
  • the cleaning equipment or base station can be controlled to output a first prompt message to prompt the user to take away the cleaning equipment.
  • the first prompt information may be in the form of a voice broadcast and/or text display, for example, a voice broadcast of "can be taken", and/or a display of "can be taken” on the screen of the cleaning equipment/base station.
  • the cleaning equipment or the base station output is controlled to prompt the occurrence Second prompt message for interruption.
  • the second prompt information may be in the form of a voice broadcast and/or text display, for example, a voice broadcast of "Operation in progress, please do not take it", and/or "Operation in progress, please do not take” displayed on the screen of the cleaning equipment/base station. Take”.
  • the cleaning equipment or the base station is controlled to output a third prompt message for prompting the user that the cleaning equipment can be taken away.
  • the third prompt information may be in the form of voice broadcast and/or text display, for example, voice broadcast of "can be taken", and/or "can be taken” displayed on the screen of the cleaning equipment/base station.
  • the clean water bucket on the floor washing machine can also be filled with water.
  • the clean water bucket is used to spray clean water to the target place when the floor washer cleans the target place, so as to clean the target place. Target location for cleaning.
  • the clean water bucket can be filled directly here.
  • a water tank is provided in the base station, through which water can be filled into the sewage bucket and the clean water bucket.
  • the floor washing machine is self-cleaning.
  • the self-cleaning of the floor washing machine means that the floor washing machine automatically cleans the floor brush used to clean the target place, and discharges the sewage generated after cleaning to the sewage barrel through the pipeline. In the process, it can also complete the pipeline cleaning. of cleaning.
  • step S5 Discharge the sewage barrel. It should be understood that after the self-cleaning of the floor washing machine is completed, some sewage accumulates in the sewage barrel. At this time, the sewage barrel needs to be discharged again. It should be noted that since the water in the clean water bucket of the floor washer may be used in step S4, in this step, if the water in the clean water bucket of the floor washer is not full, the base station will fill the clean water bucket on the floor washer with water. , until the water bucket is full.
  • the base station is provided with a sewage trough, which is arranged below the sewage outlet to guide the discharge of sewage in the sewage barrel. After the sewage barrel is cleaned, the sewage trough needs to be flushed.
  • drying and/or ultraviolet sterilization refers to drying and/or ultraviolet sterilizing the floor brush part of the floor washing machine.
  • the floor scrubber and/or the base station will issue voice and screen reminders, such as the voice broadcast "In operation, please do not "Get", and the text corresponding to the broadcast voice is displayed on the screen of the floor scrubber and/or the base station until S3 is completed.
  • the floor washing machine and/or the base station will give voice and screen reminders again, such as the voice broadcast "The operation is completed and you can take it", and the text corresponding to the broadcast voice will be displayed on the screen of the floor washing machine and/or the base station.
  • the reason why this application must execute S3 before the user can take it is to ensure that when the user removes the floor washing machine, the floor washing machine is always in a state where the sewage bucket has been emptied and cleaned, and the clean water bucket is full, so that the user can take it. Carry out cleaning operations after dismounting the floor washing machine, and at the same time, it can also ensure the safety of users.
  • the user needs to wait until the base station completes S3 before prompting the user to take it.
  • the floor washing machine is in a state where the sewage bucket has been emptied and cleaned, and the clean water bucket is full.
  • the trigger on the base station will also be reset to the initial retracted state, which refers to the position of the floor scrubber when it is not placed on the base station.
  • the structure of the triggering member is not limited here. In the embodiment of the present application, the triggering member may preferably be a push rod.
  • S4 is the self-cleaning process of the floor washer. There is no interaction between the base station and the floor washer during this process, and the trigger has been reset to the contracted state after the end of S3. Therefore, the user can remove the floor washer at any time.
  • the base station will continue to execute S6 (or S7) before prompting the user to take it.
  • S6 or S7
  • the floor washing machine is in a state where the sewage bucket has been emptied and cleaned, and the clean water bucket is full.
  • the trigger on the base station will be reset to the initial retracted state. In this initial retracted state, even if the floor washing machine is placed on the base station, the trigger on the base station will not come into contact with the sewage bucket of the floor washing machine.
  • a self-cleaning interrupt occurs when executing S7, there are two ways to implement it.
  • direct voice and screen prompts "can be taken", and users can directly remove the floor scrubber from the base station without waiting. It should be understood that when flushing the sewage trough, the floor washer and the base station do not need to be linked. Therefore, the user can directly remove the floor washer from the base station. However, if the floor washer is removed directly, the floor washing machine may be flushed while the sewage trough is being flushed. Sometimes, a small amount of water splashes from the sewage tank.
  • the floor washing machine and/or the base station will issue voice and screen reminders, such as the voice broadcast of "In operation, please do not take", and the floor washing machine and/or base station will issue a voice and screen reminder. or display the announcement on the screen of the base station
  • the text corresponding to the voice will wait until S7 is executed, and the voice and screen will remind the user that "it can be taken.”
  • the floor washing machine is placed on the base station, and the sewage bucket of the floor washing machine closes the sewage trough, which can prevent Water splashes from the drain.
  • the base station can prompt the user "can be taken out” after executing S7.
  • the floor washing machine or base station can directly prompt voice and screen "can be taken", and the user can directly remove the floor washing machine from the base station without waiting.
  • S8 is the drying and/or ultraviolet sterilization operation inside the floor washing machine. There is no interaction process between the base station and the floor washing machine, and the trigger is already in a contracted state after the end of S6. Therefore, the user can remove the floor washing machine at any time. machine.
  • the multiple steps required for the self-cleaning process of a handheld floor scrubber include:
  • the clean water bucket on the floor washing machine can also be filled with water.
  • the clean water bucket is used to spray clean water to the target place when the floor washer cleans the target place, so as to clean the target place. Target location for cleaning.
  • the clean water bucket can be filled directly here.
  • a water tank is provided in the base station, through which water can be filled into the sewage bucket and the clean water bucket.
  • a connection prompt (such as a countdown pop-up window for connection) will be displayed on the screen of the floor washer.
  • the self-cleaning corpus is used to broadcast the currently executed self-cleaning step
  • play abnormal corpus if the base station is being reconnected, please do not remove the floor washer.
  • the base station will determine the first step of the self-cleaning process. Assuming that the above-mentioned S1 is executed, it means that the sewage bucket has not been cleaned when the first step is executed.
  • the floor washer is equipped with a self-cleaning button for controlling the self-cleaning operation switch.
  • the user can control the self-cleaning of the floor washer by triggering the self-cleaning button (triggering includes short press, long press or two consecutive short presses). switch.
  • triggering includes short press, long press or two consecutive short presses. switch.
  • the self-cleaning interruption will be restored.
  • the currently displayed text will be deleted on the screen of the floor washer and "Continue Self-Cleaning" will be displayed.
  • "Bluetooth” will be played.
  • Interrupt Connected" corpus to determine whether the corpus that was being played before the self-cleaning interruption (i.e., the corpus that broadcasts the currently executed self-cleaning step) has been played. If the corpus was interrupted during the previous playback process, then replay the corpus at this time. The corpus is played. At this time, if the user triggers the self-cleaning button, the self-cleaning operation will be ended directly.
  • the self-cleaning button will be in a non-responsive state. After the preset time interval, a connection prompt will appear on the screen of the floor washing machine, and a voice will broadcast "Connecting to the base station". At this time, if the user triggers the self-cleaning button, the self-cleaning button will still be in an unresponsive state. .
  • the multiple steps required for the self-cleaning process of a handheld floor scrubber include:
  • the clean water bucket on the floor washing machine can also be filled with water.
  • the clean water bucket is used to spray clean water to the target place when the floor washer cleans the target place, so as to clean the target place. Target location for cleaning.
  • the clean water bucket can be filled directly here.
  • a water tank is provided in the base station, through which water can be filled into the sewage bucket and the clean water bucket.
  • a startup prompt (such as a countdown pop-up window for startup) will be displayed on the screen of the floor washer.
  • the washing machine will also be interrupted.
  • the ground machine is broadcasting the self-cleaning corpus (the self-cleaning corpus is used to broadcast the currently executed self-cleaning step) and abnormal corpus (for example, please turn on the base station).
  • the base station will determine the first step of the self-cleaning process. Assuming that the above-mentioned S1 is executed, it means that the sewage bucket has not been cleaned when the first step is executed.
  • the floor washing machine is equipped with a self-cleaning button for controlling the self-cleaning operation switch.
  • the user triggers the self-cleaning button.
  • the cleaning button (trigger includes short press, long press or two consecutive short presses) can control the self-cleaning switch of the floor washing machine.
  • the self-cleaning button will be in a non-responsive state, and only the display information on the floor washing machine screen will change. "Ending” is displayed on the screen, and the text "Ending, please wait” is played at the same time.
  • the base station is turned on again before the countdown prompt on the screen of the floor washer ends and the self-cleaning interruption has been restored, the currently displayed text will be deleted on the screen of the floor washer and "Continue Self-Cleaning" will be displayed.
  • "Self-Cleaning” will be played.
  • "Restored" corpus determine whether the corpus that was playing before the self-cleaning interruption (that is, the corpus that broadcasts the currently executed self-cleaning step) has been played. If the corpus was interrupted during the previous playback process, then the corpus will be played again at this time. The corpus is played. At this time, if the user triggers the self-cleaning button, the self-cleaning operation will be ended directly.
  • the base station If the base station is not restarted before the countdown prompt on the screen of the floor washer ends, and the self-cleaning interruption has not been restored, the currently displayed text will be deleted on the screen of the floor washer and "Self-Cleaning Receive" will be displayed. At the same time, play "Self-cleaning reception” corpus. At this time, if the user triggers the self-cleaning button, the self-cleaning button will be in a non-responsive state. Afterwards, "Charging” will be displayed on the screen of the floor scrubber. At this time, if you press the self-cleaning button briefly, the base station's power-on prompt will be triggered.
  • the multiple steps required for the self-cleaning process of a handheld floor scrubber include:
  • the clean water bucket on the floor washing machine can also be filled with water.
  • the clean water bucket is used to spray clean water to the target place when the floor washer cleans the target place, so as to clean the target place. Target location for cleaning.
  • the clean water bucket can be filled directly here.
  • a water tank is provided in the base station, through which water can be filled into the sewage bucket and the clean water bucket.
  • the floor washing machine is self-cleaning.
  • the self-cleaning of the floor washing machine means that the floor washing machine automatically cleans the floor brush used to clean the target place, and discharges the sewage generated after cleaning to the sewage barrel through the pipeline. In the process, it can also complete the pipeline cleaning. of cleaning.
  • the base station is provided with a sewage trough, which is arranged below the sewage outlet to guide the discharge of sewage in the sewage barrel. After the sewage barrel is cleaned, the sewage trough needs to be flushed.
  • ultraviolet sterilization refers to ultraviolet sterilization of the floor brush part of the floor washing machine.
  • the self-cleaning button on the floor washer When the self-cleaning process of the handheld floor washer is interrupted by the user long pressing (or short pressing or two consecutive short pressings) the self-cleaning button on the floor washer, it can be determined that the self-cleaning execution has reached S4 or S8 at this time.
  • the screen of the floor scrubber will display "Ending” and the text "Ending, please wait” will be played at the same time.
  • the self-cleaning button is pressed again, the self-cleaning button will be in a non-responsive state. The user can directly remove the floor washer, or wait for S4 or S8 to complete before removing the floor washer.
  • the multiple steps required for the self-cleaning process of a handheld floor scrubber include:
  • the clean water bucket on the floor washing machine can also be filled with water.
  • the clean water bucket is used to spray clean water to the target place when the floor washer cleans the target place, so as to clean the target place. Target location for cleaning.
  • the clean water bucket can be filled directly here.
  • a water tank is provided in the base station, through which water can be filled into the sewage bucket and the clean water bucket.
  • the floor washing machine is self-cleaning.
  • the self-cleaning of the floor washing machine means that the floor washing machine automatically cleans the floor brush used to clean the target place, and discharges the sewage generated after cleaning to the sewage barrel through the pipeline. In the process, it can also complete the pipeline cleaning. of cleaning.
  • the base station is provided with a sewage trough, which is arranged below the sewage outlet to guide the discharge of sewage in the sewage barrel. After the sewage barrel is cleaned, the sewage trough needs to be flushed.
  • ultraviolet sterilization refers to ultraviolet sterilization of the floor brush part of the floor washing machine.
  • a startup prompt (such as a countdown pop-up window for startup) will be displayed on the screen of the floor scrubber, and the washing machine will also be interrupted.
  • the ground machine is broadcasting the self-cleaning corpus (the self-cleaning corpus is used to broadcast the currently executed self-cleaning step) and abnormal corpus (for example, please turn on the base station).
  • the base station will determine the first step of the self-cleaning process.
  • the floor washing machine is equipped with a self-cleaning button for controlling the self-cleaning operation switch.
  • the user triggers the self-cleaning button (short press, long press or two consecutive short presses) to control the self-cleaning of the floor washing machine itself. switch.
  • the self-cleaning button short press, long press or two consecutive short presses
  • the self-cleaning button will be in an unresponsive state, and "Ending” will be displayed on the screen of the floor washer. "In progress", while playing the corpus of "Ending in progress, please wait”.
  • the self-cleaning button is pressed again, the self-cleaning button will be in a non-responsive state.
  • the self-cleaning interruption has been restored before the connection prompt on the screen of the floor washer ends, the currently displayed text will be deleted on the screen of the floor washer and "Continue Self-Cleaning" will be displayed.
  • the corpus "Self-cleaning has been resumed” will be played. , determine whether the corpus that was being played before the self-cleaning interruption (that is, the corpus that broadcasts the currently executed self-cleaning step) has been played. If the corpus was interrupted during the previous playback process, then the corpus is played again at this time. At this time, if the user triggers the self-cleaning button, the self-cleaning operation will be ended directly.
  • the self-cleaning interruption has not been restored before the connection prompt on the screen of the floor washer ends, the currently displayed text will be deleted on the screen of the floor washer and "Self-Cleaning Receive” will be displayed. At the same time, the "Self-Cleaning Receive” corpus will be played. . At this time, if the user long presses or presses the self-cleaning button twice in succession, the self-cleaning button will be in a non-responsive state. Afterwards, "Charging” will be displayed on the screen of the floor scrubber. At this time, if the user briefly presses the self-cleaning button, the base station's power-on prompt will be triggered.
  • this application determines the first step to be executed when a set type of interruption occurs among the multiple steps that need to be executed in the self-cleaning process. If the sewage bucket has not been cleaned when the first step is executed, then Continue to execute the second step indicating that the sewage bucket has been cleaned, ensuring that when the user removes the cleaning device from the base station, the sewage bucket on the cleaning device is in a clean state and can be used directly and normally, and the user experience is better. By resetting the trigger piece to a contracted state without contact with the sewage bucket, it is ensured that the trigger piece will not be damaged when the user takes the cleaning equipment, and the safety of the user when taking the cleaning equipment is also improved.
  • embodiments of the present application also provide a computer-readable storage medium storing a computer program.
  • the one or more processors When the computer program is executed by one or more processors, the one or more processors at least implement the following actions: during self-cleaning Among the multiple steps that need to be executed in the process, determine the first step to be executed when an interrupt exception of the set type occurs; if the sewage bucket has not been cleaned when the first step is executed, continuing to execute means that the sewage bucket has been cleaned.
  • the sewage bucket is set on the cleaning equipment, and the cleaning equipment is communicatively connected with the base station.
  • embodiments of the present application also provide a base station for a floor washing machine.
  • the base station is communicatively connected to a cleaning equipment, and a sewage bucket is provided on the cleaning equipment.
  • the base station includes: one or more processors, and one or more processors storing computer programs. A plurality of memories; one or more processors, configured to execute a computer program for: among the multiple steps that need to be executed in the self-cleaning process, determine the first step to be executed when an interruption of a set type occurs; if executing When the first step is reached and the sewage bucket has not been cleaned, the second step indicating that the sewage bucket has been cleaned is continued and the self-cleaning process is stopped.
  • inventions of the present application also provide a cleaning and sewage drainage system.
  • the cleaning and sewage drainage system includes: cleaning equipment and a base station that are connected by communication.
  • a sewage bucket is provided on the cleaning equipment; and the base station is used to perform multiple tasks that need to be performed in the self-cleaning process.
  • the inventor found that in practical applications, when the user needs to clean the target site, the floor washing machine is removed from the base station and the floor washing machine is used to clean the site to be cleaned. In this process The sewage generated in the machine will be directly sucked into the sewage barrel. After the cleaning work is completed, the floor washing machine can be returned to the base station so that the base station can charge the floor washing machine and trigger the switch mechanism on the sewage barrel to charge the sewage barrel. Discharge of sewage.
  • this application provides a clean sewage system.
  • FIG 7 is a schematic structural diagram of a cleaning and sewage drainage system provided by an embodiment of the present application.
  • the system includes: a cleaning device 10 (for ease of understanding, hereafter referred to as a floor scrubber 10) and a base station 11.
  • the floor washing machine 10 is provided with a sewage bucket 12.
  • the floor washing machine 10 is removably installed on the base station 11 for cleaning the target site.
  • the sewage barrel 12 is used to accommodate the sewage generated by the above-mentioned cleaning process.
  • the sewage barrel 12 is provided with a switch structure 13 for controlling the switch of the sewage outlet.
  • the base station 11 is provided with a retractable trigger 14 for controlling the trigger 14 to be in a first extended state without contact with the sewage barrel 12 after the sewage in the sewage barrel 12 is discharged or before the sewage discharge operation is performed.
  • the control trigger 14 opens the switch structure 13 in the second extended state, and closes the switch structure 13 in the third extended state.
  • the trigger piece corresponds to the first movement stroke in the first extended state
  • the trigger piece corresponds to the second movement stroke in the second extension state and the third extension state
  • the first movement stroke is smaller than the second movement stroke.
  • the starting point of the trigger member in the second movement stroke is the internal preset position of the base station
  • the end point is the contact position with the switch structure 13
  • the starting point of the trigger member in the first movement stroke is the internal preset position of the base station.
  • the end point is the target position between the preset position and the contact position.
  • the second movement stroke is a one-way stroke in which the trigger member moves from the second extended state to the third extended state, or a one-way stroke in which the trigger member moves from the third extended state to the second extended state.
  • the first moving stroke is a one-way stroke of the trigger member moving from the second extended state or the third extended state to the first extended state, or the single-directional stroke of the trigger member moving from the first extended state to the second extended state or the third extended state.
  • the one-way stroke refers to the stroke of the trigger member in a single direction.
  • the one-way stroke of the trigger member moving from the second extended state to the third extended state means that the trigger member takes the second extended state as the starting point.
  • the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the target site. , the sewage generated during the cleaning process will be sucked into the sewage barrel 12 . After the target site is cleaned, the floor washing machine 10 can be put back into the base station 11 and connected to the base station 11. The floor washing machine 10 can be charged through the base station 11 and the switch structure 13 on the sewage barrel 12 can be triggered. Discharge the sewage in the sewage barrel 12.
  • the switch structure 13 of the sewage barrel 12 needs to be closed first to avoid taking out the floor washing machine.
  • the base station 11 controls the trigger 14 to extend to the third extended state to close the switch structure 13 .
  • the floor washing machine 10 can be removed from the base station 11 to clean the target site.
  • the trigger member 14 is still in the third extended state, that is, part of the trigger member 14 is exposed below the sewage bucket 12 .
  • the switch structure 13 may be damaged. , affecting the normal sewage discharge operation of the sewage barrel 12, and also greatly reducing the service life of the switch structure 13.
  • the trigger 14 is controlled to be in a first extended state without contact with the sewage barrel 12.
  • the trigger 14 corresponds to The first moving stroke is less than the second moving stroke corresponding to the triggering member 14 in the above-mentioned second extended state and the third extended state.
  • Figure 9b is a schematic diagram of the triggering member 14 in the first extended state.
  • the floor washing machine can only be removed from the base station before or after the sewage discharge operation. Therefore, it must be removed from the base station after the sewage in the sewage barrel is discharged or after the sewage discharge operation.
  • the control trigger 14 Before carrying out the sewage discharge operation, the control trigger 14 is in a first extended state without contact with the sewage bucket 12. At this time, even if the user removes the floor washing machine 10 and then places the floor washing machine 10 on the base station 11, the trigger 14 It will not collide with the sewage bucket 12 either.
  • the base station 11 When performing the above-mentioned sewage discharge operation, the base station 11 will control the trigger 14 to extend to the second extended state to open the switch structure 13, that is, open the sewage outlet on the sewage barrel 12 to discharge the sewage in the sewage barrel 12. After the sewage discharge is completed, the base station 11 will control the trigger 14 to extend to the third extended state to close the switch structure 13 , that is, close the sewage outlet on the sewage barrel 12 .
  • the trigger 14 can be controlled to extend to the first position again after closing the sewage outlet on the sewage barrel 12. stretched state.
  • the second extended state and the third extended state may be the maximum stroke state of the trigger member 14, and the stroke of the trigger member 14 in the first extended state may be half of the maximum stroke.
  • the above method can solve the problem of collision between the trigger 14 and the switch structure 13 on the sewage barrel 12, at the same time, a new problem will also arise: if the floor washing machine 10 and the base station 11 are not connected ( That is, after the sewage in the sewage barrel is discharged or before the sewage operation is performed), the trigger 14 is controlled to be in the first extended state (ie, the half-stroke state).
  • the trigger 14 when the floor washing machine 10 is connected to the base station 11, the trigger 14 is 14 will extend from the first extended state to the second extended state (i.e., the full stroke state), which is equivalent to the trigger member 14 extending from the half-stroke state to the full stroke state, and the stroke will be shortened (for example, assuming that the trigger member 14 moves The full stroke is 10cm, then the half stroke of its movement is 5cm.
  • the trigger 14 needs to move 10cm to complete the second extension state, but now it only moves 5cm, which easily leads to insufficient power of the trigger 14 and the base station 11 It also becomes difficult to control it, so that the switch structure cannot be opened smoothly 13).
  • the trigger 14 can first be controlled to extend from the first extended state to the third extended state, that is, the switch structure 13 can be kept closed.
  • controlling the trigger member 14 from the third extended state to the second extended state can ensure that the trigger member 14 has sufficient power, thereby better controlling the switch of the switch structure 13 .
  • the trigger 14 is also used to move to a first position when in a first extended state, to move to a second position when in a second extended state, and to move when in a third extended state. to the third position; wherein the extension length of the trigger member corresponding to the second position and the third position is greater than the extension length of the trigger member corresponding to the first position.
  • the trigger 14 may be extended by 5 cm and moved to the first position when in the first extended state, extended by 10 cm and moved to the second position when in the second extended state, and moved to the second position by 10 cm when in the third extended state. state, it has been extended by 10 cm and moved to the third position.
  • the extension length of the trigger member corresponding to the first position is preferably half of the extension length of the trigger member corresponding to the second position and the third position.
  • the extension length can be considered as the length by which the trigger member 14 extends out of the base station 11 .
  • the base station 11 is provided with an accommodating portion to accommodate the trigger piece 14.
  • the accommodating portion has a hole on the surface of the base station 11.
  • the trigger piece 14 extends from the accommodating portion from the hole of the base station 11, and the extension length is the length of the trigger piece 14 extending out of the hole.
  • the trigger 14 is also used to move from the first extended state to the second extended state when performing sewage discharge operations. It should be understood that by moving the trigger 14 from the first extended state to the second extended state, the switch structure 13 on the sewage barrel 12 can be opened, and then the sewage outlet can be opened, so that the sewage discharge operation can be smoothly performed.
  • the trigger 14 is also used to move from the first extended state to the third extended state, and to move from the third extended state to the second extended state before moving from the first extended state to the second extended state. state.
  • the trigger 14 is also used to move from the second extended state to the third extended state, and from the third extended state to the first extended state after the sewage discharge operation is completed.
  • the sewage outlet can be closed after the sewage operation is completed to avoid subsequent leakage of the sewage barrel 12.
  • the trigger 14 is not in contact with the sewage barrel 12, thus preventing the user from taking off the floor washing machine 10. , when the base station 11 is put back again, the sewage bucket 12 and the trigger 14 collide.
  • the cleaning and sewage drainage system can achieve cleaning of the target site by installing the floor washing machine 10 .
  • the sewage bucket 12 By arranging the sewage bucket 12 on the floor washing machine 10, the sewage generated during the cleaning process of the floor washing machine 10 can be collected.
  • the floor washing machine 10 can be removed from the base station 11 only before or after the sewage discharge operation. Therefore, by setting the base station 11, the sewage in the sewage barrel 12 is discharged after or after the sewage discharge operation.
  • the trigger 14 is controlled to be in a first extended state without contact with the sewage barrel 12 , thus preventing the trigger 14 from colliding with the switch structure 13 on the sewage barrel 12 when the floor washing machine 10 is connected to the base station 11 .
  • the trigger 14 By controlling the trigger 14 to open the switch structure 13 in the second extended state and to close the switch structure 13 in the third extended state during the sewage discharge operation, the discharge of sewage in the sewage barrel 12 is realized, and after the sewage discharge is completed The sewage outlet on the sewage barrel 12 can be closed smoothly to complete the entire set of cleaning and sewage discharge work.
  • the switch structure 13 includes: a sealing member 131 and a lock 132 that matches the sealing member.
  • the sealing member 131 is openably and closably disposed at the sewage outlet, and is used to cooperate with the lock 132 to seal the sewage outlet when the trigger 14 extends to the third extended state, and is separated from the lock 132 when the trigger 14 extends to the second extended state. , open the drain outlet.
  • the sealing member 131 may be a colloid structure, which is not limited here, as long as it can seal the sewage outlet, and the structure of the lock 132 only needs to be adapted to the sealing member 131 .
  • the triggering member 14 when the triggering member 14 extends to the third extended state, it can push the sealing member 131 to move toward the lock 132 on the sewage barrel 12 and finally lock on the lock 132 to seal the sewage outlet.
  • the triggering member 14 when the triggering member 14 extends to the second extended state, it can push the sealing member 131 and the lock 132 to separate, thereby opening the drain outlet.
  • the seal 131 and the lock 132 matching the seal can quickly open or close the sewage outlet, and ensure the sealing of the sewage outlet when closing the sewage outlet.
  • the switching principle of the switch structure 13 composed of the seal 131 and the lock 132 can be simply understood as the common push-type cup lid opening and closing method on the market. When the switch on the cup lid is triggered, the cup lid can be opened and closed. The cup lid will automatically close later.
  • the base station 11 in order to prevent the user from seeing the trigger 14 when connecting the floor washing machine 10 to the base station 11 and improve the user experience, as shown in FIG. 7 , the base station 11 is provided with an accommodation cavity 15 .
  • the accommodation cavity 15 is used to accommodate the trigger member 14 and to block the trigger member 14 when the trigger member 14 is in the first extended state.
  • the structure of the accommodation cavity 15 can be various. For example, it can be a square opening structure, a circular opening structure, etc., as long as it can accommodate the trigger member 14 .
  • the trigger member 14 includes: a first push rod 17 and a second push rod 18.
  • the first push rod 17 is used to open the switch structure 13 in the second extended state to open the sewage outlet;
  • the second push rod 18 is used to close the switch structure 13 in the third extended state to close the sewage outlet.
  • the first push rod and the second push rod are connected through gears, and the first push rod and the second push rod move in opposite directions during the expansion and contraction process.
  • the first push rod 17 is controlled to move in the direction of the sewage bucket 12, and when it moves to the second extended state (see Figure 9a and Figure 10a, Figure 9a is a schematic diagram of the first push rod 17 in the second extended state, and Figure 10a is a schematic diagram of the first push rod and the second push rod when opening the sewage bucket provided by the embodiment of the present application), which can be opened.
  • the switch structure 13 is used for sewage discharge operations.
  • Figure 9b is a schematic diagram of the second push rod 18 in the third extended state.
  • Figure 10b is a closed sewage bucket provided by the embodiment of the present application. , schematic diagram of the status of the first putter and the second putter.
  • the first push rod 17 and the second push rod 18 can be controlled to be in the first extended state without contact with the sewage bucket 12 at the same time, so that the floor washing machine can be subsequently operated. 10 is connected to the base station 11. At this time, the status of the first push rod 17 and the second push rod 18 can be seen in Figure 9c and Figure 10c.
  • Figure 10c shows that the first push rod and the second push rod provided by the embodiment of the present application are in the third state. A schematic diagram of the stretched state.
  • the accommodation cavity 15 is provided with motors that are respectively connected to the driving mechanism in the base station 11 .
  • the connected first travel switch 19 and the second travel switch 20 are used to drive the first push rod 17 and the second push rod 18 to move.
  • the first travel switch 19 is used to control the driving mechanism to drive the first push rod 17 to stop moving when the first push rod 17 is in the second extended state.
  • the second travel switch 20 is used to control the driving mechanism to drive the second push rod 18 to stop moving when the second push rod 18 is in the third extended state.
  • the driving mechanism may be a driving mechanism.
  • first push rod 17 and the second push rod 18 are connected through the gear 16 to realize the reverse movement of the two. Therefore, the first push rod 17 and the second push rod 18 are both provided with racks that mesh with the gear 16, and in order to prevent the first push rod 17 and the second push rod 18 from escaping from the accommodation cavity 15 or the gear during movement. 16 is separated from the two racks, and a first travel switch 19 and a second travel switch 20 can be provided in the accommodation cavity 15 .
  • the motor is controlled to drive the first push rod 17 to stop moving.
  • the second push rod 18 moves to the second travel switch 20 in the accommodation cavity 15
  • the motor is controlled to drive the second push rod 18 to stop moving.
  • the specific positions of the first travel switch 19 and the second travel switch 20 can be set according to the positional relationship between the accommodation cavity 15 and the first push rod 17 and the second push rod 18 .
  • the floor washer 10 when the user needs to clean the target site, the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the family home. The sewage generated during the cleaning process will be inhaled. Sewage bucket 12. After the target site is cleaned, the floor washing machine 10 can be put back into the base station 11 and connected to the base station 11. The floor washing machine 10 can be charged through the base station 11, and the switch structure 13 on the sewage barrel 12 can be triggered to clean the sewage. The sewage in barrel 12 is discharged.
  • the base station 11 controls the motor to rotate forward for a preset time, so that the second The first push rod 17 and the second push rod 18 simultaneously extend to the first extended state without contact with the sewage bucket 12. In this way, when the floor washing machine 10 is put back into the base station 11, the first push rod 17 or the second push rod 18 can be avoided.
  • the rod 18 collides with the switch structure 13, causing the switch structure 13 to be damaged.
  • the motor After the floor washing machine 10 is connected to the base station 11, during the sewage discharge operation, the motor reverses and controls the second push rod 18 to move in the direction of the switch structure 13 until it touches the second travel switch 20, the motor brakes, and in 500ms Then stop rotating to ensure that the switch structure 13 is in a closed state. Subsequently, the motor rotates forward and controls the first push rod 17 to move in the direction of the switch structure 13 until it touches the first travel switch 19. The motor brakes and stops rotating after 500ms to open the switch structure 13, that is, open the sewage bucket 12. on the sewage outlet to carry out sewage discharge operations. After the sewage discharge operation is completed, the motor reverses again and controls the second push rod 18 to move in the direction of the switch structure 13 until it touches the second travel switch 20.
  • the motor brakes and stops rotating after 500ms to close the switch structure 13, that is, Close the drain outlet. Subsequently, the first push rod 17 and the second push rod 18 are controlled to move to the first extended state for use the next time the floor scrubber 10 is connected to the base station 11 .
  • the first putter and the second putter are the same putter.
  • the first push rod and the second push rod are called the third push rod.
  • the third push rod is controlled to extend to the second extended state to open the switch structure 13. That is, the sewage outlet on the sewage barrel 12 is opened to discharge the sewage in the sewage barrel 12 .
  • control the third push rod to extend to the third extended state to close the switch structure 13, that is, close the sewage outlet on the sewage barrel 12.
  • the trigger 14 includes: a first push rod 17 and a second push rod 18 connected through a gear 16.
  • the first push rod 17 and the second push rod 18 move in opposite directions during the telescopic process.
  • the first push rod 17 is used to open the switch structure 13 in the second extended state to open the sewage outlet;
  • the second push rod 18 is used to close the switch structure 13 in the third extended state to close the sewage outlet.
  • the floor washer 10 When the user needs to clean the classroom, the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the classroom. The sewage generated during the cleaning process will be sucked into the sewage barrel 12 . After the classroom is cleaned, the floor washing machine 10 can be put back into the base station 11 and connected to the base station 11. The floor washing machine 10 can be charged through the base station 11 and the switch structure 13 on the sewage bucket 12 can be triggered. The sewage in the sewage barrel 12 is discharged.
  • the motor of the base station 11 controls the first push rod 17 and the second push rod 18 to simultaneously extend to a first extended state without contact with the sewage barrel 12 , at this time, put the floor washing machine 10 into the base station 11 to avoid the first push rod 17 or the second push rod 18 from colliding with the switch structure 13, resulting in damage to the switch structure 13.
  • the base station 11 controls the second push rod 18 to move in the direction of the switch structure 13 through the motor until it touches the second travel switch 20 and stops, ensuring that the switch structure 13 is in the Disabled.
  • the base station 11 controls the first push rod 17 to move in the direction of the switch structure 13 through the motor until it touches the first travel switch 19 and stops to open the switch structure 13, that is, open the sewage outlet on the sewage barrel 12 to perform sewage discharge operations.
  • the base station 11 controls the second push rod 18 to move in the direction of the switch structure 13 again through the motor until it touches the second travel switch 20 and stops, closing the switch structure 13, that is, closing the sewage discharge outlet.
  • the base station 11 controls the first push rod 17 and the second push rod 18 to move to the first extended state through the motor for use the next time the floor scrubber 10 is connected to the base station 11 . It should be understood that since the first push rod 17 and the second push rod 18 are connected through the gear 16, the first push rod 17 and the second push rod 18 both move in opposite directions when performing the above movement.
  • the trigger member 14 includes: a third push rod, telescopically arranged in the accommodation cavity 15, for triggering the switch structure 13 to open in the second extended state, and to trigger the switch structure 13 in the third extended state. 13 closed.
  • the floor washer 10 When the user needs to clean the family residence, the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the family residence. The sewage generated during the cleaning process will be sucked into the sewage barrel 12 . After cleaning the family home, the floor washing machine 10 can be put back into the base station 11, connected to the base station 11, the floor washing machine 10 can be charged through the base station 11, and the switch structure 13 on the sewage barrel 12 can be triggered to clean the sewage. The sewage in barrel 12 is discharged.
  • the motor control of the base station 11 The third push rod extends to the first extended state without contact with the sewage bucket 12. At this time, the floor washing machine 10 is placed in the base station 11 to avoid the third push rod from colliding with the switch structure 13, resulting in damage to the switch structure 13.
  • the base station 11 controls the third push rod to move in the direction of the switch structure 13 through the motor until it touches the second travel switch 20 and stops to ensure that the switch structure 13 is closed. state.
  • the base station 11 controls the third push rod to return to the accommodation cavity 15 through the motor and move in the direction of the switch structure 13 again until it touches the first travel switch 19 and stops to open the switch structure 13, that is, to open the sewage outlet on the sewage barrel 12. Carry out sewage work.
  • the base station 11 controls the third push rod again through the motor to return to the accommodation chamber 15 and move toward the switch structure 13 until it touches the second travel switch 20 and stops, closing the switch structure 13.
  • the base station 11 controls the third push rod to move to the first extended state through the motor, so that it can be used the next time the floor scrubber 10 is connected to the base station 11 .
  • the up and down positions of the third push rod can be adjusted each time the third push rod returns to the accommodation cavity 15 and then extends in the second extended state or in the third extended state. Make adjustments.
  • the target site is a hotel.
  • the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the family residence.
  • the sewage generated during the cleaning process will Being sucked into the sewage barrel 12.
  • the floor washing machine 10 can be put back into the base station 11, connected to the base station 11, the floor washing machine 10 can be charged through the base station 11, and the switch structure 13 on the sewage barrel 12 can be triggered to clean the sewage.
  • the sewage in barrel 12 is discharged.
  • the motor control trigger 14 of the base station 11 is extended to a first extended state without contact with the sewage barrel 12.
  • the floor washing machine 10 is Place the base station 11 to prevent the trigger 14 from colliding with the switch structure 13, causing damage to the switch structure 13.
  • the base station 11 controls the trigger 14 through the motor to move in the direction of the switch structure 13 until it touches the second travel switch 20 and stops, ensuring that the switch structure 13 is in a closed state.
  • the base station 11 controls the trigger 14 by the motor to return to the accommodating cavity 15 and move in the direction of the switch structure 13 again until it touches the first travel switch 19 and stops to open the switch structure 13, that is, open the sewage outlet on the sewage barrel 12. Sewage operations.
  • the base station 11 controls the trigger 14 to return to the accommodation cavity 15 again through the motor and then returns to the accommodation cavity 15 and moves in the direction of the switch structure 13 until it touches the second travel switch 20 and stops, closing the switch structure 13, that is, Close the drain outlet. Subsequently, the base station 11 controls the trigger 14 to move to the first extended state through the motor, so that it can be used the next time the floor scrubber 10 is connected to the base station 11 .
  • the base station includes: a controller 21 and a retractable trigger 14.
  • the floor washing machine 10 is provided with a sewage bucket 12, and the sewage bucket 12 is provided with a device for controlling the discharge.
  • the controller 21 is used to control the trigger 14 to be in a first extended state without contact with the sewage barrel 12 after the sewage discharge operation is performed on the sewage in the sewage barrel 12 or before the sewage discharge operation is performed.
  • the control trigger 14 opens the switch structure 13 in the second extended state, and closes the switch structure 13 in the third extended state.
  • the triggering part in the first extended state corresponds to the first moving stroke
  • the triggering part in the second extended state and the third extended state corresponds to the second moving stroke
  • the first moving stroke is smaller than the second moving stroke.
  • This application also provides a base station for a floor washing machine.
  • the target site can be cleaned.
  • the sewage bucket 12 on the floor washing machine 10
  • the sewage generated during the cleaning process of the floor washing machine 10 can be collected.
  • the floor washing machine 10 can be removed from the base station 11 only before or after the sewage discharge operation. Therefore, by setting the base station 11, the sewage in the sewage barrel 12 is discharged after or after the sewage discharge operation.
  • the trigger 14 is controlled to be in a first extended state without contact with the sewage barrel 12 , thus preventing the trigger 14 from colliding with the switch structure 13 on the sewage barrel 12 when the floor washing machine 10 is connected to the base station 11 .
  • the trigger 14 By controlling the trigger 14 to open the switch structure 13 in the second extended state and to close the switch structure 13 in the third extended state during the sewage discharge operation, the discharge of sewage in the sewage barrel 12 is realized, and after the sewage discharge is completed The sewage outlet on the sewage barrel 12 can be closed smoothly to complete the entire set of cleaning and sewage discharge work.
  • FIG 12 is a flow chart of a method for controlling the opening and closing of a sewage bucket provided by an embodiment of the present application. This method is applied to a base station corresponding to a floor washing machine.
  • the floor washing machine is provided with a sewage bucket, and the sewage bucket is provided with a sewage discharge outlet.
  • Switch structure of the switch As shown in Figure 12, the method includes:
  • Step 601 After the sewage in the sewage barrel is discharged or before the sewage discharge operation is performed, the triggering member is controlled to be in a first extended state without contact with the sewage barrel.
  • Step 602 When performing sewage discharge operations, control the trigger to open the switch structure in the second extended state and close the switch structure in the third extended state.
  • the trigger piece corresponds to the first movement stroke in the first extended state
  • the trigger piece corresponds to the second movement stroke in the second extension state and the third extension state
  • the first movement stroke is smaller than the second movement stroke.
  • the floor washer 10 when the user needs to clean the target site, the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the target site.
  • the sewage generated during the cleaning process will be inhaled. Sewage bucket 12.
  • the floor washing machine 10 can be put back into the base station 11 and connected to the base station 11.
  • the floor washing machine 10 can be charged through the base station 11, and the switch structure 13 on the sewage barrel 12 can be triggered to clean the sewage.
  • the sewage in the barrel 12 is discharged.
  • the switch structure 13 of the sewage barrel 12 needs to be closed first to avoid taking out the floor washing machine.
  • the base station 11 controls the trigger 14 to extend to the third extended state to close the switch structure 13 .
  • the floor washing machine 10 can be removed from the base station 11 to clean the target site.
  • the trigger member 14 is still in the third extended state, that is, part of the trigger member 14 is exposed below the sewage bucket 12 .
  • the switch structure 13 may be damaged. , affecting the normal sewage discharge operation of the sewage barrel 12.
  • the trigger 14 is controlled to be in a first extended state without contact with the sewage barrel 12.
  • the trigger 14 corresponds to The first moving stroke is less than the second moving stroke corresponding to the trigger 14 in the above-mentioned second extended state and the third extended state.
  • the floor washing machine 10 is placed into the base station 11, and the trigger 14 and the sewage bucket 12 are The switch structure 13 will not be bumped, which can prevent the switch structure 13 from being damaged due to bumps, and improve the service life of the switch structure 13 . It should be understood that the floor washing machine can only be removed from the base station before or after the sewage operation.
  • the control trigger 14 is in the same position.
  • the trigger 14 is controlled to extend to the second extended state to open the switch structure 13, that is, open the sewage outlet on the sewage barrel 12, and drain the waste water in the sewage barrel 12. of sewage is discharged.
  • the trigger member 14 is controlled to extend to the third extended state to close the switch structure 13 , that is, to close the sewage outlet on the sewage barrel 12 .
  • the trigger 14 can be controlled to extend to the first extended state again after closing the sewage outlet on the sewage barrel 12 .
  • the second extended state and the third extended state may be the maximum stroke state of the trigger member 14, and the stroke of the trigger member 14 in the first extended state may be half of the maximum stroke.
  • the method further includes: controlling the trigger to move to a first position when in the first extended state, to move to the second position when in the second extended state, and to control the trigger to move to the second position when in the third extended state. Move to the third position; wherein the extension length of the trigger member corresponding to the second position and the third position is greater than the extension length of the trigger member corresponding to the first position.
  • the trigger 14 may be extended by 5 cm and moved to the first position when in the first extended state, extended by 10 cm and moved to the second position when in the second extended state, and moved to the second position by 10 cm when in the third extended state. state, it has been extended by 10 cm and moved to the third position.
  • the extension length of the trigger member corresponding to the first position is preferably half of the extension length of the trigger member corresponding to the second position and the third position.
  • the method further includes: controlling the triggering member to move from the first extended state to the second extended state during the sewage discharge operation. It should be understood that by moving the trigger 14 from the first extended state to the second extended state, the switch structure 13 on the sewage barrel 12 can be opened, and then the sewage outlet can be opened, so that the sewage discharge operation can be smoothly performed.
  • the method before controlling the triggering member to move from the first extended state to the second extended state, the method further includes: controlling the triggering member to move from the first extended state to the third extended state, and controlling the triggering member to move from the first extended state to the third extended state.
  • the extended state moves to the second extended state.
  • the method further includes: after the sewage discharge operation is completed, controlling the trigger member to move from the second extended state to the third extended state, and from the third extended state to the first extended state.
  • the sewage outlet can be closed to avoid subsequent leakage of the sewage barrel 12.
  • the trigger 14 is not in contact with the sewage barrel 12, thereby preventing the user from taking off the floor washing machine 10 and washing it again.
  • the base station 11 is put back, the sewage bucket 12 collides with the trigger 14 .
  • the trigger includes: a first push rod 17 and a second push rod 18; after the sewage in the sewage bucket is discharged or before the sewage is discharged, the trigger is controlled to be in contact with the sewage.
  • the first extended state of the barrel without contact includes: after the sewage in the sewage barrel is discharged or before the sewage operation is performed, controlling the first push rod and the second push rod to be in the first extended state without contact with the sewage barrel. ;
  • controlling the trigger to open the switch structure in the second extended state and closing the switch structure in the third extended state includes: controlling the first push rod to open in the second extended state when performing sewage discharge operations.
  • the switch structure controls the second push rod to close the switch structure in the third extended state.
  • the first push rod and the second push rod are connected through gears, and the first push rod and the second push rod move in opposite directions during the expansion and contraction process.
  • the first push rod 17 is controlled to move in the direction of the sewage bucket 12.
  • the switch structure can be opened. 13. Carry out sewage discharge operations.
  • the second push rod 18 is controlled to move in the direction of the sewage bucket 12 (at this time, the first push rod 17 moves in the opposite direction of the second push rod 18), and the switch structure 13 can be closed, that is, Close the drain outlet.
  • the first push rod 17 and the second push rod 18 can be controlled to be in the first extended state without contact with the sewage bucket 12 at the same time, so that the floor washing machine can be subsequently operated. 10 connection to base station 11.
  • the accommodation cavity 15 is provided with motors that are respectively connected to the driving mechanism in the base station 11 .
  • the connected first travel switch 19 and the second travel switch 20 are used to drive the first push rod 17 and the second push rod 18 to move.
  • the first travel switch 19 is used to control the driving mechanism to drive the first push rod 17 to stop moving when the first push rod 17 is in the second extended state.
  • the second travel switch 20 is used to control the driving mechanism to drive the second push rod 18 to stop moving when the second push rod 18 is in the third extended state.
  • the driving mechanism may be a driving mechanism.
  • first push rod 17 and the second push rod 18 are connected through the gear 16 to realize the reverse movement of the two. Therefore, the first push rod 17 and the second push rod 18 are both provided with gears 16
  • the meshing rack and in order to prevent the first push rod 17 and the second push rod 18 from escaping from the accommodation cavity 15 or the gear 16 from the two racks during movement, you can A first limit switch 19 and a second limit switch 20 are provided in the cavity 15 .
  • the motor is controlled to drive the first push rod 17 to stop moving.
  • the second push rod 18 moves to the second travel switch 20 in the accommodation cavity 15
  • the motor is controlled to drive the second push rod 18 to stop moving.
  • the specific positions of the first travel switch 19 and the second travel switch 20 can be set according to the positional relationship between the accommodation cavity 15 and the first push rod 17 and the second push rod 18 .
  • the floor washer 10 when the user needs to clean the target site, the floor washer 10 is removed from the base station 11 and the floor washer 10 is used to clean the family home. The sewage generated during the cleaning process will be inhaled. Sewage bucket 12. After the target site is cleaned, the floor washing machine 10 can be put back into the base station 11 and connected to the base station 11. The floor washing machine 10 can be charged through the base station 11, and the switch structure 13 on the sewage barrel 12 can be triggered to clean the sewage. The sewage in barrel 12 is discharged.
  • the base station 11 controls the motor to rotate forward for a preset time, so that the second The first push rod 17 and the second push rod 18 simultaneously extend to the first extended state without contact with the sewage bucket 12. In this way, when the floor washing machine 10 is put back into the base station 11, the first push rod 17 or the second push rod 18 can be avoided.
  • the rod 18 collides with the switch structure 13, causing the switch structure 13 to be damaged.
  • the motor After the floor washing machine 10 is connected to the base station 11, when performing the sewage discharge operation, the motor reverses and controls the second push rod 18 to move in the direction of the switch structure 13 until it touches the second travel switch 20, the motor brakes, and Stop rotating after 500ms to ensure that the switch structure 13 is in a closed state. Subsequently, the motor rotates forward and controls the first push rod 17 to move in the direction of the switch structure 13 until it touches the first travel switch 19. The motor brakes and stops rotating after 500ms to open the switch structure 13, that is, open the sewage bucket 12. on the sewage outlet to carry out sewage discharge operations. After the sewage discharge operation is completed, the motor reverses again and controls the second push rod 18 to move in the direction of the switch structure 13 until it touches the second travel switch 20.
  • the motor brakes and stops rotating after 500ms to close the switch structure 13, that is, Close the drain outlet. Subsequently, the first push rod 17 and the second push rod 18 are controlled to move to the first extended state for use the next time the floor scrubber 10 is connected to the base station 11 .
  • the first putter and the second putter are the same putter.
  • the first push rod and the second push rod are called the third push rod.
  • the third push rod is controlled to extend to the second extended state to open the switch structure 13. That is, the sewage outlet on the sewage barrel 12 is opened to discharge the sewage in the sewage barrel 12 .
  • control the third push rod to extend to the third extended state to close the switch structure 13, that is, close the sewage outlet on the sewage barrel 12.
  • embodiments of the present application provide a trigger control method, by controlling the trigger to be in a first extended state without contact with the sewage barrel after the sewage in the sewage barrel is discharged or before the sewage discharge operation is performed, avoid The trigger part of the floor scrubber collided with the switch structure on the sewage bucket when it was connected to the base station.
  • the trigger By controlling the trigger to open the switch structure in the second extended state and close the switch structure in the third extended state during the sewage discharge operation, the sewage in the sewage barrel is discharged, and the sewage can be smoothly closed after the sewage discharge is completed.
  • the sewage outlet on the barrel completes a complete set of cleaning and sewage discharge work.
  • the cleaning equipment system includes: a cleaning equipment 10 and a base station 11.
  • the cleaning equipment 10 and the base station 11 can communicate with each other and exchange information.
  • the communication method between the cleaning equipment 10 and the base station 11. infrared transceivers can be provided on the cleaning equipment 10 and the base station 11, and the two communicate through infrared signals; for another example, the cleaning equipment 10 and the base station 11 can communicate with each other through infrared signals.
  • Both are equipped with Bluetooth modules, and the two can communicate through Bluetooth signals; for another example, the cleaning equipment 10 and the base station 11 are both equipped with WiFi modules, and the two communicate through WiFi signals; for another example, the cleaning equipment 10 and the base station 11 are also equipped with WiFi modules.
  • Mobile communication modules can be added to both, and communication between the two can be carried out through the mobile communication network.
  • the cleaning device 10 can also be connected to the base station 11 through wired communication.
  • the cleaning equipment is a handheld suction cleaning machine.
  • the cleaning equipment can be a sweeping robot, a carpet cleaning machine, a fabric cleaning machine, etc. to clean various surfaces to be cleaned such as floors, desktops, carpets, sofas, etc. cleaning equipment.
  • the base station 11 can provide some basic services for the cleaning equipment 10.
  • the base station 11 can provide docking services for the cleaning equipment 10.
  • the cleaning equipment 10 can dock at the base station 11 when it does not need to perform ground cleaning tasks; for another example, the base station 11 can provide some basic services for the cleaning equipment 10. 11 can also provide charging services for the cleaning equipment 10.
  • the cleaning equipment 10 When the cleaning equipment 10 is docked at the base station 11, it can be charged and stored at the same time. Of course, when the cleaning equipment 10 is low in power, it can also be returned to the base station 11 for charging and energy storage.
  • the base station 11 can cooperate with the cleaning equipment 10 to provide the cleaning equipment 10 with complete machine cleaning services.
  • some hardware components are added to the base station 11, such as water storage tanks, sewage troughs, and various pipelines connected to the water storage tanks, sewage troughs, etc.; at the same time,
  • the control logic of the base station 11 has been improved, and control logic related to providing the whole machine cleaning service for the cleaning equipment 10 has been added to the base station 11. These control logics are implemented in the form of software programs.
  • the base station 11 can provide the entire cleaning service for the cleaning device 10 by running these software programs and cooperating with the hardware components added to provide the entire cleaning service for the cleaning device 10 .
  • the sewage chute refers to the auxiliary cleaning equipment on the base station.
  • the structure of the sewage tank is not limited to some components required for sewage discharge in the sewage tank.
  • it can be a sewage discharge structure containing a cavity, or it can be a sewage pipe without a cavity.
  • the cavity has a certain volume and can accommodate a certain amount of sewage, which facilitates the discharge of larger volumes of sewage.
  • the size of the cavity can be flexibly set according to product requirements.
  • the sewage tank can flexibly choose a sewage structure that includes a cavity, or a sewage pipe that does not include a cavity.
  • the base station 11 provides a complete machine cleaning service for the cleaning equipment 10 by automatically performing a cleaning process on the cleaning equipment 10. This process does not require user intervention, which can simplify the cleaning operation of the cleaning equipment and improve cleaning efficiency.
  • the overall cleaning service provided for the cleaning equipment 10 mainly includes two parts: self-cleaning of the cleaning components on the cleaning equipment 10 and self-cleaning of the sewage tank on the cleaning equipment 10 .
  • the self-cleaning of the cleaning component mainly refers to the cleaning process of cleaning and drying the cleaning component, thereby completing the self-cleaning task of the cleaning component of the cleaning equipment 10;
  • the self-cleaning of the sewage barrel mainly refers to the discharge and cleaning of the sewage barrel.
  • the cleaning process is to drain away the sewage in the sewage barrel and rinse the sewage barrel, thereby automatically completing the self-cleaning task of the sewage barrel on the cleaning device 10 . Furthermore, when the base station 11 provides the entire cleaning service for the cleaning equipment 10, the suction channel between the sewage bucket and the cleaning assembly can also be cleaned at the same time.
  • the user Based on the whole machine cleaning service provided by the base station 11 for the cleaning equipment 10, after the cleaning equipment 10 completes the floor cleaning task, the user only needs to place the cleaning equipment 10 on the base station 11.
  • the base station 11 and the cleaning equipment 10 cooperate with each other to automatically complete the cleaning.
  • the self-cleaning of the cleaning components and the self-cleaning of the sewage bucket can be related to each other or independent of each other.
  • the base station 11 can provide the cleaning equipment 10 with a self-cleaning service for the sewage barrel, and can also provide the cleaning equipment 10 with a self-cleaning service for the cleaning components.
  • the two self-cleaning processes can be integrated into the same process. Completed, achieving self-cleaning of the entire machine.
  • the base station 11 can also provide water filling services for the clean water buckets on the cleaning equipment 10 .
  • the clean water bucket can be clean water or various cleaning liquids with cleaning agents added, and there is no limit to this.
  • the base station 11 can provide the whole machine cleaning service for the cleaning equipment 10 alone, and can also provide the water filling service for the clean water bucket of the cleaning equipment 10 alone; it can also simultaneously provide the whole machine cleaning service and water filling service for the cleaning equipment 10 in the same process.
  • the water service can, for example, provide a water filling service for the clean water bucket of the cleaning device 10 during the process of providing the entire cleaning service for the cleaning device 10 .
  • the cleaning equipment 10 at least includes: a handle assembly 101, a body 102, a cleaning assembly 103, a processing system (not shown), and a clean water bucket 1021 and a sewage bucket 12 provided on the body 102.
  • the handle assembly 101 can be disposed on the upper end of the fuselage 102 or on the side (back, left or right) of the fuselage 102 .
  • its axis direction (direction of the center of gravity) is parallel to the axis direction of the fuselage 102.
  • the handle assembly 101 may include: a handle for the user's hand to hold, and an extension rod connecting the handle and the body 102 .
  • the length of the extension rod may be fixed or adjustable.
  • the length of the extension rod is adjustable, its structure is a telescopic structure. Accordingly, users can flexibly adjust the length of the extension rod according to their own needs.
  • the processing system can be disposed inside the fuselage or on the surface of the fuselage.
  • the processing system is not shown in Figure 13a.
  • the processing system can be carried on the motherboard of the cleaning equipment, such as a CPU, a controller or a GPU.
  • the processing system is the control system of the cleaning equipment. It is mainly responsible for various control logics of the cleaning equipment and can control the other components connected to it. usage status and working status.
  • the cleaning device 10 cooperates with the base station 11 to realize the self-cleaning process of the entire machine.
  • the operations performed by the cleaning device 10 can be understood as being completed under the control of the processing system of the cleaning device 10.
  • cleaning When the device 10 is described as an execution subject, those skilled in the art can understand that the execution subject may also be the processing system of the cleaning device 10 .
  • the cleaning assembly 103 includes a floor brush (or roller brush), a water pump, and a floor brush motor; the floor brush is provided with a floor brush nozzle, and the clean water bucket 1021 is connected to the floor brush nozzle through a water supply pipeline.
  • the water supply pipeline includes A hose is connected between the clean water bucket and the floor brush nozzle, but is not limited to, the water pump is provided on the water supply pipeline between the clean water bucket 1021 and the floor brush nozzle.
  • the water supply pipeline between the clean water bucket and the floor brush nozzle on the cleaning equipment is called the first water supply pipeline.
  • the floor brush motor drives the floor brush to rotate on the one hand and relies on the friction between the floor brush and the ground to achieve floor cleaning.
  • the water pump drives the water pump to pass the clean liquid in the clean water bucket 1021 through the first water supply pipe.
  • the floor brush nozzle sprays onto the ground and/or floor brush to perform floor cleaning tasks.
  • the cleaning solution The dirty liquid on the ground is sucked by the suction nozzle on the cleaning assembly 103 and sent into the sewage bucket 12 through the suction channel.
  • the suction channel 124 that is, the air channel of the cleaning equipment, may include a hose connected between the suction nozzle on the cleaning assembly 103 and the sewage bucket 12 , but is not limited thereto.
  • a display may also be provided on the body 102, and the display is not illustrated in Figure 13a.
  • the display is electrically connected to the processing system and is used to display the working status, power information and working status information of at least one component of the cleaning equipment.
  • the display may include at least one display area for displaying working status information of different components.
  • the working status information of at least one component includes at least one of the following: (1) liquid level information of the liquid storage device; (2) information on the degree of cleaning of the cleaning object by the cleaning component; (3) power information of the power supply unit ; (4) Self-cleaning information of the cleaning equipment; (5) Main motor power information; (6) Lock-up information of the cleaning component; (7) Working status information of the communication component; (8) Self-cleaning stage information.
  • the liquid storage device can be a clean water bucket of the cleaning equipment or a sewage bucket of the cleaning equipment.
  • the specific shape of the display is not limited.
  • the display can be a regular shape such as a circle, a square, an ellipse, a trapezoid or a polygon, or any irregular shape, which will not be listed here.
  • the display may be fixedly disposed on the surface of the fuselage 102 , or retractably disposed on the fuselage 102 .
  • the display can be placed on the top of the fuselage, or on the front, left or right side of the fuselage.
  • the plane where the display is located may be perpendicular to or at a certain angle with the axis of the fuselage 102.
  • the body 102 includes a main motor and a liquid storage device (such as a clean water bucket and a sewage bucket).
  • a display is disposed above the liquid storage device, that is, the display is disposed above the clean water bucket or sewage bucket.
  • the display is disposed above the clean water bucket.
  • the display can be disposed in front of the handle assembly 101 .
  • a sewage outlet 121 is added at the bottom of the sewage bucket 12 (as shown in Figure 13a); accordingly, in order to realize automatic water filling of the clean water bucket 1021, a sewage outlet 121 is added to the bottom of the sewage bucket 12.
  • a water injection port (not shown in the figure) is added at the bottom of 102 adjacent to the sewage outlet 121. The water injection port is connected to the liquid outlet of the clean water bucket 1021 through a liquid pipe, and is used to replenish cleaning liquid for the clean water bucket 1021 through the liquid outlet.
  • the cleaning equipment cleans the surface to be cleaned, the water in the clean water bucket 1021 passes through the liquid outlet.
  • the water is discharged from the outlet to the outlet pipe and delivered to the floor brush nozzle.
  • the sewage outlet and water injection outlet need to be used in conjunction with the corresponding hardware components on the base station.
  • the base station 11 involved in the embodiment of this application is briefly introduced below.
  • the base station 11 includes a base station body 21 and a base 22 for supporting the cleaning device 10.
  • the base station body 21 is provided with a controller and a memory, and a computer program is stored in the memory.
  • the controller executes the computer program in the memory to implement various control logics for the base station 11, such as the entire cleaning process of the cleaning equipment 10. It can be controlled and executed by the controller of the base station 11 .
  • the controller and memory are not shown in the figure.
  • the base 22 can also be called a base station tray.
  • the base 22 is provided with a receiving slot 221 for accommodating the cleaning assembly 103 (specifically, the floor brush).
  • the base 22 is also provided with a first charging part 223.
  • One end of the first charging part 223 is used for docking with the second charging part on the cleaning device 10, and the other end is connected to a power terminal.
  • the power terminal may be a charging power source.
  • the commercial power supply in the environment where the base station 11 is located which is not limited, so that the cleaning equipment 10 can be charged and stored when the cleaning equipment 10 is docked at the base station 11 .
  • the first charging part 223 may be a wireless charging interface, used to implement wireless charging.
  • other components may also be provided on the base 22, such as some fixing parts for fixing or stabilizing the cleaning device 10, which are not shown in the figure.
  • the base station body 21 is provided with at least a water storage tank 211, a water filling valve 212 connected to the water storage tank 211, a sewage tank 213 and an inlet 214 of the sewage tank 213; further, as shown in Figures 16e and 16f As shown in the figure, the water storage tank 211 is connected to the sewage tank 213 through the third water supply pipe 219, and the other end of the sewage tank 213 is connected to a sewer pipe, and the sewer pipe is connected to a sewer or other sewage channel.
  • the inlet 214 of the sewage tank 213 is docked with the sewage outlet 121 of the sewage bucket 12 of the cleaning equipment 10, so that When the sewage barrel 12 is self-cleaning, the sewage in the sewage barrel 12 flows to the inlet 214 through the sewage outlet 121, flows into the sewage tank 213 through the inlet 214, and is finally discharged into the sewer or other sewage pipes through the sewage tank 213.
  • the sewage outlet can also be provided in the lower area of the side wall of the sewage barrel.
  • the water filling port on the clean water bucket 1021 of the cleaning equipment 10 is docked with the water filling valve 212 on the base station 11, and the water filling valve 212 is connected to the water storage tank 211 on the base station 11.
  • the water filling valve 212 is open, the clean liquid in the water storage tank 211 can enter the clean water bucket 1021 through the water filling valve 212 and the water filling port to realize automatic water filling; when the water filling valve 212 is closed, the liquid in the water storage tank 211 will stop flowing into the clean water bucket 1021 .
  • the water filling port can be provided on the bottom bracket of the clean water bucket or sewage bucket, but is not limited to this.
  • the base station body 21 of the base station 11 is also provided with a display 218.
  • the display 218 is electrically connected to the controller of the base station and is used to display the working status of the base station and the working status information of each component on the base station. Further It can also display the stages, steps and other information of the whole self-cleaning of the cleaning equipment.
  • the specific shape of the display 218 on the base station 11 is not limited.
  • the display 218 may be a regular shape such as a circle, a square, an ellipse, a trapezoid or a polygon, or may be any irregular shape, which will not be listed here.
  • the display 218 may be fixedly disposed on the surface of the base station body 21 , or may be retractably disposed on the base station body 21 .
  • the display 218 may be disposed on the top of the base station main body 21, or may be disposed on the base station main body 21. The front, left or right side of body 21.
  • the plane where the display is located may be perpendicular or at a certain angle to the axis of the base station body 21.
  • the display 218 is provided on the top of the base station body 21 as an example.
  • a flushing nozzle 222 is provided inside the accommodation tank 221 , and the flushing nozzle 222 is connected to the water storage tank 211 through the second water supply pipe 215 .
  • the second water supply pipeline 215 may be a water pipe or hose connected between the water storage tank 211 and the flushing nozzle 222, without limitation.
  • the base station body 21 is provided with a movement mechanism 216 capable of opening and closing the sewage bucket 12 .
  • the sewage outlet of the sewage barrel 12 is provided with a cover 122, and the movement mechanism 216 corresponds to the cover on the sewage barrel 12.
  • the movement mechanism 216 can open the cover through movement, so that the sewage outlet of the sewage barrel 12 is connected to the sewage tank 213. ;
  • the reverse operation of the movement mechanism 216 can close the cover of the sewage barrel 12.
  • the lock 123 on the sewage barrel will lock the cover 122 to close the sewage barrel 12.
  • the base station body 21 is also provided with a flushing device 217 for flushing the sewage bucket 12.
  • the flushing device 217 is provided corresponding to the sewage outlet 121 of the sewage bucket. When the cover 122 of the sewage bucket is opened, In this state, the flushing device 217 can repeatedly move toward the sewage barrel and extend into the sewage barrel from the sewage outlet 121 to flush the sewage barrel.
  • the structures of the above-mentioned cleaning equipment 10 and base station 11 are only illustrative. These structures are structures related to the whole machine cleaning service, but it does not mean that the cleaning equipment 10 and base station 11 of this embodiment only include the above-mentioned structures, nor do This means that the cleaning device 10 and the base station 11 must contain all the above structures.
  • the following embodiments of the present application provide several method logics for the cleaning equipment 10 and the base station 11 to cooperate with each other to clean the entire cleaning equipment 10.
  • the cleaning device 10 and the base station 11 cooperate with each other to perform self-cleaning of the cleaning device 10 according to a unified whole-machine cleaning process.
  • the whole-machine cleaning process includes:
  • Step 31 When the cleaning equipment is connected to the base station, the base station performs self-cleaning of the sewage bucket for the first time;
  • Step 32 After completing the first self-cleaning of the sewage bucket, the cleaning equipment performs self-cleaning on the floor brush;
  • Step 33 After the cleaning equipment completes the self-cleaning of the floor brush, the base station performs a second self-cleaning of the sewage bucket.
  • step 33 it also includes:
  • Step 34 After completing the second self-cleaning of the sewage bucket, the base station performs self-cleaning on the sewage drain used in the above self-cleaning process.
  • the base station can also control the water storage tank to synchronously fill the clean water bucket with water. If the cleaning equipment is self-cleaning the floor brush in step 32 and the cleaning fluid is provided by the clean water bucket of the cleaning device, then in other steps except step 32, the base station controls the water storage tank to synchronously fill the clean water bucket with water.
  • step 32 is used to illustrate the liquid supply from the clean water bucket of the cleaning equipment.
  • sewage bucket filling is the process of filling the sewage bucket with water to keep the sewage bucket full;
  • Emptying the sewage barrel refers to the process of opening the sewage outlet of the sewage barrel and discharging sewage to the base station;
  • flushing the sewage barrel refers to the process of emptying the sewage barrel and then flushing the inside of the sewage barrel until the flushing is completed.
  • the first self-cleaning of the sewage barrel at least includes the step of emptying the sewage barrel, and the two steps of filling the sewage barrel and rinsing the sewage barrel are optional steps.
  • the secondary cleaning of the sewage bucket at least includes the steps of emptying the sewage bucket and rinsing the sewage bucket, and filling the sewage bucket with water is an optional step.
  • the whole machine self-cleaning process of the cleaning equipment 10 according to the unified whole machine cleaning process shown in Figures 15a and 15b includes the following specific implementation modes:
  • the entire self-cleaning process of the cleaning equipment includes the following steps:
  • the whole machine cleaning process of the embodiment shown in Figure 15b also includes the following steps after step (7):
  • step (1) if the clean water bucket is filled with water, stop filling in steps (2) and (3). If the clean water bucket is not filled with water in step (1), continue to fill the water in the next steps. Fill the bucket with water. The same goes for step (5).
  • Drying and/or sterilizing in step (9) refers to drying and/or sterilizing the floor brush, and UV light can be used for sterilization.
  • the entire self-cleaning process of the cleaning equipment includes the following steps:
  • the whole machine cleaning process of the embodiment shown in Figure 16b also includes the following steps after step (7):
  • the entire self-cleaning process of the cleaning equipment includes the following steps:
  • the whole machine cleaning process of the embodiment shown in Figure 16c also includes the following steps after step (7):
  • the entire self-cleaning process of the cleaning equipment includes the following steps:
  • the whole machine cleaning process of the embodiment shown in Figure 16d also includes the following steps after step (7):
  • step (1) is a step that needs to be performed when the sewage bucket is not full of water. If the sewage bucket is full of water, in each specific embodiment, step (2) can be performed directly. )Begin execution.
  • step (4) can be used as the dividing point.
  • the steps before step (4) are the first self-cleaning process of the sewage bucket.
  • Step (4) The following steps are the secondary self-cleaning process of the sewage bucket, and step (4) itself is the self-cleaning process of the floor brush.
  • the operation of centrifugally drying the floor brush is also included.
  • the centrifugal drying operation can be completed by a ground brush driven by a self-cleaning device. Specifically, during centrifugal drying, the main motor of the self-cleaning equipment is turned on to drive the floor brush to rotate (for example, rotate). At this time, all water pumps on the water supply pipelines are closed, and the floor brush throws out the liquid to the container during the rotation process. The liquid in the tank is sucked into the sewage barrel through the suction channel, and the roller brush is dried to a certain extent. It should be noted here that the liquid produced by the centrifugal drying operation is relatively small and relatively clean, so storage in the cleaned sewage barrel will not cause odor or peculiar smell.
  • the process of filling the sewage barrel with water will pass through the holding tank.
  • the liquid in the process will wet the floor brush, and when the sewage barrel is flushed, the liquid flushing the sewage barrel may flow out along the sewage inlet pipe of the sewage barrel (the sewage inlet pipe refers to the part in the sewage barrel that is connected to the sewage suction pipe) and It flows down through the suction pipe (that is, the section of pipe that connects the holding tank and the sewage bucket mentioned in the above embodiment, that is, the suction channel) to wet the floor brush. Therefore, perform the second self-cleaning of the sewage bucket.
  • the centrifugal drying operation of the floor brush can avoid the problem of wetting the floor brush again during the secondary self-cleaning process and achieve a true centrifugal drying effect.
  • the centrifugal drying operation of the floor brush will be performed after the second self-cleaning of the sewage bucket, the self-cleaning process of the floor brush in the above step (4) can be performed after each cleaning.
  • the centrifugal drying operation of the floor brush may also be performed without performing the centrifugal drying operation of the floor brush.
  • a preferred embodiment is to move the centrifugal drying operation in step (4) to be performed after step (7). This can not only achieve the purpose of drying the floor brush, but also reduce unnecessary centrifugal drying during the entire cleaning process. Dry operation improves cleaning efficiency and saves resources consumed by centrifugal drying.
  • step (9) can be performed after the centrifugal drying operation, that is, after the centrifugal drying operation is performed on the floor brush, the drying and/or sterilization function is turned on to dry and/or sterilize the floor brush.
  • Bacterial treatment or, preferably, in order to save time, the centrifugal drying step can be performed simultaneously in step (8) or in step (9).
  • the user uses the cleaning equipment to perform the ground cleaning task.
  • the user can interrupt the ground cleaning task and place the cleaning equipment on the base of the base station and complete the docking with the base station.
  • a low-battery warning message is received from the cleaning equipment.
  • the low-battery warning message can be graphic information displayed on the display screen (for example, the battery icon is highlighted), or it can be displayed on the screen.
  • the light signal output by the lamp can also be a voice signal output in the form of voice, such as "The battery is low, please charge”.
  • the sewage bucket full warning message can be graphic information displayed on the display screen (for example, the sewage bucket icon is highlighted, or It can be a text message of "The sewage bucket is full"), it can also be a light signal output by a display light (such as a continuous flashing green light signal), or it can be a voice signal output in voice mode, such as "The sewage bucket is full of water. Please clean”.
  • the alarm message about insufficient water in the clean water bucket can be graphic information displayed on the display screen (for example, the clean water bucket icon is highlighted, or It can be a text message "The water level in the clean water bucket is too low"), it can also be a light signal output through the display light (such as a continuous flashing blue light signal), or it can be a voice signal output in voice mode, such as "The water level in the clean water bucket is insufficient. Please add water”.
  • the color of the light signal can be different, or the light signal can be the same color, but the frequency of flashing of the light signal is different. As long as the light signal expression method can distinguish different alarm information, it is applicable. Examples of this application.
  • the ground cleaning task may be interrupted.
  • the cleaning equipment needs to be placed on the base of the base station and docked with the base station.
  • the user can also place the cleaning equipment on the base of the base station and complete the docking with the base station.
  • the base station and cleaning equipment can detect whether the connection with the opposite end is completed.
  • the detection method of completed docking there is no limitation on the detection method of completed docking in the embodiment of this application.
  • the cleaning component of the cleaning equipment is located in the receiving tank on the base of the base station, the sewage outlet of the sewage bucket is connected to the entrance of the sewage tank, and the water injection port of the clean water bucket is connected to the water injection valve of the water storage bucket. Docking; of course, if there are other components that need to be docked, the docking will also be completed.
  • the entire cleaning process of the cleaning equipment in any of the above-mentioned specific implementation modes A1-A4 can be entered.
  • the final cleaning equipment entire process is preset when the product leaves the factory. It can be preset by the user.
  • the base station when the base station determines that the cleaning equipment is connected to it, it first obtains the water level status of the sewage bucket; if the sewage bucket is full, it starts from step (2) in each specific real-time mode. ; If the sewage bucket is not full of water, start from step (1) in each specific implementation.
  • the water full state can be flexibly defined according to application requirements. For example, a certain proportion of the entire sewage tank capacity (for example, 90%, 4/5) can be defined as the water full state. A value lower than this proportion means the water is not full.
  • Full state equal to or higher than the ratio value defined is the water full state; of course, the proportion value can also be 100%, that is, 100% of the sewage barrel capacity is defined as the water full state, and any capacity state below 100% is not full of water; the sewage barrel capacity can also be defined as the water full state.
  • the range of 80-90% is defined as the water full state, the situation exceeding 90% of the capacity can be defined as the overfull or overflow state, and the capacity state below 80% is the water not full state.
  • the sewage barrel 12 of the cleaning equipment 10 is provided with a set of electrode sheets for detecting whether the sewage barrel is full of water.
  • the ends of the set of electrode sheets represent the water-full state; when the sewage barrel 12 When the sewage submerges the end of the set of electrode pads, the set of electrode pads will generate an electrical signal indicating the water full state due to conduction.
  • This set of electrode pads is electrically connected to the processing system of the cleaning equipment 10, and the electrical signal will be sent to The processing system of the cleaning equipment 10 can identify whether the sewage barrel 12 is in a full state according to whether it receives an electrical signal indicating a full water state.
  • the cleaning device 10 can detect whether the sewage bucket is full in real time or regularly, and send the indication information of whether the sewage bucket is full to the base station 11.
  • the base station 11 determines whether the sewage bucket is full according to the information sent by the cleaning device. Instruction information to determine whether the sewage tank is full of water.
  • the cleaning equipment 10 detects the full signal and sends the full status of the sewage bucket to the base station.
  • the cleaning equipment can also send the current water level information of the sewage barrel to the base station 11, and the base station 11 determines whether the sewage barrel is full based on the current water level information of the sewage barrel.
  • the sewage bucket If the sewage bucket is full of water, directly drain the sewage bucket to empty the sewage in the sewage bucket; if the sewage bucket is not full of water, fill the sewage bucket with water first, and wait until the sewage bucket is full of water. When the tank is full, the sewage tank is discharged to empty the sewage in the tank.
  • the methods of filling the sewage barrel with water include but are not limited to the following two methods:
  • Method 1 Inject the cleaning equipment into the sewage bucket through the clean water bucket. That is, the clean water bucket of the cleaning equipment 10 passes through the first water supply pipeline (the first water supply pipeline refers to the pipeline from the clean water bucket to the nozzle on the cleaning component) to the cleaning component (such as a floor brush or a roller brush) or the housing.
  • the tank transports clean liquid, and then starts the main motor (also called a suction motor) to suck the cleaning component or the liquid (i.e. sewage) in the tank back to the sewage barrel through the suction channel until the sewage barrel is full, thereby achieving the goal of pumping the sewage into the sewage barrel.
  • Bucket filling purpose In this embodiment, the holding tank is connected to the clean water bucket through the first water supply pipeline, and is connected to the sewage bucket through the suction channel.
  • the cleaning device 10 can actively fill the sewage bucket with water. Specifically, after confirming that it is connected to the base station, the cleaning equipment starts to detect whether the sewage bucket is full of water; if the cleaning equipment detects that the sewage bucket is not full of water, on the one hand, it can indicate that the sewage bucket is not full of water. The information is sent to the base station so that the base station knows that the sewage bucket is not currently full of water.
  • the ground brush motor can directly control the ground brush motor to turn on the water pump to transport the clean liquid in the clean water bucket to the cleaning component or the holding tank, and start the main motor to clean the The liquid in the component or the holding tank is sucked back into the sewage bucket until an electrical signal representing that the sewage bucket is full is received due to the full conduction of the electrode sheet.
  • the cleaning equipment can control the clean water bucket to stop delivering liquid and control the main motor to stop suction. Which, when cleaning When the device detects the electrical signal that the sewage bucket is full, it sends an indication message that the sewage bucket is full to the base station, so that the base station knows that the sewage bucket is full. or
  • the cleaning equipment 10 fills the sewage bucket with water according to the control of the base station 11 .
  • the cleaning equipment After confirming the connection with the base station, the cleaning equipment starts to detect whether the sewage bucket is full of water; if the cleaning equipment detects that the sewage bucket is not full of water, it sends the indication information that the sewage bucket is not full of water to the base station.
  • the base station is informed that the sewage bucket is not currently full of water; the base station returns a water filling instruction to the cleaning device based on the indication that the sewage bucket is not full of water, and instructs the cleaning device to fill the sewage bucket with water.
  • the ground brush motor can be controlled to turn on the water pump to transport the clean liquid in the clean water bucket to the cleaning component or the holding tank, and start the main motor to suck the sewage in the cleaning component or the holding tank. Return to the sewage tank until the cleaning device receives an electrical signal indicating that the sewage tank is full due to the full conduction of the electrode sheet. At this time, the cleaning equipment can control the clean water bucket to stop delivering liquid and control the main motor to stop suction.
  • Method 2 A flushing nozzle is provided in the accommodation tank of the base station.
  • the flushing nozzle is connected to the water storage tank and can spray liquid toward the accommodation tank or the cleaning component in the accommodation tank.
  • the flushing nozzle can be arranged in front of the accommodation tank.
  • the wall but is not limited to this, may also be provided around the receiving tank, for example, and the number of flushing nozzles may be one or more. Based on this, the base station can inject into the sewage barrel through the water storage tank.
  • the cleaning equipment After confirming that it is connected to the base station, the cleaning equipment starts to detect whether the sewage bucket is full of water; if the cleaning equipment detects that the sewage bucket is not full of water, it sends the indication information that the sewage bucket is not full of water to The base station, so that the base station knows that the sewage bucket is not currently full of water; the base station controls its water storage tank to inject water into the holding tank through the second water supply pipeline according to the indication information that the sewage bucket is not full of water.
  • the second water supply pipeline includes the storage tank. The pipeline between the water tank and the flushing nozzle and the flushing nozzle.
  • the water storage tank delivers clean liquid to the flushing nozzle, and the flushing nozzle sprays the clean liquid into the cleaning component or holding tank, and sends a suction command to the cleaning equipment; cleaning
  • the equipment starts the main motor to suck the sewage in the cleaning assembly or the holding tank back into the sewage barrel through the suction channel until the sewage barrel is full, thereby achieving the purpose of filling the sewage barrel with water.
  • the cleaning equipment will continuously detect whether the sewage bucket is full of water. When it detects that the sewage bucket is full of water, it will send an indication message that the sewage bucket is full of water to the base station.
  • the base station stops filling the water storage tank into the sewage bucket according to the notification information, and on the other hand, turns off the main motor to stop pumping sewage.
  • the holding tank is connected to the water storage tank through the second water supply pipeline, and is connected to the sewage bucket through the suction channel.
  • the cleaning equipment in addition to starting the main motor according to the suction command sent by the base station, can also automatically start the main motor for suction when detecting that the sewage bucket is not full. Absorb the liquid from the tank or cleaning assembly into the sewage bucket.
  • the clean liquid can be allowed to stay on the cleaning component for a certain period of time, and then the main motor is started to suck the sewage on the cleaning component back to the sewage bucket through the suction channel to achieve the goal.
  • Pre-soaking the floor brushes in the cleaning assembly provides certain conditions for subsequent self-cleaning of the floor brushes.
  • the residence time of the clean liquid on the cleaning component is not limited, and may be, for example, 2s, 5s, or 5-10s. Of course, you can also spray liquid into the cleaning component or the holding tank and at the same time suck the sewage on the cleaning component back into the sewage bucket in time.
  • the liquid flow direction is shown by the gray arrow in Figure 16e, and the final result is
  • the sewage will enter the sewage bucket through the floor brush and suction channel (such as the hose connecting the sewage bucket and the floor brush). This process cleans the floor brush and the suction channel at the same time, saving the amount of clean liquid; in addition, the sewage pipe is pumped into the sewage bucket. After filling with liquid, some stains remaining on the side walls of the sewage barrel can be removed, which can take away more dirt and enhance the cleaning effect.
  • step (2) is entered.
  • the process of emptying the sewage barrel includes: the base station control base station's movement mechanism for opening and closing the sewage barrel begins to move toward the sewage outlet of the sewage barrel until it contacts the sewage outlet and pushes open the sewage outlet.
  • the cover plate of the sewage barrel allows the sewage in the sewage barrel to flow into the sewage trough through the sewage outlet and the entrance of the sewage trough to achieve sewage discharge.
  • the cover of the sewage outlet can be fixed by a lock. When the lock is closed, the cover is closed, and when the lock is open, the cover is open.
  • the base station can control the movement mechanism to move toward the sewage outlet, push open the lock that closes the sewage outlet cover, and then open the cover of the sewage outlet.
  • the sewage in the sewage bucket flows into the base station through the sewage outlet and the entrance of the sewage tank.
  • the sewage tank is ultimately connected to an external sewage outlet to discharge sewage into the sewer or other sewage channels to achieve sewage discharge.
  • the base station can pre-set the threshold value of the sewage discharge time required from the sewage barrel to emptying. Based on this, the sewage barrel discharge time is counted when the sewage barrel emptying operation begins. When the discharge time of the sewage barrel reaches the preset discharge time threshold, it is determined that the emptying operation of the sewage barrel is completed.
  • the base station can send a notification message that the sewage bucket has been emptied to the cleaning equipment to instruct the cleaning equipment to self-clean the floor brush or inform the cleaning equipment to enter the next step; in specific implementations In A1-A2, the base station can start the sewage bucket flushing operation.
  • step (3) is entered.
  • an implementation process of flushing the sewage barrel includes: when the sewage outlet of the sewage barrel is opened, the base station controls the flushing device of the sewage barrel to start moving toward the sewage outlet (for example, upward). Until it extends into the sewage barrel and reaches the designated position, then the flushing device starts to reciprocate, flushing the sewage barrel during the reciprocating motion. The liquid in the sewage barrel flows into the sewage barrel through the sewage outlet and the entrance of the sewage trough and is discharged, realizing the sewage barrel.
  • the first count threshold can be 3 times, 5 times, etc.
  • the first duration can be 3s, 7s, 10s, etc., and there is no limit to this.
  • another implementation process of sewage bucket flushing includes: the water storage bucket is also connected to the water injection port of the sewage bucket, and the base station controls the water storage bucket to inject clean liquid into the sewage through the water injection port of the sewage bucket.
  • the liquid can preferably be injected into the first designated position of the sewage bucket through the water injection port.
  • the first designated position is a relatively high position of the sewage bucket, such as the bucket lid position, so that the liquid will be sprayed downward from a high place.
  • the liquid finally injected into the sewage barrel will flow to the sewage outlet, and then flow out to the sewage tank through the sewage outlet and the entrance of the sewage tank.
  • the water filling port of the sewage bucket can be set on the bottom bracket of the sewage bucket. With this arrangement, the liquid can reach the first designated position in the sewage bucket through greater water pressure or larger water volume. But not limited to this. Or, in another optional embodiment, a water filling port can be opened at a higher position of the sewage bucket, such as on the side wall near the bucket cover, or a water filling port can be opened near the bucket cover, so that the water filling port can be used to fill the sewage bucket. Injecting liquid can also achieve a state of spraying downward from a high place.
  • the first flushing number threshold or the first duration threshold required in the first self-cleaning process of the sewage bucket can be preset on the base station; based on this, the sewage is counted when the sewage bucket flushing operation starts. The number of flushing times or flushing time of the bucket. When the number of flushing times or the flushing time of the sewage bucket reaches the preset first flushing number threshold or the first duration threshold, it is determined that the flushing operation of the sewage bucket is completed.
  • the base station can also detect whether the flushing device returns to the original position to determine whether the flushing operation of the sewage bucket is completed.
  • the number of flushings can be determined according to the number of reciprocating movements of the flushing device. For example, one reciprocating movement is counted as one flushing process, then the number of reciprocating movements is the number of flushings, or it can also be One reciprocating motion counts as two flushing processes, then twice the number of reciprocating motions is the number of flushings, and so on.
  • the flushing duration can also be counted, and when the flushing duration reaches the first duration threshold, it is determined that the flushing operation is completed.
  • the time for injecting liquid from the water storage tank into the sewage barrel can be counted (referred to as the water injection time).
  • the water injection time reaches the set first
  • the water filling time reaches the threshold, it is determined that the sewage bucket flushing operation is completed.
  • the base station can send a notification message that the sewage bucket flushing is completed to the cleaning equipment to instruct the cleaning equipment to self-clean the floor brush.
  • step (4) is entered to perform self-cleaning of the floor brush.
  • the cleaning equipment determines that the floor brush needs to be self-cleaned based on the notification message sent by the base station that the sewage bucket has been emptied or the cleaning is completed. Therefore, it controls the clean water bucket and the main motor to alternately perform water discharge operations and pumping operations on the cleaning component or the storage tank. , to achieve self-cleaning of the floor brush.
  • floor brush self-cleaning includes two stages, namely the first stage and the second stage.
  • the cleaning equipment controls the clean water bucket to output a specified amount of liquid to the holding tank in the first water discharging operation.
  • the ground brush motor is controlled to open the water pump, so that the clean liquid in the clean water bucket passes through the first water supply pipeline (the first water supply pipeline includes the clean water supply pipe from the clean water tank).
  • the pipeline between the bucket and the nozzle on the cleaning component and the nozzle) spray a specified amount into the holding tank; and after waiting for the third period of time, control the main motor to perform the first pumping operation for the fourth period of time, which is about to soak the sewage generated by the floor brush.
  • the suction process lasts for the fourth time.
  • the purpose of waiting for the third period of time is to allow the liquid to fully soak the ground for brushing.
  • the clear water bucket needs to output a specified amount of liquid in order to have enough liquid to soak the ground for brushing.
  • the threshold for the amount of liquid released by the clean water bucket for the first time during the self-cleaning process of the floor brush can be preset, and a water volume detection sensor is provided in the receiving tank of the base, and the release of the clean water bucket is detected by the water volume detection sensor. Whether the liquid amount reaches the set liquid amount threshold, when the set liquid amount threshold is reached, the clean water bucket is controlled to stop releasing clean liquid. At this time, it is considered that the liquid amount has reached the specified amount required for soaking the floor brush.
  • a time duration threshold for the clean water bucket to release liquid for the first time during the self-cleaning process of the floor brush can be preset, such as a third time duration threshold. When the time for the clean water bucket to release clean liquid reaches the third time duration threshold, In this case, control the clean water bucket to stop releasing clean liquid, indicating that the amount of liquid at this time has reached the specified amount required for soaking the floor brush.
  • the clean water bucket and the main motor are controlled to alternately perform the water dispensing operation and the water pumping operation according to their respective first and second durations.
  • the clean water bucket performs the water dispensing operation according to the first duration each time, and then the main motor performs the water dispensing operation according to the second duration.
  • the pumping operation refers to sucking the liquid released from the clean water bucket into the sewage bucket through the suction channel.
  • the above-mentioned water discharge operation and the water pumping operation are alternately performed multiple times until a preset second threshold is reached, or the above water discharge operation and the water pumping operation are alternately performed multiple times until a specified second duration threshold is reached, or the above water discharge operation and the water pumping operation are Perform this alternately several times until the sewage bucket is full of water again to complete the self-cleaning of the floor brush.
  • the first duration and the second duration can be the same, for example, both are 1s, 3s, etc.
  • the first duration and the second duration are different.
  • the second duration is longer than the first duration.
  • the first duration may be 1s
  • the second duration may be 2s
  • the first duration may be 2s
  • the second duration may be 3s
  • the value of the fourth duration is not limited, for example, it may be 5s, 7s, etc.
  • the fourth duration may be greater than the second duration, but is not limited thereto.
  • the fourth duration is related to the above-mentioned specified amount of water released for the first time. If the specified amount of water released for the first time is larger, the fourth duration will be longer. If the specified amount of water released for the first time is smaller, the fourth duration will be shorter.
  • the longer the first duration it means that more water needs to be pumped, so the second duration is longer; the shorter the first duration, it means that the amount of water that needs to be pumped is less, and the second duration is correspondingly shorter.
  • the value of the third time period is not limited. For example, it can be 3s, 5s, 10s, 20s, etc.
  • the third time period can be a preset value, or it can be flexible according to the degree of dirt of the floor brush. set up.
  • a dirt level sensor can be installed on the floor brush, and the dirt level sensor can collect the dirt level of the floor brush and report it to the processing system of the cleaning equipment; or, a camera can be installed on the cleaning equipment, and the image of the floor brush can be collected through the camera.
  • the cleaning equipment or server recognizes the image and obtains the dirt degree information of the floor brush.
  • the above-mentioned third time period is set according to the dirt degree information of the floor brush, and the above-mentioned third time period may also be referred to as the soaking time period of the floor brush.
  • the camera on the cleaning device can also collect the image of the floor brush and upload it to the server. Perform image recognition without limitation.
  • the clean liquid released by the clean water bucket soaks the cleaning component for a certain period of time, which can dissolve the dirt on the floor brush in advance, remove some difficult-to-clean stains, and clean the floor brush better; in addition, Allow a certain amount of time so that the liquid released from the clean water bucket can accumulate in a larger amount. In this way, when the main motor is working, there will be enough liquid to flush the suction channel (such as a hose) and better clean the entire air duct.
  • the suction channel such as a hose
  • the local brush's self-cleaning end condition is that when the sewage barrel is full again, more dirt in the sewage barrel can be taken away, which also reduces a certain burden on the subsequent secondary self-cleaning process of the sewage barrel and enhances cleaning. Effective, save water consumption.
  • an electrolyzed water preparation device is installed in the clean water bucket.
  • the cleaning device can control the electrolyzed water preparation device to prepare electrolyzed water for a period of time, and then the floor brush motor turns on the water pump to allow the electrolyzed water in the clean water bucket to pass through the cleaning assembly.
  • the nozzle on the brush sprays a specified amount, and the use of electrolyzed water can not only soak and clean the floor brush, but also have a sterilizing effect.
  • the cleaning equipment can count the above-mentioned water discharge operations. and the number of times the pumping operation is performed alternately.
  • the second threshold it is determined that the self-cleaning operation of the floor brush is completed, and a notification message of completion of the self-cleaning of the floor brush is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage bucket.
  • the cleaning equipment can count the above-mentioned water discharge operation and the water pumping operation alternately.
  • the execution time reaches the second duration threshold, it is determined that the self-cleaning of the floor brush has ended, and a notification message of the completion of the self-cleaning of the floor brush is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage bucket.
  • the cleaning equipment can also detect the status of the sewage bucket, and determine that the sewage bucket is full again. status, it is determined that the self-cleaning of the floor brush is completed, and a notification message of completion of the self-cleaning of the floor brush is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage bucket.
  • the floor brush includes multiple operations of draining, pumping, and centrifuging. Of course, after each pumping operation is completed, you can not centrifugally dry the floor brush, but wait until step (7) before centrifugally drying the floor brush.
  • the self-cleaning process of the floor brush is mainly Including multiple draining and pumping operations.
  • steps (5)-(7) are performed in sequence, that is, the sewage bucket is first filled with water, the sewage bucket is filled with water, and then the sewage bucket is emptied, and after the sewage bucket is emptied, the sewage bucket is flushed;
  • steps (6) and (7) are performed in sequence, that is, the sewage barrel is emptied first, and then the sewage barrel is flushed.
  • steps (6) emptying the sewage bucket and step (7) rinsing the sewage bucket are included.
  • the specific implementation process and parameters involved in step (6) are the same as the above-mentioned step (2), and will not be described again here.
  • the specific implementation process of step (7) is the same as the above-mentioned step (3), and will not be described again here.
  • Step (7) belongs to the sewage bucket flushing operation in the second self-cleaning process
  • step (3) belongs to the sewage bucket flushing operation in the first self-cleaning process. The two may be the same or different in relevant flushing parameters.
  • the flushing operation end condition can be set to the third times threshold or the third duration threshold.
  • the base station controls the flushing device for flushing the sewage bucket on the base station to start moving upward until it reaches the sewage bucket and reaches the designated position, and then begins to reciprocate, flushing the sewage bucket during the reciprocating motion; when the number of flushes reaches the set
  • the set third times threshold or the flushing time reaches the set third duration threshold, the flushing action ends, and the flushing device of the sewage bucket returns to its original position.
  • the third times threshold may be 5 times, 8 times, 10 times, etc.
  • the third duration threshold may be 5s, 10s, 15s, etc., without limitation.
  • the base station can also detect whether the flushing device returns to the original position to determine whether the flushing action is completed. When it is detected that the flushing device returns to the original position, it is determined that the flushing action is completed. Otherwise, the flushing action is completed again. The action isn't over yet.
  • the number of flushings can be determined according to the number of reciprocating movements of the flushing device.
  • one reciprocating movement is counted as one flushing process
  • the number of reciprocating movements is the number of flushings
  • the flushing duration can also be counted, and when the flushing duration reaches the third duration threshold, it is determined that the flushing operation is completed.
  • the time for injecting liquid from the water storage tank into the sewage barrel can be counted (referred to as the water injection time). When the water injection time reaches the set second When the water filling time reaches the threshold, it is determined that the sewage bucket flushing operation is completed.
  • the number of flushes of the sewage bucket can be more, or the flushing time can be longer, for example, the second self-cleaning process of the sewage bucket.
  • the third number threshold is greater than the first number threshold, or the third duration threshold is greater than the first duration threshold, or the second water injection duration threshold is greater than the first duration threshold.
  • a water filling time threshold to ensure the cleaning effect of the sewage barrel.
  • the third number threshold is greater than the first number threshold, or the third duration threshold is greater than the first duration threshold, or the second water injection duration threshold is greater than the first water injection duration threshold.
  • the base station controls the movement mechanism of opening and closing the sewage barrel to move in a direction away from the sewage outlet of the sewage barrel, and then closes the cover of the sewage outlet of the sewage barrel. , close the lock of the sewage bucket to lock the sewage bucket, and then send a notification message that the whole machine cleaning is completed to the cleaning equipment, so that the cleaning equipment understands that the self-cleaning of the whole machine has been completed.
  • step 34 can be entered to perform self-cleaning on the sewage trough on the base station.
  • a third water supply pipeline 219 between the water storage tank 211 and the sewage tank 213.
  • a switch valve stem is provided on the third water supply pipeline 219.
  • the switch valve stem is provided with In the water storage tank, it is used to open or close the third water supply pipe 219; after the sewage barrel is thoroughly cleaned, the base station controls the valve stem in the water storage tank 211 to open, and the water storage tank releases clean liquid, which passes through the sewage tank.
  • the connected third water supply pipe 219 flows directly to the sewage tank 213 to flush the sewage tank 213.
  • the liquid after flushing the sewage tank 213 flows into the sewer through the sewer connecting pipe connected to the sewage tank 213, thereby realizing self-cleaning of the sewage tank.
  • the gray arrow line indicates the flow direction of the liquid when flushing the sewage tank.
  • the UV lamp provided on the base station can also be turned on to sterilize the cleaning components.
  • the UV lamp is arranged on the base of the base station and is used to emit sterilizing ultraviolet light to sterilize the cleaning component (specifically the floor brush) to prevent the floor brush from breeding bacteria; in addition, the UV lamp also It has the function of heating and drying the cleaning components and accelerating the drying speed of the floor brush.
  • a drying system can also be added to the base. The system includes a heating module arranged inside the base, a flow guide channel, and an air outlet arranged in the receiving tank.
  • the air outlet is connected to the air guide channel; After the drying system is started, the heating module starts to work to generate hot air. The hot air reaches the air outlet through the diversion channel, and the hot air is blown out from the air outlet toward the cleaning component. During the process of sterilizing the cleaning component with UV, etc., the cleaning component can be cleaned at the same time. Components are dried.
  • the cleaning equipment can also detect the water level status of the clean water bucket through a set of electrode pads in the clean water bucket used to detect whether it is full of water.
  • the end position of the electrode pads represents the level of the clean water bucket.
  • the set of electrodes can generate an electrical signal representing the water-full state; in the non-water-full state, the electrical signal will not be generated; the cleaning equipment can determine the clean water bucket based on whether it receives the electrical signal. Whether it is full of water.
  • the cleaning equipment sends an indication message to the base station that the clean water bucket is not full.
  • the base station fills the clean water bucket with water through the water storage tank. Specifically, it opens the water filling valve connected to the water storage tank. , so that the water in the water storage tank The clean liquid flows to the clean water bucket through the water filling valve and the water filling port of the clean water bucket to achieve the purpose of filling the clean water bucket.
  • the electrode sheet will generate an electrical signal indicating that the clean water bucket is full and send it to the processing system of the cleaning equipment; the cleaning equipment will respond based on whether it receives the signal. The signal determines whether the clean water bucket is full of water.
  • the cleaning equipment receives the electrical signal generated by the electrode sheet, it sends an indication message to the base station that the clean water bucket is full.
  • the base station closes the water filling valve according to the indication message, thereby stopping filling the clean water bucket.
  • the base station when the clean water bucket is not in a full state, the base station is required to fill the clean water bucket with water, thereby always keeping the clean water bucket in a full state, but it is not limited to this.
  • two sets of electrode pads can be arranged in a clean water bucket.
  • the end position of the first set of electrode pads is lower than the end position of the second set of electrode pads. That is, the end position of the first set of electrode pads is closer to the bottom of the clean water bucket.
  • the end positions of the two sets of electrode pads are closer to the top of the clean water bucket.
  • the first set of electrode pads is used to detect the lowest water level of the clean water bucket, and the second set of electrode pads is used to detect the full state of the clean water bucket.
  • the cleaning equipment can judge based on the disappearance of the electrical signal.
  • the water level in the clean water bucket has been lower than the minimum water level, so a water filling request is sent to the base station so that the base station fills the clean water bucket with water through the water storage tank. With continuous water filling, the water level in the clean water bucket gradually rises. When it reaches the end position of the second set of electrode pads, the second set of electrode pads will conduct and generate an electrical signal.
  • the cleaning equipment can operate according to the electrical signal.
  • the signal determines that the water level of the clean water bucket has exceeded the highest water level, that is, it is in a full state, so a notification message that the clean water bucket is full is sent to the base station, so that the base station stops filling the clean water bucket.
  • multiple sets of electrode sheets can also be provided.
  • the end positions of different electrode sheets are at different positions in the clean water bucket. Multiple water levels can be detected in the clean water bucket, and whether it is necessary to fill the clean water bucket with water is determined based on the results of each water level detection. .
  • step (1) when the sewage bucket is not full of water, the reason why step (1) is first performed to fill the sewage bucket with water is that after the cleaning equipment performs floor cleaning, the dirt in the sewage bucket The degree may be serious. There may be some solid garbage in the sewage barrel or garbage adhered to the wall of the barrel. Filling the sewage barrel with water first will help to flush the garbage from the wall of the barrel or Dry and viscous garbage is discharged. Therefore, the sewage bucket needs to be filled before emptying to facilitate the discharge of dirt.
  • the reason for performing steps (1)-(3) first is: before self-cleaning the floor brush, first empty the sewage bucket and preliminarily clean the sewage bucket, and clean the floor with the dirt recovered by the cleaning equipment. The remaining dirt in the sewage barrel is discharged and rinsed away, so that the sewage barrel reaches a relatively clean state, and then the floor brush of the cleaning equipment is self-cleaned. The degree of dirt at this time is generally lighter than the dirt recovered from the clean floor. Subsequent flushing of the recycling bin will be relatively easy, as the waste bin has been pre-cleaned to facilitate self-cleaning of the floor brush. If the sewage bucket is full or relatively full, the floor brush cannot self-clean or cannot be completed in one go, resulting in low cleaning efficiency.
  • step (4) Perform steps (1)-(3) first.
  • step (3) between steps (2)-(4) is that the cleaning equipment performs floor cleaning, although step (2) drains the sewage bucket. empty, but the dirt recovered from the floor cleaned by the cleaning equipment may be heavy, and the sewage bucket may still be dirty.
  • step (7) first flush away the dirt caused by floor cleaning, and then perform step (7) after step (4).
  • the sewage bucket is flushed, it will be easier to flush the sewage bucket clean.
  • the display screen when a display screen is provided on the body of the cleaning equipment, the display screen can display the current stage of the cleaning process of the entire machine and the progress of the cleaning process of the entire machine. (For example, specific execution step information), these stage information and step information can be sent to the cleaning equipment by the base station, and the cleaning equipment displays it through the display screen so that the user can understand the current cleaning stage and steps.
  • stage information and step information can be sent to the cleaning equipment by the base station, and the cleaning equipment displays it through the display screen so that the user can understand the current cleaning stage and steps.
  • Figure 17 is a schematic flowchart of a self-cleaning method for cleaning equipment described from the perspective of the cleaning equipment provided by the embodiment of the present application. As shown in Figure 17, the method includes:
  • the cleaning instruction is sent when the base station determines that the first self-cleaning of the sewage bucket is completed;
  • a clean water bucket is also provided on the body of the cleaning equipment.
  • the above method further includes: when the floor brush is located in the receiving groove on the base of the base station, receiving a water filling instruction sent by the base station and controlling the clean water bucket. Water is poured into the holding tank through the first water supply pipe and water is poured into the sewage bucket through the suction channel until the sewage bucket is full of water.
  • the holding tank is connected to the first water supply pipe and the suction channel.
  • self-cleaning the floor brush includes: controlling the clean water bucket to output a specified amount of liquid to the holding tank in the first water discharge operation, and after waiting for a third period of time, controlling the main motor to clean the floor brush for a fourth period of time.
  • the holding tank performs the first water pumping operation; the clean water bucket and the main motor are controlled to alternately perform water discharging and pumping operations according to their corresponding first and second durations until the ground brush self-cleaning end conditions are met.
  • the above method further includes: detecting whether the clean water bucket is full of water, and sending indication information to the base station indicating whether the clean water bucket is full of water, so that the base station can fill the clean water bucket with water.
  • embodiments of the present application also provide a base station and a cleaning device.
  • a base station and a cleaning device.
  • the controller in the base station Executing the computer program stored in the memory can implement each step that can be executed by the base station in each of the above method embodiments.
  • each method step please refer to the previous embodiments and will not be described again here.
  • the base station After the user uses the cleaning machine to complete the floor cleaning and other work, he puts the cleaning machine back on the base of the base station and completes the docking with the base station.
  • the base station detects that it is connected to the cleaning machine, it starts the entire self-cleaning process of the cleaning machine.
  • the base station controls the water storage bucket to inject clean water into the sewage bucket until the sewage bucket is full, and controls the driving mechanism to open the cover on the sewage outlet of the sewage bucket to discharge sewage.
  • the sewage flows into the sewer through the sewage trough; after 10 seconds of sewage discharge, the flushing device for flushing the sewage bucket is driven.
  • the flushing device After flushing the sewage barrel for 30 seconds, the flushing device returns to the initial position (i.e., reset); at this time, the movement mechanism used to open and close the sewage barrel is driven to move in reverse, so that the cover plate Close to close the waste tank. Then, the cleaning machine is notified to prepare for self-cleaning of the floor brush. The cleaning machine starts to prepare electrolyzed water in the clean water bucket for 30 seconds.
  • the clean water bucket sprays a certain amount of electrolyzed water through the nozzle on the cleaning component. After soaking the roller brush for 15 seconds, it drives the main motor to work for 3 seconds to suck the sewage into the sewage bucket; then , the clean water bucket sprays water into the holding tank through the nozzle for 1 second, and drives the main motor to work for 1 second. After several cycles, the main motor finally sucks all the sewage in the holding tank into the sewage bucket, and air-dries the floor brush. Completed Floor brushes and self-cleaning of the entire air duct.
  • the motion mechanism again toward the sewage outlet of the sewage barrel, open the cover on the sewage outlet to discharge sewage, and after 10 seconds of sewage discharge, drive the flushing device of the sewage barrel to rise to the designated position in the sewage barrel, and start cleaning the sewage barrel. Flushing, after flushing the sewage barrel for 30 seconds, the flushing device returns to the initial position (i.e., reset); at this time, the movement mechanism used to open and close the sewage barrel is driven to move in reverse, so that the cover is closed to close the sewage barrel.
  • a centrifugal drying operation can be performed on the floor brush to dry the floor brush.
  • the floor brush can be dried and/or sterilized.
  • the water storage tank on the base station releases water to flush the sewage trough, completing the entire self-cleaning process.
  • the operations of flushing the sewage trough and the operations of centrifugal drying, drying and/or sterilization of the floor brush can be performed sequentially or simultaneously, and there is no limit to this. During the entire process, the user does not need to clean the cleaning machine itself, so that the user's hands are not stained.
  • the base station when the cleaning equipment is connected to the base station, the base station will automatically start the entire cleaning process for the cleaning equipment, but it is not limited to this.
  • the user can send a voice instruction to the base station and/or the cleaning device to start the cleaning process of the entire machine through a voice signal.
  • the voice command to start the whole machine cleaning process can be issued to the base station, and then the base station sends control instructions to the cleaning equipment so that the cleaning equipment enters the whole machine cleaning process.
  • the voice command to start the whole machine cleaning process can also be issued to the cleaning device, and then the cleaning device sends a notification message to the base station, so that the base station enters the whole machine cleaning process, cooperates with the cleaning equipment Complete the entire machine cleaning process; alternatively, the voice command to start the entire machine cleaning process can also be issued to the cleaning equipment and the base station at the same time, and both enter the entire machine cleaning process at the same time.
  • the user can send an instruction to the cleaning device or the base station to start the entire machine cleaning process through the self-cleaning button on the display screen of the cleaning device or the self-cleaning button on the display screen of the base station. , thus starting the entire machine cleaning process.
  • the user can also send an instruction to the cleaning device or base station to start the entire machine cleaning process through the physical button on the cleaning device or base station, thereby starting the entire machine cleaning process.
  • some embodiments of the present application also provide a self-cleaning method for a sewage bucket.
  • This self-cleaning method is applied to a self-cleaning system.
  • the self-cleaning system includes: cleaning equipment and a base station.
  • the cleaning equipment at least includes a sewage bucket.
  • the base station is provided with a sewage drain tank and a flushing system for flushing the sewage bucket.
  • the sewage outlet of the sewage barrel is at least connected to the sewage trough; for other introductions to the self-cleaning system, please refer to the foregoing embodiments and will not be described again here.
  • the flushing system is a general term for the flushing device or water storage barrel that can flush the sewage barrel involved in the above embodiment.
  • the flushing system can be specifically implemented as the above-mentioned flushing device or a storage tank that can provide flushing services for the sewage barrel. water tank.
  • This self-cleaning method can mainly be completed by the base station in the self-cleaning system, as shown in Figure 18c. The method includes:
  • the base station is provided with a movement mechanism for opening and closing the sewage barrel, and the movement mechanism is connected to the sewage outlet of the sewage barrel.
  • the sewage barrel emptying operation is performed, including: responding to the cleaning trigger event of the sewage barrel, controlling the movement mechanism to run toward the sewage outlet of the sewage barrel until it contacts the sewage outlet and opens the sewage outlet.
  • the cover plate allows the sewage in the sewage barrel to flow into the sewage tank through the sewage outlet to achieve sewage discharge.
  • the method further includes: detecting the discharge time of the sewage barrel, and determining that the emptying operation of the sewage barrel is completed when the discharge time reaches a set discharge time threshold.
  • the flushing system includes a flushing device provided on the base station for flushing the sewage bucket, and the flushing device is arranged corresponding to the sewage outlet. Based on this, in response to the cleaning trigger event of the sewage barrel, the sewage barrel flushing operation is performed, including: after the sewage barrel emptying operation is completed, the control flushing device begins to move toward the sewage outlet until it extends into the sewage barrel and reaches the designated position, and the flushing device It starts reciprocating motion, and during the reciprocating motion, liquid is sprayed out to flush the sewage bucket, and the liquid flows into the sewage trough connected to the base station through the sewage outlet.
  • the method also includes: detecting the number of flushing times or flushing time of the sewage bucket, and determining that the flushing operation of the sewage bucket is completed when the number of flushing times or flushing time reaches the set number threshold or duration threshold; Alternatively, it is detected whether the flushing device returns to the original position, and when it is detected that the flushing device returns to the original position, it is determined that the sewage bucket flushing operation is completed. It should be noted that when the sewage bucket is continuously self-cleaned multiple times, the values of the duration thresholds in different self-cleaning processes can be different or the same.
  • the flushing system includes a water storage tank provided on the base station, and the water storage tank is connected to the water filling port of the sewage bucket. Based on this, in response to the cleaning trigger event of the sewage barrel, the sewage barrel flushing operation is performed, including: after the sewage barrel emptying operation is completed, the water storage tank is controlled to inject liquid into the sewage barrel through the water injection port of the sewage barrel, and the liquid flows into the base station through the sewage outlet. Connect the sewage chute to flush the sewage barrel.
  • the method further includes: detecting the water filling time of the sewage bucket, and determining that the sewage bucket flushing operation is completed when the water filling time reaches the set water filling time threshold. It should be noted that when the sewage bucket is continuously self-cleaned multiple times, the values of the water filling time thresholds in different self-cleaning processes can be different or the same.
  • Step 62 Obtain indication information of whether the sewage bucket is full or water level information of the sewage bucket;
  • Step 63 When it is determined that the sewage bucket is not full according to the indication information or water level information, perform a water filling operation in the sewage bucket so that the sewage bucket is full of water.
  • the floor brush of the cleaning equipment is located in a receiving tank on the base of the base station.
  • the receiving tank is connected to the clean water bucket and the sewage bucket of the cleaning equipment through the first water supply pipeline and the suction channel respectively. Then the sewage bucket is executed.
  • Water filling operation to keep the sewage barrel full of water includes:
  • the base station controls the water storage tank on the base station to inject water into the holding tank through the second water supply pipeline, and sends a suction command to the cleaning equipment to instruct the cleaning equipment to suck the liquid in the holding tank into the sewage bucket through the suction channel until the sewage The bucket is full of water.
  • the cleaning trigger event of the above-mentioned sewage bucket includes at least one of the following:
  • the method further includes: after the current self-cleaning of the sewage bucket is completed, performing the sewage bucket water filling, sewage bucket emptying and sewage bucket flushing operations in sequence again to realize the next self-cleaning of the sewage bucket. Cleaning, thereby realizing multiple self-cleanings of the sewage barrel and improving the cleaning effect.
  • the method further includes: after the self-cleaning of the sewage bucket is completed, self-cleaning the sewage trough.
  • the base station is provided with a water storage tank, the water storage tank and the sewage tank are connected through a third water supply pipeline, and a switch valve is provided on the third water supply pipeline.
  • Self-cleaning of the sewage tank includes: opening the switch valve so that the water storage tank sends liquid to the sewage tank through the third water supply pipe to self-clean the sewage tank.
  • the water storage tank is connected to the water filling port of the clean water bucket; the method also includes: obtaining indication information of whether the clean water bucket of the cleaning equipment is in a full state or water level information of the clean water bucket; and based on the indication information or water level information When it is determined that the clean water bucket is not full of water, the clean water bucket is filled with water through the water storage tank.
  • embodiments of the present application also provide a base station.
  • the controller in the base station executes the computer program stored in the memory, which can implement the method embodiment shown in Figure 18c.
  • steps that can be performed by the base station please also refer to the foregoing embodiments and will not be described again here.
  • embodiments of the present application also provide a self-cleaning method for a sewage barrel, which is applied to a self-cleaning system.
  • the self-cleaning system includes: cleaning equipment and a base station.
  • the cleaning equipment at least includes a sewage barrel.
  • the base station is provided with a The sewage tank and the flushing system for flushing the sewage bucket.
  • the cleaning equipment is connected to the base station, the sewage outlet of the sewage bucket is at least connected to the sewage tank; other introductions to the self-cleaning system can be found in the aforementioned embodiments and will not be repeated here. Repeat.
  • the flushing system is a general term for the flushing device or the water storage bucket that can flush the sewage bucket involved in the above embodiments.
  • the flushing system can be specifically implemented as the above-mentioned flushing device or a storage tank that can provide flushing services for the sewage bucket. water tank.
  • the self-cleaning method can be completed by the base station and cleaning equipment in the self-cleaning system. The method includes:
  • the cleaning equipment detects that the sewage bucket is not full
  • the base station injects water into the holding tank, and the main motor of the cleaning equipment is turned on to suck the liquid in the holding tank into the sewage bucket through the suction channel until the sewage bucket is full of water;
  • the base station opens the sewage outlet of the sewage bucket to empty the sewage bucket;
  • the base station s flushing system flushes the sewage bucket
  • the docking of the cleaning equipment and the base station mainly refers to the docking of the positions of the relevant structures on the two devices. Furthermore, it also includes the docking of the communication signals between the two devices.
  • Embodiments of the present application also provide a method of filling a sewage bucket, which method can be performed by a cleaning device.
  • the cleaning device includes: a handle, a body and a cleaning component.
  • the body is provided with at least a sewage bucket and a clean water bucket.
  • the method includes:
  • control the clean water bucket When receiving the water filling command sent by the base station, control the clean water bucket to fill the storage tank for accommodating the cleaning component on the base station through the first water supply pipe and suck the liquid in the storage tank into the sewage bucket through the suction channel. Until the sewage bucket is full of water; wherein, the holding tank is connected to the clean water bucket and the sewage bucket through the first water supply pipeline and the suction channel respectively.
  • embodiments of the present application also provide a cleaning device.
  • the structure of the cleaning equipment please refer to the embodiment shown in Figure 13a or Figure 13b or Figure 14, which will not be repeated here.
  • the processing system in the cleaning equipment can implement each of the above-mentioned method embodiments shown in Figure 18b that can be executed by the cleaning equipment.
  • each method step please refer to the foregoing embodiments and will not be described again here.
  • the execution subject of each step of the method provided in the above embodiments may be the same device, or the method may also be executed by different devices.
  • the execution subject of steps 31 to 33 may be device A; for another example, the execution subject of steps 31 and 32 may be device A, the execution subject of step 32 may be device B; and so on.
  • the cleaning equipment 10 can also be cleaned using the method and flow provided by the following embodiments. Carry out complete machine self-cleaning.
  • the self-cleaning process of the whole machine is applied to the self-cleaning system shown in Figure 13a, Figure 13b or Figure 14, and can be completed by the cooperation of the base station 11 and the cleaning equipment 10.
  • the entire machine cleaning process includes:
  • Step 61 When the cleaning equipment is connected to the base station, obtain the current water level status of the sewage bucket;
  • Step 62 From the target complete machine cleaning processes corresponding to different water level states, determine the first target complete machine cleaning process that is adapted to the current water level state;
  • Step 63 Perform complete machine self-cleaning on the cleaning equipment according to the first target complete machine cleaning process.
  • Each target complete machine cleaning process includes self-cleaning of the sewage tank and self-cleaning of the floor brush.
  • steps 61 and 62 can be performed by the base station, and step 63 can be completed by the cooperation between the base station and the cleaning equipment.
  • step 63 can be completed by the cooperation between the base station and the cleaning equipment.
  • the water level status of the sewage bucket is divided into several categories.
  • the water level status of the sewage barrel can be divided into three categories, namely, the empty barrel state, the water full state, and the water but not full state; the water level state of the sewage barrel can also be divided into two categories, namely the water full state and the water level state. Not full state; alternatively, the water level state of the sewage barrel can also be divided into two categories, that is, the water level is greater than the set water level threshold (including the water full state) and the water level is less than or equal to the set water level threshold (including the empty barrel state).
  • the set water level threshold can be 70% of the water level position of the sewage bucket, 80% of the water level position, 85% of the water level position or 90% of the water level position, and there is no limit to this.
  • different target complete machine cleaning processes can be set for different water level states.
  • the target complete machine cleaning process refers to the complete machine cleaning process that can ultimately be used in this water level state; wherein, each target complete machine
  • the cleaning process includes self-cleaning of the sewage tank and self-cleaning of the floor brush to achieve self-cleaning of the entire cleaning equipment.
  • the difference between the same self-cleaning process in different target whole machine cleaning processes can be due to the different operation steps included in the self-cleaning process, or the different operation parameters involved in the self-cleaning process, or the operation steps and operations. The parameters are all different.
  • the water level status of the sewage bucket is different, which to a certain extent represents the working time of the cleaning equipment.
  • the longer the working time the higher the water level in the sewage bucket will be.
  • the longer the working time of the cleaning equipment the more serious the dirtiness of the sewage bucket and cleaning components of the cleaning equipment (specifically, the floor brushes in the cleaning components).
  • different target cleaning processes for the entire machine are set for different water level states, which is equivalent to configuring different cleaning processes for the entire machine according to the cleaning requirements of different degrees of dirt.
  • the degree of soiling is not serious (that is, when the water level in the sewage tank is low or not full), you can use some complete machine cleaning processes with fewer operating steps or relatively small operating parameters; conversely, if the degree of soiling is relatively high, some cleaning processes can be used.
  • a whole machine cleaning process with more operating steps or relatively larger operating parameters can be used.
  • different cleaning processes of the whole machine can be selected according to different degrees of dirt, which can not only meet the self-cleaning needs of the whole machine, but also reduce some unnecessary work steps according to the cleaning needs of different dirty programs, save power and extend the cleaning time.
  • Equipment and base station service life that is, when the water level in the sewage tank is low or not full.
  • the base station when the cleaning equipment is connected to the base station, the base station obtains the current water level status of the sewage bucket; then, from the target complete machine cleaning processes corresponding to different water level statuses, the target complete machine that is adapted to the current water level status is determined.
  • the target complete machine cleaning process adapted to the current water level state is called the first target complete machine cleaning process; then, the cleaning equipment is reorganized according to the first target complete machine cleaning process.
  • the machine is self-cleaning.
  • the detailed method for the base station to obtain the current water level status of the sewage bucket is the same as or similar to the method for the base station to obtain whether the sewage bucket is full of water in the above embodiment.
  • the cleaning device can detect the water level through the electrode piece used to detect the water level information. The status is detected and provided to the base station. It should be noted that in this embodiment, more sets of electrode sheets can be provided in the sewage bucket according to the number of divisions of water level states to achieve detection of different water level states.
  • the water level status of the sewage bucket can be divided into two categories, namely the first water level status and the second water level status. bit status.
  • the first water level state includes the water full state
  • the second water level state includes the water not full state.
  • the first water level state includes a state where the water level is greater than the set water level threshold (in this scenario, the state includes the water full state)
  • the second water level state includes a state where the water level is less than or equal to the set water level threshold (in this scenario, the water level state includes a water full state).
  • the status includes the empty bucket status).
  • the first target complete machine cleaning process adapted to the current water level status is determined from the target complete machine cleaning processes corresponding to different water level status, including:
  • the target complete machine cleaning process corresponding to the first water level state is the first water level state
  • determine the target complete machine cleaning process corresponding to the second water level state is used as the first target entire machine cleaning process.
  • the target complete machine cleaning process corresponding to the first water level state and the target complete machine cleaning process corresponding to the second water level state are not exactly the same, and may be at least one of operation steps and operation parameters.
  • target whole-machine cleaning processes corresponding to different water level states may include self-cleaning processes with the same first granularity, or may include self-cleaning processes with different first granularities.
  • the following is an explanation based on scenarios:
  • the target complete machine cleaning processes corresponding to different water level states include: the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, and the second self-cleaning of the sewage bucket.
  • the target complete machine cleaning process corresponding to the first water level state includes: the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, and the second self-cleaning of the sewage bucket.
  • the target complete machine cleaning process corresponding to the second water level state also includes: the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, and the second self-cleaning of the sewage bucket.
  • the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, and the second self-cleaning of the sewage bucket are called self-cleaning of the first granularity. Judging from the first-granularity self-cleaning process included, the two target whole-machine cleaning processes are the same. The difference lies in the three first-granularity self-cleaning processes (i.e., the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush). There is at least one difference in the self-cleaning process between cleaning and secondary self-cleaning of sewage barrels.
  • the difference in the self-cleaning process here mainly refers to the difference in detailed implementation of the self-cleaning process of the same first granularity for different target whole machine cleaning processes. It can be that the self-cleaning process contains different operation steps, or it can be The operating parameters involved in the self-cleaning process are different, and the operating steps and operating parameters may also be different.
  • the sewage barrel under any water level state, the sewage barrel is first self-cleaned for the first time.
  • the sewage in the sewage barrel is emptied through the first self-cleaning.
  • it plays a role in cleaning the sewage barrel.
  • it plays a role in cleaning the sewage barrel. It can also allow the sewage bucket to have enough space to accommodate the sewage generated during the self-cleaning process of the floor brush, ensuring that the self-cleaning process of the floor brush is completed at one time and will not be interrupted because the sewage bucket is full of water, thereby improving the efficiency of the self-cleaning of the floor brush and thereby improving the efficiency of the floor brush. The efficiency of the whole machine's self-cleaning.
  • the target complete machine cleaning process corresponding to the first water level state includes in order: the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, Secondary self-cleaning of the sewage barrel;
  • the target complete machine cleaning process corresponding to the second water level state includes: self-cleaning of the floor brush, and secondary self-cleaning of the sewage barrel.
  • the sewage bucket When the water level in the sewage bucket is low, it means that the sewage bucket has enough space to accommodate the sewage generated during the self-cleaning process of the floor brush. Therefore, the floor brush can be directly self-cleaned, and then the sewage bucket can be self-cleaned. By reducing self-cleaning This link can reduce the interaction between the base station and the cleaning equipment, which is beneficial to improving the self-cleaning efficiency of the whole machine.
  • the corresponding target whole machine cleaning process is determined.
  • the target whole machine cleaning process is the final whole machine cleaning process used in each water level state.
  • the process of determining the target complete machine cleaning process for each water level state can be completed in advance, or it can be completed in real time during the self-cleaning process of the cleaning equipment, or it can be predetermined before the equipment leaves the factory.
  • the target machine cleaning process corresponding to each water level status will be directly built-in.
  • the implementation method of determining the target complete machine cleaning process is the same or detailed.
  • the target complete machine cleaning process is determined for the first or second water level status. The implementation of the process will be described.
  • each candidate complete machine cleaning process includes: the first self-cleaning of the sewage bucket, the self-cleaning of the floor brush, and the second self-cleaning of the sewage bucket; and for different candidate complete machine cleaning processes, the first self-cleaning of the sewage bucket.
  • the difference may be differences in the work steps involved in the self-cleaning process and/or the work parameters involved.
  • the first self-cleaning of the sewage barrel in each candidate machine cleaning process may include performing the steps of emptying the sewage barrel; or may include sequentially executing the steps of emptying the sewage barrel and rinsing the sewage barrel.
  • the secondary self-cleaning of the sewage bucket in each candidate machine cleaning process either includes the steps of filling the sewage bucket, emptying the sewage bucket, and rinsing the sewage bucket in sequence; or includes executing the steps of emptying the sewage bucket and rinsing the sewage bucket in sequence. .
  • the operation steps involved in the self-cleaning of the floor brush are the same for each water level state, but it is not limited to this.
  • Candidate whole machine cleaning process a1 including (P1) sewage bucket emptying, (P2) sewage bucket flushing, (P3) floor brush self-cleaning, (P4) sewage bucket water filling, (P5) sewage bucket emptying and (P6) ) sewage bucket flushing;
  • Candidate whole machine cleaning process a2 including (P1) sewage bucket emptying, (P3) self-cleaning of the floor brush, (P4) sewage bucket filling, (P5) sewage bucket emptying and (P6) sewage bucket flushing;
  • Candidate whole machine cleaning process a3 including (P1) sewage bucket emptying, (P3) floor brush self-cleaning, (P5) sewage bucket emptying and (P6) sewage bucket flushing;
  • Candidate whole machine cleaning process a4 includes (P1) sewage bucket emptying, (P2) sewage bucket flushing, (P3) floor brush self-cleaning, (P5) sewage bucket emptying and (P6) sewage bucket flushing.
  • the target complete machine cleaning process corresponding to the first water level state can be determined from the above candidate complete machine cleaning processes a1-a4.
  • detailed implementation methods for determining the target complete machine cleaning process corresponding to the first water level state from multiple candidate complete machine cleaning processes include but are not limited to the following:
  • Method C1 Display a first setting page, which includes detailed information of multiple candidate whole machine cleaning processes corresponding to the first water level state; in response to a selection operation on the first setting page, determine the selected candidate whole machine.
  • the machine cleaning process is used as the target whole machine cleaning process corresponding to the first water level state.
  • the detailed information of the candidate whole machine cleaning process includes the name of the candidate whole machine cleaning process, the included operation steps, the involved operation parameters, and the corresponding water level status and other information.
  • the first setting page can be displayed on the display screen of the base station, the first setting page can also be displayed on the display screen of the cleaning device, or the first setting page can be displayed on the display screen of the terminal device where the APP bound to the cleaning device or the base station is located.
  • the first settings page. Displaying the first setting page on the display screen of the cleaning device or terminal device may involve the transmission of page information and detailed information of the candidate whole machine cleaning process, and there is no limit to the transmission process.
  • Method C2 Determine the target cleaning intensity based on the water level value corresponding to the current water level state; determine the candidate entire machine cleaning process that is suitable for the target cleaning intensity from multiple candidate whole machine cleaning processes corresponding to the first water level state, as the first cleaning process.
  • the cleaning intensity of multiple candidate whole machine cleaning processes is distinguished.
  • the cleaning intensity of each candidate entire machine cleaning process can be determined based on the number of operation steps included in each candidate entire machine cleaning process and the size of the involved operation parameters.
  • the cleaning intensity can be divided into multiple levels according to the number of candidate cleaning processes for the whole machine, such as first-level cleaning intensity, second-level cleaning intensity, third-level cleaning intensity, etc. from small to large or from large to small.
  • the greater the number of operation steps and the greater the operation parameters the stronger the cleaning intensity corresponding to the candidate whole machine cleaning process.
  • the base station can not only obtain the water level status of the sewage bucket, but also obtain the specific water level value corresponding to the water level status.
  • the working time of the cleaning equipment can be further distinguished. Different water levels The working time corresponding to the value is different. The higher the water level value, the longer the working time, the higher the degree of dirt, and the stronger the cleaning intensity required. Based on this, the water level value can be divided into a corresponding number of numerical intervals according to the number of candidate cleaning processes of the entire machine, and then a corresponding relationship between each water level value interval and the cleaning intensity can be established.
  • the corresponding relationship is queried, the water level value interval corresponding to the current water level state is determined, and the cleaning intensity corresponding to the water level value interval is used as the target cleaning intensity; from corresponding to the first water level state A plurality of candidate complete machine cleaning processes are determined, and a candidate complete machine cleaning process that is adapted to the target cleaning intensity is determined as the target complete machine cleaning process corresponding to the first water level state.
  • Method C3 Before the equipment leaves the factory, determine the target complete machine cleaning process corresponding to the first water level state from multiple candidate complete machine cleaning processes corresponding to the first water level state according to a certain method, and set it in the base station or cleaning equipment .
  • the target complete machine cleaning process adapted to the second water level state as the second target complete machine cleaning process before determining the target complete machine cleaning process adapted to the second water level state as the second target complete machine cleaning process, it also includes: determining from multiple candidate complete machine cleaning processes corresponding to the second water level state.
  • the target complete machine cleaning process corresponding to the second water level state This process is the same as the process of determining the target complete machine cleaning process corresponding to the first water level state, and will not be described again.
  • the operation steps included in the target whole machine cleaning process corresponding to different water level states may be the same.
  • the target whole machine cleaning process corresponding to the first water level state is the above candidate whole machine cleaning process.
  • Process a1 the target complete machine cleaning process corresponding to the second water level state is also the above candidate complete machine cleaning process a1.
  • the operating parameters involved in the whole machine cleaning process of different targets are at least partially different. For example, during the water filling process of the sewage barrel, the number of water injections, the amount of water injection, or the water filling time may be different. For example, during the flushing process of the sewage barrel, The number of flushing times and flushing duration can be different, thus forming different cleaning processes for the entire machine.
  • the above operation parameters can be associated with the cleaning intensity corresponding to the whole machine cleaning process, thereby forming a whole machine cleaning process with different cleaning intensity, so as to facilitate the whole machine cleaning process according to the required cleaning intensity. choice to use.
  • the target complete machine cleaning process adapted to the first water level state as the first target complete machine cleaning process it also includes: determining from multiple candidate complete machine cleaning processes corresponding to the first water level state.
  • the target complete machine cleaning process corresponding to the first water level state Since the first water level state in application scenario B2 is different from that in application scenario B1 The definition of the first water level state is the same, so the process of determining the target complete machine cleaning process corresponding to the first water level state is also the same as in application scenario B1, and will not be described again here.
  • each candidate complete machine cleaning process corresponding to the second water level state includes: self-cleaning of the floor brush, self-cleaning of the sewage bucket; and for different candidate complete machine cleaning processes, self-cleaning of the floor brush and There is at least one difference in the self-cleaning process of the sewage barrel.
  • the difference here may be differences in the work steps involved in the self-cleaning process and/or the work parameters involved.
  • the self-cleaning of the sewage bucket in each candidate complete machine cleaning process corresponding to the second water level state may include sequentially executing the steps of emptying the sewage bucket and flushing the sewage bucket; or including sequentially performing the steps of filling the sewage bucket. , sewage bucket emptying and sewage bucket flushing steps; or including when the sewage bucket is full, performing the sewage bucket emptying and sewage bucket flushing steps in sequence; when the sewage bucket is not full, sequentially performing the sewage bucket filling, Sewage tank emptying and sewage tank rinsing steps.
  • the operation steps involved in the self-cleaning of the floor brush are the same for each water level state, but it is not limited to this.
  • Candidate complete machine cleaning process b1 including (P3) self-cleaning of the floor brush, (P4) sewage bucket filling, (P5) sewage bucket emptying and (P6) sewage bucket flushing;
  • Candidate complete machine cleaning process b2 including (P3) self-cleaning of the floor brush, (P5) emptying of the sewage bucket and (P6) rinsing of the sewage bucket.
  • the target complete machine cleaning process corresponding to the second water level state can be determined from the above candidate complete machine cleaning processes b1-b2.
  • the detailed implementation of determining the target complete machine cleaning process corresponding to the second water level state from a plurality of candidate complete machine cleaning processes is the same as the detailed implementation of determining the target complete machine cleaning process corresponding to the first water level state. See the aforementioned methods C1-C3, which will not be described again here.
  • the first target whole machine cleaning process may be any one of the above candidate whole machine cleaning processes a1-a4 and b1-b2, specifically based on the target whole machine cleaning corresponding to the two water level states.
  • the whole machine self-cleaning process of the cleaning equipment according to the first target whole machine cleaning process that is to say, the whole machine self-cleaning of the cleaning equipment according to any one of the above candidate whole machine cleaning processes a1-a4 and b1-b2 process.
  • the cleaning process is the process of self-cleaning the cleaning equipment, including: (P1) emptying the sewage bucket, (P2) flushing the sewage bucket, (P3) Floor brush self-cleaning, (P4) sewage bucket filling, (P5) sewage bucket emptying and (P6) sewage bucket flushing.
  • the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a2
  • the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state
  • the machine cleaning process is the process of self-cleaning the cleaning equipment, including: sequentially executing (P1) emptying the sewage bucket, (P3) self-cleaning of the floor brush, (P4) filling the sewage bucket, (P5) emptying the sewage bucket, and (P6) Rinse the sewage bucket.
  • the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a3
  • the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state
  • the machine cleaning process is the process of self-cleaning the entire cleaning equipment, including: (P1) emptying the sewage bucket, (P3) self-cleaning of the floor brush, (P5) emptying the sewage bucket and (P6) rinsing the sewage bucket.
  • the target complete machine cleaning process corresponding to the first water level state is the candidate complete machine cleaning process a4
  • the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the first water level state
  • the machine cleaning process is the process of self-cleaning the entire cleaning equipment, including: sequentially executing (P1) emptying the sewage barrel, (P2) flushing the sewage barrel, (P3) self-cleaning of the floor brush, (P5) emptying the sewage barrel, and (P6) Rinse the sewage bucket.
  • the target complete machine cleaning process corresponding to the second water level state is the candidate complete machine cleaning process b1
  • the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the second water level state
  • the machine cleaning process is the process of self-cleaning the entire cleaning equipment, including: sequentially executing (P3) self-cleaning of the floor brush, (P4) filling the sewage bucket, (P5) emptying the sewage bucket, and (P6) rinsing the sewage bucket.
  • the target complete machine cleaning process corresponding to the second water level state is the candidate complete machine cleaning process b2
  • the first target complete machine cleaning process is the target complete machine cleaning process corresponding to the second water level state
  • the machine cleaning process is the process of self-cleaning the entire cleaning equipment, including: sequentially executing (P3) self-cleaning of the floor brush, (P5) emptying the sewage bucket, and (P6) rinsing the sewage bucket.
  • the last sewage bucket flushing operation is the sewage bucket flushing operation during the second self-cleaning process of the sewage bucket; in application scenario B2, the last sewage bucket flushing operation is sewage during the self-cleaning process of the sewage bucket Bucket flushing operation.
  • the base station can also fill the clean water bucket with water so that the clean water bucket is in a full state.
  • the base station can also fill the clean water bucket with water so that the clean water bucket is in a full state.
  • Figure 18b is a schematic flowchart of another self-cleaning method for cleaning equipment described from the perspective of the cleaning equipment provided by the embodiment of the present application. As shown in Figure 18b, the method includes:
  • Each target complete machine cleaning process includes self-cleaning of the sewage tank and self-cleaning of the floor brush.
  • cooperating with the base station to perform complete machine self-cleaning of the cleaning equipment according to the first target complete machine cleaning process including: performing self-cleaning on the floor brush when receiving a cleaning instruction sent by the base station, and the cleaning instruction is from the base station. Sent directly after determining the first target whole machine cleaning process or when it is determined that the first self-cleaning of the sewage bucket is completed; a notification message of the completion of ground brush self-cleaning is sent to the base station so that the base station can continue to follow the first step.
  • the target whole machine cleaning process performs self-cleaning on the sewage barrel.
  • embodiments of the present application also provide a base station and a cleaning device.
  • the controller in the base station executes the computer program stored in the memory, which can implement the method embodiment shown in Figure 18a.
  • steps that can be performed by the base station please also refer to the foregoing embodiments and will not be described again here.
  • the structure of the cleaning equipment please refer to the embodiment shown in Figure 13a or Figure 13b or Figure 14, which will not be repeated here.
  • the processing system in the cleaning equipment can implement the above method shown in Figure 18b.
  • the cleaning equipment can For detailed descriptions of each step performed and each method step, please refer to the foregoing embodiments and will not be described again here.
  • the status of the sewage bucket is divided into a full water status and a water full status.
  • the full water status corresponds to the super machine cleaning process
  • the water full status corresponds to the standard or rapid machine cleaning process.
  • the standard or rapid complete machine cleaning process includes the same operating steps, but the operating parameters involved in the operating steps are smaller.
  • the time for flushing the sewage bucket is 40 seconds
  • the time for preparing electrolyzed water is 40 seconds
  • the time for soaking the floor brush is 30 seconds
  • the time for each water spray is 5 seconds
  • the time for each main motor operation is The time is 5s
  • the time for flushing the sewage bucket is 30s
  • the time for preparing electrolyzed water is 30s
  • the time for soaking the floor brush is 15s
  • the time for each water spray is 1s.
  • the motor working time is 1s.
  • the base station detects that it is connected to the cleaning machine, it starts the entire self-cleaning process of the cleaning machine.
  • the base station receives the water level status of the sewage bucket reported by the cleaning machine; if the current water level status is full of water, select the super strong whole machine cleaning process and enter the super strong whole machine cleaning process; if the current water level status is not full of water, then Select the standard or express machine cleaning process and enter the standard or express machine cleaning process.
  • the process of executing the super-strong whole-machine cleaning process includes: the base station controls the water storage bucket to inject clean water into the sewage bucket until the sewage bucket is full, and controls the driving mechanism to open the cover on the sewage outlet of the sewage bucket.
  • the plate discharges sewage, and the sewage flows into the sewer through the sewage trough; after 10 seconds of sewage discharge, the flushing device that drives the sewage bucket rises to a designated position in the sewage bucket, starts repeated up and down movements, and sprays clean water during the repeated up and down movements (for example, It can be equipped with a rotating nozzle to spray water around or multiple nozzles with different directions to spray water around), so that it can be flushed to various positions in the sewage tank; after flushing the sewage tank for 40 seconds, the flushing device returns to the initial position (i.e. Reset); at this time, the movement mechanism used to open and close the sewage barrel is driven to move in reverse, so that the cover is closed to close the sewage barrel.
  • the flushing device that drives the sewage bucket rises to a designated position in the sewage bucket, starts repeated up and down movements, and sprays clean water during the repeated up and down movements (for example, It can be equipped with a rotating nozzle to spray water around or multiple nozzles with different
  • the cleaning machine is notified to prepare for self-cleaning of the floor brush.
  • the cleaning machine starts to prepare electrolyzed water in the clean water bucket for 40 seconds.
  • the clean water bucket sprays a certain amount of electrolyzed water through the nozzle on the cleaning component. After soaking the roller brush for 30 seconds, it drives the main motor to work for 5 seconds to suck the sewage into the sewage bucket; then , the clean water bucket sprays water into the holding tank through the nozzle for 5 seconds, and drives the main motor to work for 5 seconds. After several cycles, the main motor finally sucks all the sewage in the holding tank into the sewage bucket, and air-dries the floor brush. Completed Floor brushes and self-cleaning of the entire air duct.
  • the base station receives the water level status of the sewage bucket reported by the cleaning machine; it displays the current water level status through its display screen or the display screen of the cleaning machine, so that the user can select the entire machine cleaning process to be used. After the user sees the current water level status, he can view the optional whole machine cleaning process through the display.
  • This scenario specifically includes: the super strong whole machine cleaning process corresponding to the water full state, and the standard or quick cleaning process corresponding to the water not full state. Machine cleaning process. The user selects the entire machine cleaning process to be used based on the current water level status. If the water is full, you can choose the ultra-strong machine cleaning process; if the water is not full, you can choose the standard or fast machine cleaning process.
  • the user can choose the entire machine cleaning process that is adapted to the current water level status, or can flexibly select other complete machines based on their own preferences or actual application conditions. Cleaning process.
  • the docking of the cleaning equipment and the base station mainly refers to the docking of the positions of the relevant structures on the two devices. Furthermore, it also includes the docking of the communication signals between the two devices.
  • the execution subject of each step of the method provided in the above embodiments may be the same device, or the method may also be executed by different devices.
  • the execution subject of steps 31 to 33 may be device A; for another example, the execution subject of steps 31 and 32 may be device A, the execution subject of step 32 may be device B; and so on.
  • embodiments of the present application also provide a computer-readable storage medium storing a computer program.
  • the computer program When executed, the steps in the above method embodiments can be implemented.
  • FIG 19 shows a schematic flowchart of a device self-cleaning startup method provided by an embodiment of the present application.
  • This method is suitable for the base station 11 shown in Figure 13a or Figure 13c.
  • the method provided by this embodiment can be used by the base station 11
  • the controller is implemented by a controller (not shown in the figure), where the controller can be but is not limited to a microcontroller, a microcontroller, a CPU, etc., and is not limited here.
  • the equipment self-cleaning startup method includes the following steps:
  • the cleaning equipment 10 and the base station 11 in order to fully automatically realize the cleaning equipment 10 and the base station 11 to cooperate with each other to clean the entire cleaning equipment 10, in addition to ensuring the sewage outlet 121 on the sewage barrel 12 of the cleaning equipment 10
  • the cleaning device 10 and the base station 11 also need to be able to communicate.
  • the docking between the base station 11 and the cleaning device 10 includes: location docking and signal docking.
  • Position docking refers to positioning the cleaning equipment at a set position at the base station, specifically, connecting the sewage outlet 121 on the sewage tank 12 of the cleaning equipment 10 with the inlet 214 of the sewage tank of the base station 11 .
  • Signal docking refers to the establishment of a communication connection between the cleaning equipment 10 and the base station 11 .
  • the base station 11 of this embodiment is provided with a sensing component 229.
  • the cleaning device 10 is provided with a triggering component 125 adapted to the sensing component.
  • the sensing component can generate a corresponding induction signal (such as a current signal) by sensing the signal of the triggering component, which can provide data support for detecting whether the cleaning equipment is located at a set position at the base station.
  • the trigger component 125 can be provided on the side of the cleaning device 10 facing the base station 11. More specifically, the trigger component can be provided on the side of the sewage bucket 12 of the cleaning device 10 facing the base station. , and close to the sewage outlet 121.
  • the sensing component 229 may be disposed at a position on the base station 11 close to the inlet 214 of the sewage chute.
  • the sensing signal generated by the sensing component by sensing the signal of the triggering component will change as the relative position between the sensing component and the triggering component changes.
  • the change in the relative position of the sensing component and the triggering component is mainly caused by the movement of the cleaning equipment.
  • the triggering component 125 gradually approaches the sensing component 229 on the base station 11 as the cleaning device 10 moves, the signal of the triggering component 211 sensed by the sensing component 229 will become stronger and stronger, thereby generating a sensing signal. It will also be enhanced accordingly.
  • the relative position of the trigger component and the sensing component reaches a minimum value.
  • the sensing component senses When the signal of the triggering component is at its strongest, the induced signal generated will also reach its peak value.
  • the trigger component 125 as a magnetic component (such as a magnet) and the sensing component 229 as a reed switch as an example
  • the reed switch when the reed switch does not sense the magnetic field signal generated by the magnetic component, the two components inside it will The leaf reed e is in a non-contact state (the state shown on the left side of the horizontal arrow in Figure 20a), in other words, the circuit in the reed switch is in a disconnected state.
  • the cleaning device 10 is gradually moved to the base station 11 to dock with the base station 11, the magnetic component gradually approaches the reed switch of the base station 11 as the cleaning device 10 moves.
  • the magnetic field signal generated by the magnetic component is close to the reed switch, which can cause the dry reed switch to move closer to the reed switch.
  • the two reeds in the reed tube are magnetized to produce different polarities, and when the magnetic force exceeds the elastic force of the reed itself, the two reeds are attracted (the state shown on the right side of the horizontal arrow in Figure 20a), and the reed tube circuit is turned on to produce Corresponding induction signal (such as current signal).
  • FIG. 20b shows a schematic diagram of the change in the induction signal generated by the reed switch as the magnetic element continues to approach.
  • the origin O represents the position of the reed switch, and the horizontal arrow indicates the direction in which the magnetic component moves.
  • the abscissa D represents the relative distance between the magnetic component and the reed switch.
  • the reed switch circuit can be turned on to generate a corresponding induction signal. Therefore, when the reed switch generates an induction signal, it can reflect that the sewage outlet 121 at the bottom of the sewage barrel 12 and the inlet 214 of the sewage tank of the base station 11 are in a connected state.
  • the above 101 "Detecting whether the cleaning equipment is located at the set position at the base station” may specifically include:
  • the base station 11 can sense the trigger component on the cleaning device through the sensing component on itself.
  • the sensing component is a reed switch or Take switching components such as Hall switching devices as an example.
  • a current signal i.e., the induction signal mentioned above
  • the base station 11 can store a current signal on the circuit where the monitored sensing component is located, generate a pair of access bit signals, and store the pair of access bit signals locally.
  • connection bit signal can reflect that the sewage outlet 121 at the bottom of the sewage tank 12 of the cleaning equipment and the inlet 214 of the sewage tank of the base station 11 are in a connected state.
  • the specific principle of circuit conduction within the sensing component please refer to the relevant content above.
  • the triggering component may be a magnetic component
  • the sensing component may be a switching component adapted to the magnetic component, such as a reed switch.
  • a specific implementation technical solution of the above 1011 "when sensing the trigger component on the cleaning equipment, generating an access bit signal" may include the following specific steps:
  • the above-mentioned sensing circuit may refer to the circuit where the sensing component is located.
  • the sensing circuit can be turned on.
  • the turn-on electrical signal present in the sensing circuit may be, but is not limited to, a current signal or a voltage signal.
  • the triggering component and the sensing component may also be of other types.
  • the triggering component can also be a reflector, and the sensing component can also be a photoelectric switch; or the triggering component can be an infrared generator, and the sensing component can be an infrared sensor, etc.
  • the sensing component sensing the triggering component in other types of situations, please refer to the existing content or the above-mentioned example content of the triggering component being a magnetic component provided in this embodiment, which will not be described again here.
  • a magnetic component is selected as the trigger component and a reed switch is selected as the sensing component.
  • the above-mentioned base station 11 can also generate an out-of-position signal when the trigger component on the cleaning equipment is not sensed.
  • the out-of-position signal can reflect that the sewage outlet 121 at the bottom of the sewage barrel 12 of the cleaning equipment is separated from the inlet 214 of the sewage tank of the base station 11 . That is, the above 101 "Detect whether the cleaning equipment is located at the set position at the base station" may also include the following steps:
  • Specific steps may include:
  • the above-mentioned sensing circuit may refer to the circuit where the sensing component is located on the base station.
  • the base station senses the Measure magnetic parts.
  • the sensing component does not sense the magnetic component
  • the circuit in the sensing component is disconnected, which also disconnects the sensing circuit.
  • the base station detects that there is no electrical signal on the sensing circuit. , generate an off-position signal, and cache the off-position signal locally.
  • the base station 11 can also generate the docking access signal,
  • the out-of-position signal is sent to the cleaning device 10 to provide data support for the cleaning device 10 to detect whether it is located at the base station 11.
  • the first preset time period may be 30s, 1min, or others, and is not limited here. If the duration of the access bit signal reaches the first preset duration and has not disappeared, it can indicate that the connection between the sewage outlet 121 at the bottom of the sewage tank 12 of the cleaning equipment and the inlet 214 of the sewage tank of the base station 11 is in a stable state. , for this reason, it can be determined that the cleaning equipment is located at the set position at the base station.
  • the communication connection implementation method between the base station 11 and the cleaning equipment 10 may include but is not limited to any of the following: wireless, wired, electrode (or contact).
  • the wireless method may include but is not limited to: Bluetooth, WIFI, near field communication, mobile network (such as 4G+, 5G+), etc.
  • Wired methods include but are not limited to wired communication connections established through signal data lines.
  • Electrode (or contact) methods include but are not limited to communication connections established by means of communication electrodes, charging electrodes, etc. Based on this, the above 102 "monitoring the communication link with the cleaning equipment" can be implemented by any of the following:
  • the charging circuit can be used to transmit communication signals by changing the charging mode.
  • the base station 11 is provided with two first charging electrodes, namely the first positive charging electrode A1 and the first negative charging electrode A2; accordingly, the cleaning device is provided with two second charging electrodes. , that is, the second charging positive electrode B1 and the Two charging negative electrodes B2; after the first charging electrode and the second charging electrode are connected, the thick black line in Figure 21a is formed.
  • the charging circuit shown is that the base station 11 can charge the cleaning device 10 through the charging circuit.
  • the two can use the charging circuit to transmit communication signals. Specifically, take the base station sending an instruction to start the self-cleaning function to the cleaning equipment as an example.
  • the power supply control device in the base station 11 converts the AC signal provided by the external power supply obtained.
  • the constant current charging signal is sent to the cleaning device 10 .
  • the controller in the base station 11 determines that the connection between the base station and the cleaning equipment is successful, it sends a switching instruction to the power supply control device.
  • the power supply control device can generate a pulse signal such as five pulse periods based on the received AC signal, and switch the power supply mode to the cleaning equipment 10 from the constant current power supply mode to the pulse power supply mode.
  • the power supply control device After generating a pulse signal with five pulse periods, the supplied charging signal is restored to a constant signal.
  • the charging signal at the second charging positive electrode B1 on the cleaning device 10 can be in the form as shown in Figure 21b, and then the charging signal flowing into the shunt can also be in the form as shown in Figure 21b.
  • the shunt is an electrical component containing a resistor with a small resistance. It uses the volt-ampere characteristics of the resistor. When a current signal flows through the resistor, a corresponding voltage signal will be generated at both ends of the resistor.
  • the processor in the cleaning device 10 can monitor the charging signal flowing into the shunt, and detect changes in the charging signal flowing into the shunt, and determine that the change information meets the following target requirements:
  • the cleaning equipment 10 can also change the charging mode of the battery through the charging control unit in the battery system to use the charging circuit to transmit communication signals to the base station 11, which will not be described in detail here.
  • the first electrical connection end for communication on the base station may be an electrical interface for wired communication, or it may be a contact-type communication electrode (or communication contact).
  • the cleaning device is provided with a second electrical connection terminal for connecting with the first electrical connection.
  • the first electrical connection end on the base station can receive the communication signal from the cleaning equipment, it can be indicated that the first electrical connection end on the base station and the second electrical connection end on the cleaning equipment have been electrically connected, that is, the base station and the second electrical connection end on the cleaning equipment have been electrically connected.
  • the cleaning equipment has established a communication link, and the communication link is stable and can meet the communication requirements. After the base station 11 determines that the base station 11 is successfully connected to the cleaning equipment, the base station 11 and the cleaning equipment can use the communication link to transmit communication signals to each other.
  • the base station and the cleaning equipment establish a communication connection using wireless communication.
  • the wireless communication connection is short-distance communication.
  • the base station can detect the wireless connection signal of the cleaning equipment, it means that the base station and the cleaning equipment have successfully established a communication link.
  • the communication link can be directly considered to meet the communication requirements, or it can Further determine whether the signal strength of the communication signal transmitted on the communication link is greater than or equal to the preset threshold, and when the signal strength is greater than or equal to the preset threshold, determine The specified communication link meets the communication requirements.
  • the above (4) is similar to the above (1).
  • communication signals can also be transmitted by changing the charging mode.
  • the base station 11 uses its own wireless charging transmitting device to charge the cleaning equipment 10, it allows the AC charging signal to pass through the coil to generate a constantly changing magnetic field (AC charging signal); this changing magnetic field is After the wireless receiving device of the cleaning equipment 10 receives it, it will generate an AC charging signal in the local induction coil. Furthermore, the cleaning equipment 10 rectifies and stabilizes the AC charging signal to charge the battery.
  • AC charging signal constantly changing magnetic field
  • the base station 11 determines that it is successfully connected to the cleaning equipment.
  • the cleaning equipment needs to send an instruction to start the self-cleaning function, it can perform a rectification switching operation to generate a pulse signal with, for example, five pulse periods based on the AC charging signal.
  • the pulse signal passes through the wireless
  • the coil in the transmitting device can generate a magnetic field with a constant magnetic field direction but constantly changing magnetic field intensity.
  • the changing magnetic field is received by the wireless receiving device of the cleaning device 10, and a corresponding pulse signal is generated in its local induction coil.
  • the base station 11 can restore the provided charging signal to an AC charging signal. From the above, the charging signal received by the wireless receiving device on the cleaning equipment 10 may be in the form as shown in FIG. 22 .
  • the processor in the cleaning device 10 can monitor the charging signal received by the wireless receiving device, and detect changes in the charging signal received by the wireless receiving device, and determine that the change information meets the following target requirements:
  • Reverse wireless charging refers to using technical means to convert the inductor coil integrated inside the cleaning device 2 into an output mode to provide power to the base station 11 .
  • the wireless receiving device of the cleaning equipment 10 is transformed from the receiving end to the transmitting end, and the wireless transmitting device of the base station 11 is transformed from the transmitting end to the receiving end.
  • the cleaning device 10 can reverse wirelessly charge the base station 11 within a preset time, and resume after the preset time is reached.
  • the original wireless charging mode accordingly, the base station 11 can start the timing when detecting a change in the wireless charging mode, and after the timing reaches the preset time, detect that the wireless charging mode returns to the original state, and determine that the cleaning device has been received. Send a start command to start filling water into the clean water bucket 1021.
  • the preset time period may be 10s, 25s, or others, and is not limited here.
  • steps 103 to 104 above please refer to the relevant content described in steps 101 to 102 above.
  • the base station 11 activates the cleaning function to assist the cleaning equipment 10 in self-cleaning, which may include but is not limited to at least one of the following functions:
  • the timing for starting at least one of the above items may be determined by the base station based on the received instruction sent by the cleaning equipment.
  • the relevant content in the embodiments of the self-cleaning method for cleaning equipment provided by this application that is, the content related to the embodiments shown in Figures 15a to 17), here No details will be given.
  • the base station detects whether the cleaning equipment is located at the set position at the base station, and detects the communication link with the cleaning equipment.
  • the base station detects that the cleaning equipment is located at the set position and the communication link complies with the communication
  • it is determined that the base station and the cleaning equipment are successfully connected and further sends an instruction to start the self-cleaning function to the cleaning equipment through the communication link, and starts the cleaning function to assist the self-cleaning of the cleaning equipment.
  • the base station in this solution has the function of identifying whether the connection with the cleaning equipment is successful and can automatically start the cleaning function, which simplifies the cleaning operation and improves the user experience.
  • the execution of the above steps 101 to 102 may be triggered when it is detected that the user inputs an instruction to start cleaning the cleaning equipment. That is, the method provided by this embodiment may also include the following steps:
  • the user determines that the user has entered an instruction to start cleaning the cleaning equipment when at least one of the following events is monitored: the user manipulates the target control (such as the self-cleaning function control); the user issues a specified Semantic speech voice control events, such as a user uttering a voice to start cleaning.
  • the target control such as the self-cleaning function control
  • the user issues a specified Semantic speech voice control events, such as a user uttering a voice to start cleaning.
  • the present application also provides embodiments of a cleaning system and a base station respectively. specifically,
  • the cleaning system includes: a base station 11 and a cleaning device 10; wherein,
  • the base station 11 is used to detect whether the cleaning equipment is located at the set position at the base station; detect the communication link with the cleaning equipment; if it is detected that the cleaning equipment is located at the set position, and the communication link If the road meets the communication requirements, it is determined that the base station and the cleaning equipment are successfully connected; an instruction to start the self-cleaning function is sent to the cleaning equipment through the communication link; and the cleaning function to assist the self-cleaning of the cleaning equipment is started.
  • the cleaning device 10 is configured to activate the self-cleaning function in response to an instruction sent by the cleaning device to activate the self-cleaning function.
  • the structure of a base station provided by this application is the structure of the base station 11 shown in Figure 13c.
  • the base station includes: a base station body and a base for carrying cleaning equipment.
  • a controller and a memory are provided on the base station body; the memory is used to store computer programs, and the controller is coupled to the memory.
  • To execute the computer program it is used to execute the steps in the embodiment of the equipment self-cleaning startup method shown in Figure 19 of this application.
  • the cleaning equipment is It can also be executed by the device 10.
  • another embodiment of the present application also provides a device self-cleaning startup method, which is suitable for cleaning equipment.
  • the method provided by this embodiment can be implemented by the cleaning device 10. It is implemented by setting up a controller (not shown in the figure), where the controller can be but is not limited to a microcontroller, a microcontroller, a CPU, etc. specifically,
  • the equipment self-cleaning startup method includes the following steps:
  • the implementation of the above 201 "Detecting the communication link with the base station” may specifically include but is not limited to any of the following:
  • the cleaning device 10 in the above 202, in an embodiment, as shown in Figure 13c and Figure 13d, in the case where the base station 11 is still provided with the sensing component 219 and the cleaning device 10 is still provided with the trigger component 125, if the cleaning device A communication link has been established with the base station and the communication link meets the communication requirements.
  • the cleaning device 10 can determine whether it is located at the set position at the base station based on the received access signal sent by the base station 11 .
  • the cleaning device 10 may be provided with a sensing component
  • the base station 11 may be provided with a trigger component; specifically, referring to Figure 13a, the trigger component (not shown in the figure) may be disposed on the base station 11 toward the cleaning On one side of the equipment 10, more specifically, the trigger component can be disposed on the side of the base station 11 facing the cleaning equipment 10 and close to the sewage inlet 214 of the sewage trough; correspondingly, the sensing component (not shown in the figure) It can be arranged on the sewage tank 12 of the cleaning equipment 10 and at a position close to the sewage outlet 121 at the bottom of the sewage tank.
  • the cleaning device 10 can determine whether it is located at the set position at the base station 11 by sensing the trigger component on the base station 11 .
  • the above 201 "determining whether it is located at the set location at the base station" may specifically include any of the following implementation methods:
  • Method 1 When the docking position signal sent by the base station is received through the communication link, and the off-position signal sent by the base station is not received for a first period of time, it is determined to be at the set position;
  • Method 2 When the trigger component on the base station is sensed, an alignment bit signal is generated. If the alignment bit signal continues for the first preset period of time and does not disappear, it is determined to be at the set position.
  • the triggering component on the base station can be a magnetic component
  • the sensing component on the cleaning device can be a switch-type component, such as a reed switch.
  • a specific implementation technical solution of "generating an access bit signal when the trigger component on the base station is sensed" mentioned above may include the following steps:
  • the cleaning equipment can detect the communication link with the base station and determine whether it is located at the set position at the base station; and can determine that the communication link meets the communication requirements and is at the set position.
  • the self-cleaning function is automatically started, and a start command is sent to the base station through the communication link, so that the base station starts the cleaning function that assists the cleaning equipment in self-cleaning.
  • the cleaning equipment in this solution has the function of identifying whether the connection with the cleaning equipment is successful and can automatically start the cleaning function, which effectively simplifies the cleaning operation and improves the user experience.
  • the method provided in this embodiment may also include the following steps:
  • the user determines that the user has entered an instruction to start the self-cleaning function when at least one of the following events is detected: the user manipulates the target control (such as the self-cleaning function control); the user issues a specified semantic voice Voice control events, such as the user's voice to start self-cleaning.
  • the target control such as the self-cleaning function control
  • Voice control events such as the user's voice to start self-cleaning.
  • the present application also provides embodiments of a cleaning system and a cleaning equipment respectively. specifically,
  • the cleaning system includes: a base station 11 and a cleaning device 10; wherein,
  • Cleaning equipment 10 is used to detect the communication link with the base station; determine whether it is located at the set position at the base station; if the communication link meets the communication requirements and is determined to be at the set position, start the self-cleaning function ;Sending a startup instruction to the base station through the communication link;
  • the base station 11 is configured to, in response to the starting instruction, start the cleaning function that assists the self-cleaning of the cleaning equipment.
  • the structure of a cleaning device provided by this application is similar to the structure of the cleaning device 10 shown in Figures 13a and 13b.
  • the cleaning equipment includes: an equipment body and a controller and a memory provided on the equipment body; the memory is used to store a computer program, and the controller is coupled to the memory and used to execute the computer program to use To execute the steps in the embodiment of the equipment self-cleaning startup method shown in Figure 23 of this application.
  • the connection between the household base station and the cleaning equipment is unsuccessful, so that the user can check the connection between the cleaning equipment and the base station based on the prompt information.
  • the prompt information is but not limited to one or a combination of voice, text, pictures, characters, numbers, etc. For example, if it is determined that the communication link between the base station and the cleaning equipment does not meet the requirements, for example, the base station and the cleaning equipment are connected by wired communication, and the communication signal transmitted on the communication link is unstable, you can output something like "Please check the communication" "Voice prompt” to see if the cable connection is loose.
  • the user has a handheld floor cleaning machine (hereinafter referred to as the cleaning machine) at home.
  • the system structure of the cleaning machine is similar to that shown in Figure 13a and Figure 13b. That is, the cleaning machine includes a cleaning machine 10 and a base station 11.
  • the base station 11 and the cleaning machine 10 communicate through Bluetooth, and the Bluetooth of both is in an open state; the cleaning machine 10 is provided with a trigger component (which is a magnetic component), and the specific setting is The location can be found in the relevant description above.
  • the user turns on the power switch of the cleaning machine 10 to clean the floor.
  • the user places the cleaning machine 10 on the base station 11 and presses the functional control on the base station 11 for starting the cleaning machine 10 .
  • the base station 11 detects whether the cleaning machine is at the set position by sensing the trigger component on the cleaning machine 10, and detects the functional program of the communication link with the cleaning machine by detecting the Bluetooth signal of the cleaning machine 10. . After detection, it is determined that the cleaning machine is at the set position, and has successfully established a communication link with the cleaning machine through Bluetooth and meets the communication requirements, thus confirming that the connection with the cleaning machine is successful; further, a message will be sent to the cleaning machine via Bluetooth.
  • the command to start the self-cleaning function will also start the cleaning function that assists the cleaning machine in self-cleaning, such as activating the function of opening the sewage outlet at the bottom of the sewage barrel on the cleaning machine to discharge the dirt in the sewage barrel.
  • Dirt can be but is not limited to dirt, solid garbage, etc.
  • the roller brush in the floor washer cooperates with the clean water tank of the floor washer. After the roller brush sprays clean water from the clean water tank, it cleans the dirty area to be cleaned. The sewage generated after cleaning is sucked into the sewage tank of the floor washing machine.
  • a base station can be set up for the floor washing machine. After cleaning, the user can place the floor scrubber on the base station, or the floor scrubber can automatically move to the base station.
  • the base station can be used to replenish clean water to the clean water tank and discharge sewage from the sewage tank. Users can also activate the self-cleaning function of the floor washing machine to systematically clean the drainage pipes, roller brushes and other parts inside the floor washing machine.
  • FIG. 24 is a schematic structural diagram of a cleaning device.
  • FIG. 25 is a schematic cross-sectional view of the base station 11 in the cleaning equipment shown in FIG. 24 .
  • the cleaning equipment 100 includes a cleaning component 110 (that is, the above-mentioned floor scrubber 10 ) and a base station 11 .
  • the base station 11 is used to place the cleaning component 110 .
  • the cleaning component 110 and the base station 11 may be detachable structures.
  • the cleaning component 110 is used to clean the area to be cleaned, and may be a handheld vacuum cleaner, a handheld cleaning machine, a sweeping robot, a floor washing machine or a surface cleaning equipment, etc.
  • the base station 11 is used to clean the cleaning component 110 .
  • the base station 11 may be a fixed base station.
  • the base station 11 may be
  • the base station 11 may also be a mobile base station.
  • the base station 11 may be provided with rollers at the bottom, and the base station 11 may be passively moved under the push of the user.
  • the base station 11 may also include a self-moving device that can move by itself according to instructions issued by the user or the cleaning component 110 .
  • the base station 11 can be connected to an external water source and use the external water source to clean the cleaning component 110 .
  • the base station 11 may include a water inlet 1232, and the water inlet 1232 of the base station 11 is connected to an external water source.
  • the base station 11 is a fixed base station
  • the user can introduce a tap water pipe at the location of the fixed base station 11.
  • the water inlet 1232 on the base station 11 can be connected to the tap water pipe, and water can be injected into the base station 11 through the tap water pipe.
  • the user can move the base station 11 to an external water source (such as a water pipe), and then connect the water inlet 1232 of the base station 11 to the external water source through a flexible hose, and then supply water to the base station 11 through the external water source. Inject water.
  • an external water source such as a water pipe
  • the user can set up a signal identification device at an external water source.
  • the signal identification device can regularly send signals to the outside.
  • the base station 11 can learn the location of the signal identification device. Specific location, and then the base station 11 can move to the above-mentioned external water source by itself.
  • the base station 11 can move to the above-mentioned external water source by itself.
  • the user can connect the water inlet 1232 of the base station 11 with the external water source, and inject water into the base station 11 through the external water source.
  • a matching docking device is provided between the external water source and the water inlet 1232 of the base station 11.
  • the water inlet 1232 of the base station 11 can automatically dock with the external water source.
  • a signal identification device can be set in the cleaning component 110, and the signal identification device can regularly send signals to the outside.
  • the base station 11 receives the above signal, the base station 11 can learn the specific location of the cleaning component 110, and then The base station 11 can move to the vicinity of the cleaning component 110 on its own. Therefore, the base station 11 can move following the movement of the cleaning component 110, so that the base station 11 is always located near the cleaning component 110.
  • the user can quickly find the base station 11, which improves cleaning efficiency. .
  • the base station 11 can discharge the water flow. Therefore, the base station 11 can also be provided with a sewage outlet 121, and the sewage outlet 121 can be connected to the sewer pipe arranged in the home. , introduce sewage into the urban sewage system through sewer pipes. Similar to the water inlet 1232 of the base station 11, the sewage outlet 121 of the base station 11 is connected to the sewer pipe. In some application scenarios, if the base station 11 is a fixed base station, the sewage outlet 121 is directly connected to the sewer pipe, and sewage is discharged to the sewer pipe through the sewage outlet 121 .
  • a connecting pipe can be provided between the sewage outlet 121 and the sewer pipe, and the sewage is discharged to the sewer pipe through the sewage outlet 121 and the connecting pipe.
  • the base station 11 is a mobile base station
  • the user can move the base station 11 to the sewer pipe, or the mobile base station 11 can move to the sewer pipe, so that the sewage outlet 121 is connected to the sewer pipe, and the sewage outlet 121 is connected to the sewer pipe.
  • 121 Discharge sewage into sewer pipes.
  • the cleaning component 110 and the base station 11 may include structural members (not shown) that fit with each other, and the structural members include:
  • the base station 11 can fix the cleaning component 110 through the above-mentioned structural components such as limiting components, buckles, elastic components, etc. to prevent the cleaning component 110 from detaching from the base station 11 .
  • the cleaning component 110 includes a clean water tank 1021, a sewage tank 12, and a roller brush assembly 113.
  • the clean water tank 1021 and the roller brush assembly 113 may be connected through a clean water pipe (not shown).
  • clean water from the clean water tank 1021 flows through the clean water pipe to the roller brush assembly 113, and the roller brush assembly 113 rotates to clean the area to be cleaned. Afterwards, the sewage in the area to be cleaned can be pumped into the sewage tank 12 .
  • the base station 11 may include a base 22 and a body 23.
  • the body 23 is provided with a water inlet device 233 and a sewage discharge device 234 that are isolated from each other.
  • the roller brush assembly 113 is at least partially located within the recess 235 formed on the upper surface of the base 22 .
  • the base station 11 can charge the cleaning component 110 in a wired or wireless manner.
  • a wireless charging transmitter (TX) 236 may be provided in the recess 235, and a wireless charging receiver (RX) may be provided at the bottom of the cleaning component 110.
  • TX wireless charging transmitter
  • RX wireless charging receiver
  • the water outlet end 1231 of the water inlet device 233 may be provided with a water inlet valve.
  • the water inlet valve located at the water outlet end 1231 of the water inlet device 233 can be opened, so that the water inlet device 233 is connected with the clean water tank 1021, and the water from the water inlet device is injected into clean water. Box 1021.
  • the water inlet device 233 may also include a clean water container 1233.
  • the water inlet 1232 is connected to an external water source. The water flow injected from the water inlet 1232 can be stored in the clean water container 1233.
  • the cleaning component 110 is placed on the base 22 of the base station 11 and the water inlet valve located at the outlet 1231 of the water inlet device 233 is opened, the water contained in the clean water container 1233 can be injected into the clean water tank 1021 .
  • the water inlet end 1241 of the sewage discharge device 234 may be provided with a water inlet valve.
  • the sewage device 234 may also include a sewage container 1243 and a sewage tank 1244.
  • the water inlet valve located at the water inlet end 1241 of the sewage device 234 can be opened, so that the sewage tank 12 is connected to the sewage device 234 .
  • the sewage in the sewage tank 12 can flow out of the cleaning equipment 100 through the inlet end 1241 of the sewage device 234, the sewage container 1243, the sewage tank 1244, and the sewage outlet 121.
  • the drainage channel 1244 may be disposed along a horizontal direction or approximately along a horizontal direction.
  • embodiments of the present application provide a clogging detection method and a base station for cleaning equipment.
  • the blockage detection method provided by the embodiment of the present application will be described below with reference to FIG. 26 .
  • Figure 26 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • the clogging detection method shown in Figure 26 can be specifically applied to electronic equipment with a clogging detection function.
  • the sensor may be a water immersion sensor.
  • the sensor may include an optical element and a light emitter and a light receiver disposed within the optical element.
  • Optical elements are used to reflect light from a light transmitter to a light receiver. The reflectivity of the optical element to the light emitted by the light emitter is different when the optical element is immersed in liquid versus when the optical element is not immersed in liquid.
  • the detection result of the sensor can be determined based on the relationship between the voltage signal output by the sensor and the preset voltage.
  • the voltage signal output by the sensor can be positively or negatively correlated with the light intensity of the light received by the light receiver.
  • the light emitter may be a light-emitting diode (LED).
  • abnormal indication information is output.
  • the abnormal indication information is used to indicate that the sewage bucket is clogged and is required for the cleaning equipment to perform drainage-related processing.
  • the duration is less than the second target threshold.
  • the length of time required for drainage-related processing can be understood as the length of time required to complete the drainage-related processing under normal conditions, that is, when no blockage occurs.
  • the abnormal indication information can also be used to remind the user to deal with the clogging of the sewage bucket.
  • the exception indication information may also be used to instruct to stop ongoing drainage-related processing.
  • a sensor is set in the sewage bucket of the cleaning equipment, and the second target threshold value is set according to the time required for the cleaning equipment to perform drainage-related processing, so that the second target threshold value is greater than the time required for drainage-related processing. , thus, if the length of time the sensor is immersed is greater than or equal to the second target threshold, that is, greater than the time required for the cleaning equipment to perform drainage-related processing, it can be determined that the sewage bucket is blocked, making the blockage detection more timely and accurate.
  • the number of target time periods in the immersion period can be one or more.
  • the immersion duration of the immersion time period can be understood as the length of the target time period.
  • the length of the time interval between two adjacent target time periods is less than the first target threshold, and during the time interval, the sensor detects The result indicates that there are multiple target time periods in the time period when the sensor is not immersed. That is, there are one or several time intervals between the target time periods in which the detection results indicate that the sensor is not immersed.
  • the immersion duration can be as follows: One of three calculation methods: 1) The immersion duration includes the time interval between the target time periods: 2) The immersion duration does not include the time interval between the target time periods.
  • the immersion duration is the sum of each target time period and the time interval. That is to say, the immersion duration can be expressed as the duration between the start time of the first target time period and the end time of the last target time period among the multiple target time periods.
  • timing can be performed when the test result indicates that the sensor is submerged. If the detection results indicate that the sensor is not immersed during the timing process, the timing does not stop immediately until the time length set by the first target threshold is reached. During this period, the detection results indicate that the sensor is not immersed, and the timing is cleared. 0. When subsequent detection results indicate that the sensor is immersed again, the timer will restart from 0. In other words, the above timing process starts when the detection result indicates that the sensor is immersed, and the timing result can be used as the immersion duration. After the detection result indicates that the sensor is not immersed during the timing process, the timing will not stop until a detection period that exceeds the first target threshold and is not immersed occurs, then the timing result will be cleared and the next detected sensor will be detected. The timer starts again at the submerged state.
  • the immersion duration is the accumulation of the duration of the target time period. That is, the time interval between target time periods can be deducted from the calculation of immersion duration.
  • the immersion duration can be determined by accumulating the timing durations of each target time period. Specifically, when the detection result indicates that the sensor is immersed for the first time, timing can be performed. If the detection results indicate that the sensor is not submerged during the timing process, the timing can be stopped. If the detection result indicates that the sensor is submerged within the first target threshold after stopping timing, timing can continue based on the previous timing data. If after stopping the timing, the time length set by the first target threshold has elapsed, and the detection result always indicates that the sensor is not immersed, then the timing result is cleared to zero. When the detection result indicates that the sensor is immersed again, the value is reset from 0 Start timing again.
  • the actual time is to combine the adjacent continuous time periods in which immersion occurs; the reason why the above method is used is to avoid detection burrs caused by unstable water flow in the case of blockage. In order to detect blockage in time.
  • the immersion duration of the immersion period is determined according to the detection result of the sensor provided in the sewage bucket of the cleaning equipment, wherein the detection result of the sensor is used to indicate whether the sensor is immersed in liquid, and the immersion period includes at least one target time period.
  • the detection result of the sensor indicates that the sensor is immersed.
  • the length of the time interval is less than the first target threshold, in which the detection result of the sensor indicates that the sensor is not immersed; in the case where the immersion duration is greater than or equal to the second target threshold , output abnormal indication information, the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • the above clogging detection method has the following advantages: a second target threshold value is set, and the time required for the cleaning equipment to perform drainage-related processing is ensured to be less than the second target threshold value; and, taking into account the process of drainage-related processing, Water flows through the sensor. The flow rate and stability of the water flow will affect the detection results of the sensor. Therefore, during the clogging detection process During the process, the characteristics of drainage-related processing of cleaning equipment are fully considered.
  • the time period is timed to determine the immersion duration; in the above Under the premise, it is determined that there is a blockage only after it is detected that the immersion time exceeds the second target threshold value, thereby making the judgment of whether the sewage bucket in the cleaning equipment is blocked more timely and accurate.
  • Figure 31 shows a specific detection process, which will be described below with reference to Figure 31.
  • the detection results of the sensor as shown in Figure 31 represent the magnitude of the sensor output voltage at each point in time.
  • the output voltage of the sensor is greater than the preset voltage V1
  • the output voltage of the sensor is less than or equal to the preset voltage V1
  • the water surface covers the water immersion sensor. Therefore, during the T1 time period, the water immersion sensor outputs a small voltage value, which is less than or equal to the preset voltage V1.
  • the output of the water immersion sensor is sometimes a larger voltage value V0, and sometimes is a smaller voltage value.
  • the voltage value V0 is greater than the preset voltage V1, and a smaller voltage value may refer to a voltage value that is less than or equal to the preset voltage V1.
  • the output voltage of the sensor may jump from the voltage value V0 to a voltage value less than the preset voltage V1, and then jump from a voltage value less than the preset voltage V1 to the voltage value V0.
  • the immersion duration is not reset after this time interval, which can effectively filter out burrs in the sensor detection results, eliminate errors, and make the obtained immersion duration more accurate. for accuracy.
  • the length of the two time periods when the voltage value output by the water immersion sensor is less than the preset voltage value is x1 and ⁇ x3.
  • the voltage value output by the water immersion sensor is greater than the preset voltage value
  • the time length of the time period in which the voltage value output by the water immersion sensor is greater than the preset voltage value is ⁇ x2 .
  • the immersion duration can be expressed as ⁇ x1+ ⁇ x3, or the immersion duration can be expressed as ⁇ x1+ ⁇ x2+ ⁇ x3.
  • water flow may flow through the sensor, and the flow rate and stability of the water flow will affect the detection results of the sensor.
  • the detection result indicates that the sensor is immersed.
  • the immersion time period only includes one target time period, or the time interval between adjacent target time periods in the immersion time period is less than the first target threshold, and the detection result of the sensor within the time interval indicates that the sensor is not immersed. That is to say, during the period of time corresponding to the immersion time period, the sensor is continuously or intermittently in a immersed state.
  • the time required for the cleaning equipment to perform drainage-related processing is less than the second target threshold. Therefore, under normal circumstances, the immersion duration is less than the second target threshold. If the immersion duration exceeds the second target threshold, the sewage bucket of the cleaning device is clogged.
  • the time period is timed to determine the immersion duration, and it is determined that there is a blockage after the immersion duration exceeds the second target threshold value.
  • the second target threshold value is greater than the time required for the cleaning equipment to perform drainage-related processing, so that whether the sewage barrel in the cleaning equipment is The judgment of blockage is more timely and accurate.
  • the sewage tank includes a sewage tank located in the cleaning component of the cleaning equipment and a sewage discharge device located in the base station of the cleaning equipment.
  • the sewage discharge device is used to discharge liquid in the sewage tank.
  • the clogging detection method shown in Figure 26 can be applied to the base station, and the sensor can be located in the sewage device.
  • the clogging detection method described in Figure 26 can be applied to the cleaning component, and the sensor can be located in the sewage tank.
  • the device and sensor for executing the method shown in Figure 26 are both located at the base station or cleaning component, so that the device and sensor for executing the method shown in Figure 26 can communicate through a bus or other wired means, so that the device and sensor for executing the method shown in Figure 26 can communicate with each other. Communication between sensors has high timeliness and stability, improving the accuracy of detection results.
  • the abnormal indication information can be used to control the water inlet valve of the sewage device to close to stop the flow of liquid in the sewage tank to the sewage device.
  • blockage may occur in the sewage device.
  • the location of the sensor also affects the accuracy of blockage detection.
  • the following describes the location of the sensor settings.
  • the bottom of the sewage barrel can be provided with a sewage drain in the horizontal direction.
  • the sensor may be located at the bottom of the sewage trough and have a predetermined distance from the side wall of the sewage trough.
  • the sensor is set at the bottom of the sewage tank and can detect whether there is water in the sewage tank in time. By arranging the sensor at a predetermined distance from the side wall of the sewage tank, the impact of residual water on the side wall on the detection results of the sensor can be reduced.
  • the sensor is located at the opposite end of the sewage trough and the sewage outlet.
  • the sewage outlet is used to discharge the liquid in the sewage barrel. Solid waste tends to accumulate at the end close to the drain. Setting the sensor away from the drain can improve the accuracy of the detection results.
  • Step S301 may be started when the cleaning equipment performs drainage-related processing.
  • drainage instruction information can be obtained, and the drainage instruction information is used to instruct the execution of drainage-related processing.
  • the method of obtaining the drainage instruction information may be to receive the drainage instruction information or to generate the drainage instruction information.
  • S301 may be performed. That is to say, in the case of obtaining the drainage instruction information, S301 can be performed.
  • the first target threshold may be preset, or may be determined based on the drainage indication information.
  • the drainage indication information may be used to indicate the type of drainage-related processing performed. According to the type indicated by the drainage instruction information, the first preset threshold value corresponding to the type may be used as the first target threshold value.
  • the second target threshold may be preset, or may be determined based on the drainage indication information.
  • Different types of drainage-related processing may correspond to different second preset threshold values.
  • the drainage indication information may be used to indicate the type of drainage-related processing performed.
  • the second preset threshold value corresponding to the type may be used as the second target threshold value.
  • the immersion duration may no longer be determined. That is to say, after acquiring the drainage indication information and passing the third preset threshold, the sensor may stop detecting.
  • the third preset threshold value may be greater than each second preset threshold value.
  • Figure 27 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • the clogging detection method shown in Figure 27 can be specifically applied to electronic equipment with a clogging detection function.
  • the electronic device may be located in the base station of the cleaning device.
  • the cleaning equipment may include a base station and cleaning components.
  • the cleaning component is provided with a sewage tank, and the base station is provided with a sewage discharge device.
  • the sewage discharge device is provided with a sewage discharge port for discharging liquid in the sewage discharge device.
  • the sewage outlet can be connected to the sewer pipe.
  • the water inlet valve of the sewage device can be opened to allow the liquid in the sewage tank to flow through the sewage device and be discharged.
  • the sewage device is equipped with a water immersion sensor.
  • the water immersion sensor includes an optical element 501 and a light emitter 502 and a light receiver 503 located within the optical element 501 .
  • Optical element 501 may be optical.
  • the light emitter 502 When the liquid does not immerse the water immersion sensor, the light emitter 502 emits light, and the light is reflected by the optical element 501 and transmitted to the light receiver 503.
  • the light emitted by the light emitter 502 irradiates the surface of the optical element 501, and is refracted and reflected on the surface of the optical element 501.
  • the light transmitted to the receiver 503 decreases, and the light energy received by the receiver 503 decreases.
  • Water immersion sensors convert optical signals into electrical signals. When the liquid does not immerse the water immersion sensor, the light signal received by the light receiver 503 is stronger and the output voltage is higher. When the liquid is submerged in the water immersion sensor, the light transmitted to the light receiver 503 is reduced, the light energy received by the light receiver 503 is reduced, and the voltage output by the light receiver 503 is lower.
  • the voltage output by the water immersion sensor can be an analog signal.
  • An analog-to-digital (AD) converter can be connected to the output end of the water immersion sensor to convert the analog signal output by the water immersion sensor into a digital signal.
  • the water immersion sensor 610 is provided with a power port 601, a ground port 602 and an output port 603.
  • the power port 601 is used to connect the DC power supply VD
  • the ground port 602 is used to connect the ground potential.
  • the voltage of the DC power supply VD may be, for example, 3.3 volts (V).
  • the output port 603 can be understood as an open circuit.
  • the output port 603 may be connected via a series resistor R and capacitor C connected to ground potential, resistor R can be 1 kilofarad (ko), and capacitor C can be 0.1 microfarad (uF).
  • connection point between resistor R and capacitor C can be connected to an analog to digital converter (analog to digital, AD) 620.
  • the analog-to-digital converter 62 is used to convert the voltage value between the resistor R and the capacitor C into a digital output.
  • the preset voltage can be greater than or equal to the output voltage of the water immersion sensor when the water immersion sensor is immersed in clean water. For example, when the water immersion sensor is immersed in clean water, the voltage value output by the water immersion sensor is 0.8 volts (V), and when sewage is immersed in the water immersion sensor, the voltage value output by the water immersion sensor is 0.4V, then the preset voltage can be set to 0.8 V, 0.9V or 1V.
  • the location of the water immersion sensor in the sewage device can be seen in Figure 30.
  • the bottom of the sewage device 700 may be provided with a sewage tank 710, and the sewage tank 710 may be arranged horizontally.
  • Horizontal setting can also be understood as approximately horizontal setting, that is, the angle between the sewage trough and the horizontal direction is smaller, for example, smaller than a preset angle.
  • the water immersion sensor 720 may be disposed at the bottom of the sewage tank.
  • the light dimension of the water immersion sensor 720 may protrude from the bottom of the drain tank.
  • the sewage outlet is used to discharge liquid from the sewage device.
  • the sewage outlet can be used to connect to the sewer pipe to introduce the sewage discharged from the base station into the urban sewage system. Solid waste in the sewage device tends to accumulate on the side close to the sewage outlet, causing the sewage device to become clogged.
  • the detection result of the water immersion sensor 720 may show that the water immersion sensor 720 is submerged.
  • the sewage discharge device may not be obviously clogged at this time, resulting in an inaccurate determination of whether the sewage discharge device is clogged based on the detection result of the water immersion sensor 720 .
  • the water immersion sensor 720 can be disposed at an end of the sewage trough away from the sewage outlet, so that the determination result of whether the sewage device is blocked based on the detection result of the water immersion sensor 720 is more accurate.
  • the water immersion sensor 720 When the light dimension of the water immersion sensor 720 protrudes from the bottom of the sewage trough, locating the water immersion sensor 720 at an end of the sewage trough away from the sewage outlet can reduce the possibility of solid waste in the sewage being blocked by the water immersion sensor.
  • the water immersion sensor 720 may be located away from the side wall of the drain tank. There may be residual water on the side wall of the sewage tank. In order to prevent the residual water on the side wall of the sewage tank from affecting the judgment result, the water immersion sensor 720 can be installed at a position far away from the side wall of the sewage tank. That is to say, there is a certain gap between the water immersion sensor 720 and the side wall of the sewage tank.
  • the clogging detection method 400 shown in FIG. 27 includes S401 to S407.
  • the water immersion sensor can detect periodically or aperiodicly and send the detection results. Therefore, the device executing method 400 can continuously receive the detection results of the water immersion sensor.
  • the detection results of the water immersion sensor can be expressed as voltage values. When the voltage value is less than or equal to the preset voltage, it can be determined that the liquid is immersed in the water immersion sensor. When the voltage value is greater than the preset voltage, it can be determined that the water immersion sensor is not immersed in liquid.
  • the detection results can indicate whether the water immersion sensor is immersed in liquid.
  • the current detection result indicates that the water immersion sensor is not immersed in liquid
  • it is determined that the detection result obtained at the next moment can indicate whether the water immersion sensor is immersed in liquid.
  • S402 may be performed.
  • a timer is started to record the immersion duration.
  • the timer will remain on.
  • S403 may be performed.
  • the timer is turned off to stop recording the immersion duration.
  • the preset time interval may be a preset first target threshold, for example, 100 milliseconds (ms).
  • the timer is restarted and the immersion duration is re-recorded.
  • the detection result indicates that the water immersion sensor is submerged by the water immersion sensor.
  • factors such as unstable flow of liquid flowing through the water immersion sensor
  • the cumulative calculation of the immersion duration in the two target time periods can effectively filter out the detection of the water immersion sensor.
  • the burrs in the results are eliminated, making the obtained immersion duration more accurate.
  • the immersion duration can be compared with the preset duration, and S407 can be performed.
  • a rear water inlet valve can be installed at the water inlet of the sewage device.
  • the abnormal indication information can be used to control the water inlet of the sewage device.
  • the valve is closed to stop the flow of liquid in the sewage tank to the sewage device.
  • a drain valve can be provided at the drain outlet of the sewage tank of the cleaning component.
  • the abnormal indication information can be used to control the closing of the drain valve of the sewage tank to stop the flow of liquid in the sewage tank to the sewage device.
  • the preset duration may be a preset second target threshold.
  • the preset duration may be determined based on the length of time required for the drainage-related treatment process.
  • Treatment processes related to drainage include drainage of sewage tanks, self-cleaning of sewage devices, etc.
  • the preset time period may be longer than the time required for the drainage-related treatment process.
  • the cleaning component is placed on the base station, and the liquid in the sewage tank of the cleaning component is discharged from the cleaning equipment through the sewage device.
  • the required time is at most 8 seconds (s). That is, the maximum time for draining the sewage tank is 8 seconds.
  • the water in the base station water storage tank flushes the sewage device, and the time required to realize self-cleaning of the sewage device is 12 seconds.
  • the preset time should be greater than the time required for drainage of the sewage tank and greater than the time required for self-cleaning of the sewage device. Therefore, the default duration should be greater than 12s. For example, the preset duration can be 15s. Therefore, when the immersion time is less than or equal to 15 seconds, it can be determined that the sewage discharge device is not blocked; and when the immersion time is longer than 15 seconds, it can be determined that the sewage discharge device is blocked.
  • the immersion time is accumulated and calculated.
  • the immersion time exceeds the preset time, the sewage discharge is determined.
  • the device is blocked and abnormal indication information is output.
  • the detection result of the water immersion sensor indicates that the output voltage value of the water immersion sensor is less than 0.8V in each target time period when the sensor continues to be immersed.
  • the time intervals between each target time period are less than 100ms.
  • the cleaning equipment performs two different processes related to drainage, and there may be a time interval between the two processes, and the time interval may be greater than or equal to the preset time interval.
  • the time interval between the time point when the drainage of the sewage tank of the cleaning equipment ends and the time point when the sewage discharge device starts cleaning can be greater than or equal to the preset time interval.
  • the second drainage-related processing process is performed.
  • the water immersion sensor set in the drainage device detects no detection after the first drainage-related process.
  • the time length of being immersed in water is greater than the preset time interval, so the timer can be restarted and the immersion time length can be recorded again. Therefore, the immersion duration can be re-recorded after the start of the second drainage-related treatment. Setting a time interval greater than or equal to the preset time interval between two drainage-related processes makes the recorded immersion duration more accurate.
  • the timer when it is determined in S404 that the time interval between the current time and the time when the last detection result indicates that the water immersion sensor is immersed in liquid is less than the preset time interval, the timer can be adjusted to the timer.
  • the sum of the immersion duration recorded by the device and this time interval That is to say, the sum of the immersion duration recorded by the timer and the time interval can be used as the new immersion duration, and the immersion duration can be continued to be recorded.
  • Figure 33 is a schematic flow chart of a blockage detection method provided by an embodiment of the present application.
  • the clogging detection method shown in Figure 33 The method can be specifically applied to electronic equipment with clogging detection function.
  • S1001 obtain the detection result of the sensor installed in the sewage bucket of the cleaning equipment at the detection time point.
  • the detection result of the sensor is used to indicate whether the sensor is immersed in liquid.
  • the detection time point is after the prediction end time point.
  • the predicted end time point is the predicted result at the time point when the cleaning equipment completes the drainage-related processing.
  • the predicted end time can be understood as the time when the cleaning equipment can complete drainage-related processing without clogging of the sewage barrel.
  • the cleaning equipment is expected to complete drainage-related processing at the predicted end time.
  • drainage processing indication information may be obtained, where the drainage processing indication information is used to indicate a starting time point at which the cleaning equipment starts to perform drainage-related processing.
  • the predicted end time point is determined based on the predicted processing duration of the drainage-related processing and the start time point.
  • the predicted processing time may be the maximum value of the processing time required for each type of drainage-related processing.
  • the drainage processing instruction information may also indicate the type of drainage-related processing and the start time point of the drainage-related processing of the type. According to the corresponding relationship, the predicted processing duration can be determined to be the processing duration corresponding to the type of drainage-related processing indicated by the drainage processing instruction information.
  • the time point after the start time point indicated by the drainage processing instruction information and the predicted processing duration has elapsed is the predicted end time point.
  • the detection time point can be determined, and the detection time point is after the prediction end time point.
  • the length of the time interval between the prediction end time point and the detection time point may be a preset value.
  • the predicted processing duration is the processing duration corresponding to the type of drainage-related processing indicated by the drainage processing instruction information
  • the length of the time interval between the predicted end time point and the detection time point may also be the same as that indicated by the drainage processing instruction information.
  • the treatment duration corresponding to the type of drainage-related treatment For example, for a certain type of drainage-related processing, the length of the time interval between the predicted end time point and the detection time point may be a preset proportion of the processing time of the type.
  • the device for executing the method described in Figure 33 can control the sensor to perform detection at the detection time point, thereby obtaining the detection result of the sensor at the detection time point.
  • the sensor may perform detection periodically or aperiodically, and send the detection results to the device executing the method described in FIG. 33 .
  • the device for executing the method described in Figure 33 can determine the detection result at the detection time point among the detection results at each time point of the sensor.
  • abnormal indication information is output, and the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • the exception indication information may be used to indicate that ongoing drainage-related processing is stopped. Abnormal indication information can also be used to remind users that the sewage bucket is clogged.
  • the sewage tank includes a sewage tank located in the cleaning component of the cleaning equipment and a sewage discharge tank located in the base station of the cleaning equipment.
  • the sewage device is used to drain the liquid in the sewage tank.
  • the sensor can be located in the sewage device or in the sewage tank.
  • the sensor may be a water immersion sensor.
  • the working principle and peripheral circuit of the sensor are shown in Figure 28 and Figure 29.
  • Figure 34 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
  • the cleaning equipment 1000 (that is, the above-mentioned floor washing machine 10) includes a sewage bucket 1101 (that is, the above-mentioned sewage bucket 12), a sensor 1102 and a clogging detection device 1103.
  • the clogging detection device 1103 may be used to perform the method described in FIG. 26, FIG. 27 or FIG. 33.
  • the sensor 1102 is arranged in the sewage bucket 1101, and the sensor 1102 is used to detect whether the sensor 1102 is submerged in liquid.
  • the clogging detection device 1103 is used to detect clogging of the sewage barrel 1101 based on the detection result of the sensor 1102.
  • a sewage tank is provided at the bottom of the sewage barrel 1101 along the horizontal direction, and the sensor 1102 is located at the bottom of the sewage tank and has a predetermined distance from the side wall of the sewage tank.
  • a sewage tank 1101 is provided with a sewage tank at its bottom along the horizontal direction.
  • the sensor 1102 is located at an end of the sewage tank opposite to the sewage outlet.
  • the sewage outlet is used to discharge the liquid in the sewage tank 1101 .
  • the clogging detection device 1103 is specifically configured to determine the immersion duration of the immersion time period according to the detection result of the sensor 1102, wherein the immersion time period includes a target time period, and in the target time period, the sensor 1102 The detection result indicates that sensor 1102 is submerged.
  • the clogging detection device 1103 is also used to output abnormal indication information when the immersion duration is greater than or equal to the second target threshold.
  • the abnormal indication information is used to indicate that the sewage bucket 1101 is clogged, and the cleaning equipment performs drainage tasks. The time required for the relevant processing is less than the second target threshold.
  • the length of the time interval between two adjacent target time periods is less than the first target threshold, and during the time interval, the sensor A detection result of 1102 indicates that sensor 1102 is not submerged.
  • the immersion duration is an accumulation of durations of the at least one target time period.
  • the clogging detection device 1103 is specifically configured to obtain the detection result of the sensor installed in the sewage bucket of the cleaning equipment at the detection time point.
  • the detection result of the sensor is used to indicate whether the sensor is immersed in liquid.
  • the time point is after the predicted end time point, which is the predicted result at the time point when the cleaning equipment completes the drainage-related processing.
  • the clogging detection device 1103 is also configured to output abnormal indication information when the detection result indicates that the sensor is submerged, and the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • the sewage bucket 1101 includes a sewage tank located in the cleaning component of the cleaning equipment and a sewage discharge device located in the base station of the cleaning equipment, the sewage discharge device being used to discharge the liquid in the sewage tank;
  • the method is applied to the base station, and the sensor 1102 is located in the sewage device.
  • the abnormality indication information is used to indicate that ongoing drainage-related processing is to be stopped.
  • the clogging detection method and cleaning equipment provided by the embodiment of the present application are described above with reference to FIGS. 24 to 34 , and the clogging detection device of the embodiment of the present application is described below with reference to FIGS. 35 to 37 . It should be understood that the description of the clogging detection method corresponds to the description of the clogging detection device, and therefore, for parts not described in detail, reference can be made to the above description.
  • Figure 35 is a schematic structural diagram of a clogging detection device provided by an embodiment of the present application.
  • the clogging detection device shown in Fig. 35 can be used in the clogging detection method of Fig. 26 or Fig. 27.
  • the clogging detection device includes: a processing unit 1201 and an output unit 1202.
  • the processing unit 1201 is configured to determine the immersion duration of the immersion period according to the detection result of the sensor installed in the sewage bucket of the cleaning equipment, wherein the detection result of the sensor is used to indicate whether the sensor is immersed in liquid, and the immersion
  • the time period includes a target time period in which detection results of the sensor indicate that the sensor is submerged.
  • the processing unit 1202 is configured to output abnormal indication information when the immersion duration is greater than or equal to the second target threshold.
  • the abnormal indication information is used to indicate that the sewage bucket is blocked, and the cleaning equipment performs drainage-related tasks.
  • the time required for processing is less than the second target threshold.
  • the length of the time interval between two adjacent target time periods is less than the first target threshold.
  • the detection result of the sensor indicates that the sensor is not immersed.
  • the sewage bucket includes a sewage tank located in the cleaning component of the cleaning equipment and a sewage discharge device located in the base station of the cleaning equipment, the sewage discharge device being used to discharge the liquid in the sewage tank;
  • the clogging detection device is located at the base station, and the sensor is located at the sewage discharge device.
  • a sewage tank is provided at the bottom of the sewage tank in a horizontal direction, and the sensor is located at the bottom of the sewage tank and has a predetermined distance from the side wall of the sewage tank.
  • a sewage tank is provided at the bottom of the sewage tank in a horizontal direction, the sensor is located at an end of the sewage tank opposite to the sewage discharge, and the sewage outlet is used to discharge the liquid in the sewage tank.
  • the immersion duration is an accumulation of durations of the at least one target time period.
  • the abnormality indication information is used to indicate that ongoing drainage-related processing is to be stopped.
  • FIG. 36 is a schematic structural diagram of a clogging detection device provided by an embodiment of the present application.
  • the clogging detection device shown in FIG. 36 includes an acquisition unit 1301 and an output unit 1302.
  • the acquisition unit 1301 is used to acquire the detection result of the sensor installed in the sewage bucket of the cleaning equipment at the detection time point, so The detection result of the sensor is used to indicate whether the sensor is immersed in liquid.
  • the detection time point is after the predicted end time point.
  • the predicted end time point is the expected result of the time point when the cleaning equipment completes drainage-related processing. .
  • the output unit 1302 is configured to output abnormal indication information when the detection result indicates that the sensor is submerged, and the abnormal indication information is used to indicate that the sewage bucket is clogged.
  • the acquisition unit 1301 is further configured to acquire drainage processing indication information, where the drainage processing indication information is used to indicate a start time point at which the cleaning equipment starts to perform the drainage-related processing.
  • the clogging detection device may further include a processing unit configured to determine the predicted end time point based on the predicted processing duration of the drainage-related processing and the start time point.
  • the sewage bucket includes a sewage tank located in the cleaning component of the cleaning equipment and a sewage discharge device located in the base station of the cleaning equipment, the sewage discharge device being used to discharge the liquid in the sewage tank;
  • the clogging detection device is located at the base station, and the sensor is located at the sewage discharge device.
  • a sewage tank is provided at the bottom of the sewage tank in a horizontal direction, and the sensor is located at the bottom of the sewage tank and has a predetermined distance from the side wall of the sewage tank.
  • a sewage tank is provided at the bottom of the sewage tank in a horizontal direction, and the sensor is located at an end of the sewage tank opposite to the sewage outlet, and the sewage outlet is used to discharge the liquid in the sewage tank.
  • FIG 37 is a schematic structural diagram of a clogging detection device provided by an embodiment of the present application.
  • the clogging detection device is used to implement the clogging detection method shown in Figure 26, Figure 27 or Figure 34.
  • the congestion detection device includes: a memory 1401, a processor 1402, a communication interface 1403 and a communication bus 1404.
  • the memory 1401, the processor 1402, and the communication interface 1403 implement communication connections between each other through the communication bus 1404.
  • Embodiments of the present application also provide a storage medium, the storage medium stores a program, and the program is executed by a processor to implement the above congestion detection method.
  • An embodiment of the present application also provides a cleaning device, which includes a sensor and the aforementioned clogging detection device.
  • the water inlet valve provided at the water inlet end of the sewage device in the base station is opened.
  • the sewage in the cleaning parts flows to the sewage device and flows out through the sewage outlet of the sewage device.
  • the base station is also equipped with a congestion detection device.
  • the clogging detection device obtains the detection result of the sensor and performs timing when the detection result indicates that the sensor is submerged. During the timing process, the detection result indicates that the sensor is not immersed, and the clogging detection device stops timing. Within the first target threshold after stopping timing, the detection result indicates that the sensor is submerged, and the blockage detection device continues timing. Within the first target threshold after stopping timing, the detection result does not indicate that the sensor is immersed, and the clogging detection device restarts timing when the detection result indicates that the sensor is immersed. If the timing result exceeds the second target threshold, the clogging detection device outputs abnormal indication information to instruct the water inlet valve of the sewage device to close, so that the liquid in the sewage tank stops flowing to the sewage device.
  • a sewage trough is provided at the bottom of the sewage discharge device.
  • One end of the sewage trough is a sewage outlet, and a sensor is provided at the other end away from the side wall of the sewage trough. The sensor is used to detect whether the sensor is immersed in liquid.
  • the cleaning component can be self-cleaning.
  • the cleaning parts can flush the sewage tank.
  • the water sprayed into the sewage tank flows out of the cleaning equipment through the sewage discharge device.
  • the base station is also equipped with a congestion detection device.
  • the clogging detection device obtains the detection result of the sensor at the detection time point.
  • the detection time point is after the predicted end time point of flushing the sewage tank.
  • the top of the handle of the cleaning component 110 (ie, the above-mentioned floor washing machine 10) is provided with a self-cleaning button.
  • the cleaning component 110 When the cleaning component 110 is docked on the base station 11, the user presses the self-cleaning button, and the cleaning component 110 starts to self-clean. clean.
  • the existing technology requires the user to manually turn on self-cleaning, and the self-cleaning mode is single and cannot be adjusted according to the cleaning task of the cleaning component 110 .
  • embodiments of the present application provide a cleaning method for cleaning equipment and a base station for cleaning equipment.
  • the cleaning equipment can automatically turn on self-cleaning, and can automatically match different cleaning intensity according to the running time of the object to be cleaned and/or the degree of dirt of the surface to be cleaned.
  • Self-cleaning mode to clean the floor scrubber and base station.
  • the base station 11/cleaning component 110 can push at least one self-cleaning mode for the user to select. The user can select self-cleaning modes with different cleaning strengths to clean the floor washing machine and the base station.
  • Each self-cleaning mode may include filling the sewage tank 12 with water (until it is full), draining the sewage tank 12, flushing the sewage tank 12, The cleaning component 110 is self-cleaning, the sewage tank 12 is drained again, the sewage tank 12 is flushed again, the sewage device 234 is flushed, drying and/or ultraviolet sterilization, etc., among which the cleaning methods of the cleaning component 110 in each self-cleaning mode are Can be different.
  • the following describes a cleaning method for cleaning equipment provided by an embodiment of the present application with reference to FIG. 38 .
  • Figure 38 is a schematic flow chart of a self-cleaning method for cleaning equipment provided by an embodiment of the present application.
  • the cleaning method for cleaning equipment provided in this embodiment can be specifically applied to electronic equipment with data processing functions.
  • the electronic device can be located in the cleaning device.
  • the execution subject of the cleaning method for cleaning equipment provided in this embodiment may be the base station 11 or the cleaning component 110 , or the base station 11 and the cleaning component 110 may be executed in cooperation.
  • the method shown in Figure 38 includes S301 to S302.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)

Abstract

本申请实施例提供一种清洁过程中断调整方法、基站、清洁排污系统及存储介质，涉及电器设备领域。该方法应用于与清洁设备通信连接的基站，清洁设备上设置有污水桶。该方法包括：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，并停止自清洁过程。本申请在自清洁过程中断时，将污水桶清洗干净，以便用户取下洗地机后能够正常使用，用户体验较好。

Description

清洁过程中断调整方法、基站、清洁排污系统及存储介质
交叉引用
本申请引用下表中的中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及电器设备领域，尤其涉及一种清洁过程中断调整方法、基站、清洁排污系统及存储介质。
背景技术
随着科技的不断发展，越来越多的清洁设备被应用于家庭、酒店、办公室、大型会议室等场所，以解放人们的双手。其中，手持式洗地机就是比较受用户喜爱的一种清洁设备。
在相关技术中，手持式洗地机一般包括：可拆取连接的基站和洗地机，其中，洗地机上设置有污水桶。实际应用中，当用户需要对目标场地进行清洁时，将洗地机本体从基站上取下，利用洗地机对目标场地进行清洁，在此过程中产生的污水会被直接吸入污水桶中，在清洁工作结束后，将洗地机本体及污水桶放回该基站，该手持式洗地机即可开始进行自清洁。该自清洁的过程包括：利用基站上的触发件触发污水桶上的开关机构，打开污水桶上的排污口，对污水桶中的污水进行排放，并在排放结束后对污水桶进行清洗。
相关技术存在以下至少一个问题：
当自清洁过程因为基站断电、洗地机本体断电等原因被中断时，用户如果贸然取下洗地机，污水桶可能还未被清洗干净，进而导致洗地机无法正常使用，用户体验较差。
申请内容
在本申请的一个实施例中，提供了一种清洁过程中断调整方法，应用于与清洁设备通信连接的基站，所述清洁设备上设置有污水桶；所述方法包括：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
相应地，本申请实施例还提供了一种存储有计算机程序的计算机可读存储介质，当所述计算机程序被一个或多个处理器执行时，致使所述一个或多个处理器至少实现以下动作：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至所述第一步骤时污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程，其中，所述污水桶设置在清洁设备上，所述清洁设备与基站通信连接。
相应地，本申请实施例还提供一种清洁设备的基站，所述基站与所述清洁设备通信连接，所述清洁设备上设置有污水桶；所述基站包括：一个或多个处理器，以及存储有计算机程序的一个或多个存储器；所述一个或多个处理器，用于执行所述计算机程序，以用于：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
相应地，本申请实施例还提供一种清洁排污系统，所述清洁排污系统包括：通信连接的清洁设备和基站，所述清洁设备上设置有污水桶；所述基站，用于在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
在本申请实施例中，通过在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤，若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，保证了用户从基站上取下清洁设备时，清洁设备上的污水桶为清洁完毕状态，可以直接正常使用，用户体验较好。
在本申请的一个实施例中，提供了一种清洁排污系统，包括：洗地机和基站，所述洗地机上设有污水桶；
所述洗地机，可移取地设置在所述基站上，用于对目标场地进行清洁处理；
所述污水桶，用于容纳所述清洁处理产生的污水，所述污水桶上设置有用于控制排污 口开关的开关结构；
所述基站，设置有可伸缩的触发件，用于在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态，在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
相应地，本申请实施例还提供了一种洗地机的基站，包括：控制器和可伸缩的触发件；其中，所述洗地机上设有污水桶，所述污水桶上设置有用于控制排污口开关的开关结构；
所述控制器，用于在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态，在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
相应地，本申请实施例还提供了一种触发件控制方法，应用于与洗地机对应的基站，所述洗地机上设有污水桶，所述污水桶上设置有用于控制排污口开关的开关结构；所述方法包括：
在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态；
在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
本申请实施例提供的技术方案，通过设置洗地机，可以实现对目标场地的清洁处理。通过在洗地机上设置污水桶，可以收集洗地机进行清洁处理过程中产生的污水。应理解，洗地机只有在进行排污作业前或排污作业后才可以从基站上取下，因此，通过设置基站，并在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件处于与污水桶无接触的第一伸展状态，避免了洗地机在与基站连接时触发件与污水桶上的开关结构磕碰。 通过在进行排污作业时，控制触发件在第二伸展状态下打开开关结构，在第三伸展状态下关闭开关结构，实现了对污水桶内污水的排放，并在污水排放完毕后能够顺利关闭污水桶上的排污口，完成整套清洁排污工作。
在本申请的一个实施例中，提供了一种清洁设备自清洁方法，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶和地刷；所述方法包括：
在所述清洁设备与所述基站对接的情况下，依次执行以下自清洁操作：
对所述污水桶进行首次自清洁；
对所述地刷进行自清洁；
对所述污水桶进行二次自清洁。
本申请实施例还提供一种基站，包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器，所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请实施例提供的清洁设备自清洁方法中的步骤。
本申请实施例还提供一种清洁设备，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和处理系统，所述清洁组件至少包括地刷；所述处理器系统用于：
在所述清洁设备与所述基站对接的情况下，确定所述污水桶是否处于水满状态；
向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述信息对污水桶进行首次自清洁；以及
在接收到所述基站发送的清洁指令时，对所述地刷进行自清洁，所述清洁指令是所述基站确定对所述污水桶的首次自清洁完成的情况下发送的；
向所述基站发送地刷自清洁完成的通知消息，以使所述基站继续对所述污水桶进行二次自清洁。
在本申请实施例中，针对清洁设备上污水桶的清洁问题，对基站的结构和功能进行改进，在基站与清洁设备的配合下，可以实现对清洁设备整机的自清洁，既包括对清洁设备上清洁组件的自清洁，也包括对清洁设备上污水桶的自清洁，整个自清洁过程中无需用户干预，简化了针对清洁设备的清洁操作，提高污水桶以及整机的清洁效率。
在本申请的一个实施例中，提供了一种污水桶的自清洁方法，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶，所述基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在清洁设备与基站对接的情况下，所述污水桶的排污口至少与所述排污槽对接；所述方法包括：在清洁设备与基站对接的情况下，响应污水桶的清洁触发事件，依次执行污水桶排空和污水桶冲洗操作，以实现污水桶的自清洁。
本申请实施例提供一种基站，包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器，所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于实现本申请实施例提供的污水桶的自清洁方法。
本申请实施例提供一种清洁设备，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶、清水桶和处理系统；所述处理器系统用于：在所述清洁设备与所述基站对接的情况下，检测所述污水桶是否处于水满状态；向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述指示信息判断是否需要对所述污水桶注水；以及在接收到所述基站发送的注水指令时，控制所述清水桶经第一送水管路向所述基站上用于容纳所述清洁组件的容纳槽注水并经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；其中，所述容纳槽经所述第一送水管路和所述抽吸通道分别与所述清水桶和污水桶连通。
本申请实施例提供一种污水桶的注水方法，应用于清洁设备，所述清洁设备包括污水桶、清水桶和清洁组件，所述方法包括：在清洁设备与基站对接的情况下，检测所述污水桶是否处于水满状态；向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述指示信息判断是否需要对所述污水桶注水；以及在接收到所述基站发送的注水指令时，控制所述清水桶经第一送水管路向所述基站上用于容纳所述清洁组件的容纳槽注水，并经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；其中，所述容纳槽经所述第一送水管路和所述抽吸通道分别与所述清水桶和所述污水桶连通。
本申请实施例还提供一种污水桶的自清洁方法，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶，所述基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在所述清洁设备与基站对接的情况下，所述污水桶的排污口至少与所述排污槽对接，所述清洁设备的清洁组件位于所述基站底座上的容纳槽内；所述方法包括：
确定所述清洁设备与所述基站对接；
所述清洁设备检测到所述污水桶未满；
所述基站向所述容纳槽注水，所述清洁设备的主电机开启以经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；
所述基站将所述污水桶的排污口打开，以排空所述污水桶；
所述基站的冲洗系统对所述污水桶进行冲洗；
确认所述污水桶冲洗完成，所述基站将所述污水桶的排污口关闭。
在本申请实施例中，针对清洁设备上污水桶的清洁问题，对基站的结构和功能进行改 进，在基站上增设排污槽和用于冲洗污水桶的冲洗系统，并在清洁设备的配合下，实现对污水桶的自清洁，整个自清洁过程中无需用户干预，简化了污水桶的清洁操作，提高污水桶的清洁效率。
本申请实施例提供一种清洁设备自清洁方法，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶和地刷；所述方法包括：在所述清洁设备与所述基站对接的情况下，获取所述污水桶的当前水位状态；从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程；按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，每个目标整机清洁流程包括所述污水箱的自清洁和所述地刷的自清洁。
本申请实施例还提供一种基站，包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器，所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请实施例提供的清洁设备自清洁方法中的步骤。
本申请实施例还提供一种清洁设备，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和处理系统，所述清洁组件至少包括地刷；所述处理器系统用于：在所述清洁设备与所述基站对接的情况下，检测所述污水桶的当前水位状态；向所述基站发送所述污水桶的当前水位状态，以使所述基站从对应不同水位状态的目标整机清洁流程中确定与当前水位状态适配的第一目标整机清洁流程；以及配合所述基站按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，每个目标整机清洁流程包括所述污水箱的自清洁和所述地刷的自清洁。
在本申请实施例中，针对清洁设备上污水桶的清洁问题，对基站的结构和功能进行改进，在基站与清洁设备的配合下，可以实现对清洁设备整机的自清洁，既包括对清洁设备上清洁组件的自清洁，也包括对清洁设备上污水桶的自清洁，整个自清洁过程中无需用户干预，简化了针对清洁设备的清洁操作，提高污水桶以及整机的清洁效率。
本申请实施例第一方面提供一种设备自清洁启动方法，适用于基站，该方法包括：
检测所述清洁设备是否位于基站处的设定位置；
检测与所述清洁设备间的通信链路；
若检测出所述清洁设备位于所述设定位置、且所述通信链路符合通信要求，则确定所述基站与所述清洁设备对接成功；
通过所述通信链路向所述清洁设备发送启动自清洁功能的指令；
启动协助所述清洁设备自清洁的清洗功能。
在本申请的另一个实施例中，还提供了一种设备自清洁启动方法，适用于清洁设备，该方法包括：
检测与基站间的通信链路；
确定是否位于基站处的设定位置；
若所述通信链路符合通信要求、且确定已处于所述设定位置，则启动自清洁功能；
通过所述通信链路向所述基站发送启动指令，以使所述基站启动协助所述清洁设备自清洁的清洗功能。
在本申请的又一个实施例中，还提供了一种清洁系统，该系统包括：
基站，用于检测所述清洁设备是否位于基站处的设定位置；检测与所述清洁设备间的通信链路；若检测出所述清洁设备位于所述设定位置，且所述通信链路符合通信要求，则确定所述基站与所述清洁设备对接成功；通过所述通信链路向所述清洁设备发送启动自清洁功能的指令；启动协助所述清洁设备自清洁的清洗功能。
清洁设备，用于响应于所述清洁设备发送的启动自清洁功能的指令，启动自清洁功能。
在本申请的又一个实施例中，还提供了一种清洁系统，该系统包括：
清洁设备，用于检测与基站间的通信链路；确定是否位于基站处的设定位置；若所述通信链路符合通信要求、且确定已处于所述设定位置，则启动自清洁功能；通过所述通信链路向所述基站发送启动指令；
基站，用于响应于所述启动指令，启动协助所述清洁设备自清洁的清洗功能。
在本申请的又一个实施例中，还提供了一种基站，该基站包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器；所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请一实施例提供的设备自清洁启动方法中的步骤。
在本申请的又一个实施例中，还提供了一种清洁设备，该清洁设备包括：设备体以及设置在所述设备体上的控制器和存储器；所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请另一实施例提供的设备自清洁启动方法中的步骤。
本申请实施例还提供一种清洁设备自清洁方法，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶和地刷；所述方法包括：
在所述清洁设备与所述基站对接的情况下，依次执行以下自清洁操作：
对所述污水桶进行首次自清洁；
对所述地刷进行自清洁；
对所述污水桶进行二次自清洁。
本申请实施例还提供一种基站，包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器，所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请实施例提供的清洁设备自清洁方法中的步骤。
本申请实施例还提供一种清洁设备，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和处理系统，所述清洁组件至少包括地刷；所述处理器系统用于：
在所述清洁设备与所述基站对接的情况下，确定所述污水桶是否处于水满状态；
向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述信息对污水桶进行首次自清洁；以及
在接收到所述基站发送的清洁指令时，对所述地刷进行自清洁，所述清洁指令是所述基站确定对所述污水桶的首次自清洁完成的情况下发送的；
向所述基站发送地刷自清洁完成的通知消息，以使所述基站继续对所述污水桶进行二次自清洁。
本申请实施例提供的一技术方案中，基站通过检测清洁设备是否位于基站处的设定位置，以及检测与清洁设备间的通信链路，可实现在检测出清洁设备位于设定位置且通信链路符合通信要求的基础上，确定基站与清洁设备对接成功，并进一步地通过通信链路向清洁设备发送启动自清洁功能的指令，以及启动协助所述清洁设备自清洁的清洗功能。可见，本方案中基站具有识别与清洁设备是否对接成功的功能，能够自动启动清洁功能，这简化了清洁操作、能提高用户体验。
本申请实施例提供的另一技术方案中，清洁设备能够检测与基站间的通信链路，以及确定是否位于基站处的设定位置；并可以在确定通信链路符合通信要求且确定已处于设定位置的基础上，自动启动自清洁功能，以及通过通信链路向基站发送启动指令，使得基站启动协助清洁设备自清洁的清洗功能。可见，本方案中清洁设备具有识别与清洁设备是否对接成功的功能，能够自动启动清洁功能，这有效地简化了清洁操作、能提高用户体验。
本申请实施例提供的又一技术方案中，针对清洁设备上污水桶的清洁问题，对基站的结构和功能进行改进，在基站与清洁设备的配合下，可以实现对清洁设备整机的自清洁，既包括对清洁设备上清洁组件的自清洁，也包括对清洁设备上污水桶的自清洁，整个自清洁过程中无需用户干预，简化了针对清洁设备的清洁操作，提高污水桶以及整机的清洁效率。
本申请实施例提供一种用于堵塞检测方法，包括:
根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目 标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没；
在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阂值。
本申请实施例提供一种清洁设备，包括污水桶、传感器和堵塞检测装置；
所述传感器设置在所述污水桶中，所述传感器用于检测所述传感器是否被液体浸没；
所述堵塞检测装置用于，根据所述传感器的检测结果，确定浸没时间段的浸没时长，其中，所述浸没时间段包括目标时间段，在所述目标时间段中所述传感器的检测结果指示该传感器被浸没；
所述堵塞检测装置还用于，在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阂值。
本申请实施例提供一种堵塞检测方法，包括:
获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在所述清洁设备完成与排水相关处理的预测结束时间点之后；
在所述检测结果指示所述传感器被浸没的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。
本申请实施例提供一种堵塞检测装置，包括处理单元和输出单元；
所述处理单元用于，根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没；
所述输出单元用于，在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阂值。
本申请实施例提供一种堵塞检测装置，包括获取单元和输出单元；
所述获取单元用于，获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在所述清洁设备完成与排水相关处理之后；
所述输出单元用于，在所述检测结果指示所述传感器被浸没的情况下，输出异常指示 信息，所述异常指示信息用于指示所述污水桶堵塞。
本申请实施例提供一种堵塞检测装置，包括:处理器和存储器；
所述存储器用于存储程序，所述处理器调用存储器存储的程序，以执行上文所述的堵塞检测方法。
本申请实施例提供一种存储介质，所述存储介质存储有程序和数据，所述程序被处理器执行，用于实现上文所述的堵塞检测方法。
与现有技术相比，在清洁设备的污水桶中设置传感器，根据清洁设备进行与排水相关处理所需的时长设置第二目标阂值，使得第二目标阂值大于在与排水相关处理所需的时长。从而，在在堵塞检测过程中充分考虑清洁设备进行与排水相关处理的特点，传感器被浸没的时间长度大于或等于第二目标阂值，超过清洁设备进行排水相关处理所需的时长，可以确定污水桶堵塞，使得堵塞检测更加及时和准确。
本申请实施例提供一种用于清洁设备的清洁方法，包括:
获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁；
根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
可选地，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长；所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:
在所述清洁运行时长大于或等于预设的第一阅值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
可选地，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长；
所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:根据所述至少一个程度时长，确定所述目标自清洁模式。
可选地，所述多个自清洁模式包括第一自清洁模式和第二自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强；所述根据所述至少一个程度时长，确定所述目标自清洁模式，包括:
根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标 脏污程度下运行的目标环境运行时长；
在所述目标环境运行时长大于或等于预设的第二阅值的情况下，所述目标自清洁模式为所述第一自清洁模式；
在所述目标环境运行时长小于所述第二阅值的情况下，所述目标自清洁模式为所述第二自清洁模式。
可选地，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
可选地，所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:
在所述清洁运行时长大于或等于预设的第三阅值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
可选地，所述方法应用于所述清洁设备中的基站；
所述方法还包括:
在所述清洁部件位于所述基站的预设区域的情况下，按照所述目标自清洁模式对所述清洁设备进行自清洁。
本申请实施例提供一种清洁设备，包括:清洁部件和处理装置；
所述清洁部件用于对被清洁对象进行清洁；
所述处理装置用于，根据所述清洁设备中清洁部件的运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
可选地，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长；
所述处理装置具体用于，在所述清洁运行时长大于或等于预设的第一阅值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
可选地，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长；
所述处理装置具体用于，根据所述至少一个程度时长，确定所述目标自清洁模式。
可选地，所述多个自清洁模式包括第一自清洁模式和第二自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强；
所述处理装置具体用于，根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长；
在所述目标环境运行时长大于或等于预设的第二阅值的情况下，所述目标自清洁模式为所述第一自清洁模式；
在所述目标环境运行时长小于所述第二阅值的情况下，所述目标自清洁模式为所述第二自清洁模式。
可选地，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
可选地，所述处理装置具体用于，在所述清洁运行时长大于或等于预设的第三阅值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
可选地，所述处理装置位于所述清洁设备中的基站；
所述处理装置还用于，在所述清洁部件位于所述基站的预设区域的情况下，按照所述目标自清洁模式对所述清洁设备进行自清洁。
本申请实施例提供一种用于清洁设备的清洁装置，包括获取单元和处理单元；
所述获取单元用于，获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁；
所述处理单元用于，根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
本申请实施例提供一种用于清洁设备的清洁装置，包括:处理器和存储器；
所述存储器用于存储程序，所述处理器调用存储器存储的程序，以执行上文所述的用于清洁设备的清洁方法。
本申请实施例提供一种存储介质，其特征在于，所述存储介质存储有程序和数据，所述程序被处理器执行，用于实现上文所述的用于清洁设备的清洁方法。
与现有技术相比，本申请具有以下优点:
根据清洁设备中清洁部件的运行参数信息，确定对清洁设备进行清洁的目标自清洁模式。在确定目标自清洁模式的过程中，考虑用于对被清洁对象进行情急的清洁部件的运行情况，使得目标自清洁模式更加适应清洁部件的运行情况。从而，在按照目标自清洁模式对清洁设备进行自清洁时，清洁效果更好，清洁效率更高。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要利用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种手持式洗地机的结构示意图；
图2为本申请实施例提供的一种清洁过程中断调整方法的流程图；
图3为本申请实施例提供的一种清洁过程中断调整方法的具体流程图；
图4为本申请实施例提供的一种对用户进行信息提示的方法流程图；
图5为本申请实施例提供的一种清洁过程中断调整方法的第一场景示例图；
图6为本申请实施例提供的一种清洁过程中断调整方法的第二场景示例图；
图7为本申请实施例提供的清洁排污系统第一形态的结构示意图；
图8为本申请实施例提供的清洁排污系统第二形态的结构示意图；
图9a为本申请实施例提供的第一推杆处于第二伸展状态下的示意图；
图9b为本申请实施例提供的第二推杆处于第三伸展状态下的示意图；
图9c为本申请实施例提供的第一推杆和第二推杆处于第一伸展状态下的示意图；
图10a为本申请实施例提供的打开污水桶时，第一推杆和第二推杆的状态示意图；
图10b为本申请实施例提供的关闭污水桶时，第一推杆和第二推杆的状态示意图；
图10c为本申请实施例提供的第一推杆和第二推杆处于第一伸展状态下的状态示意图；
图11为本申请实施例提供的一种洗地机的基站的结构示意图；
图12为本申请实施例提供的一种污水桶的开关控制方法的流程图；
图13a为本申请实施例提供的一种清洁设备系统以及清洁设备和基站的结构示意图；
图13b为本申请实施例示出的清洁设备系统中清洁设备与基站对接的状态示意图；
图13c为申请实施例提供的另一种清洁设备系统以及清洁设备和基站的结构示意图；
图13d为本申请实施例示出的一种清洁设备(与图13c示出的清洁系统中清洁设备相对应)的结构示意图；
图14为本申请实施例提供的清洁设备与基站对接时的局部结构示意图；
图15a为本申请实施例提供的一种清洁设备自清洁方法的流程示意图；
图15b为本申请实施例提供的另一种清洁设备自清洁方法的流程示意图；
图16a-图16d为本申请实施例提供的其它几种清洁设备自清洁方法的流程示意图；
图16e-图16f是本申请实施例提供的清洁设备与基站对接时的局部结构以及液体流向示意图；
图17为本申请实施例提供的从清洁设备角度描述的一种清洁设备自清洁方法的流程示意图；
图18a为本申请实施例提供的又一种清洁设备自清洁方法的流程示意图；
图18b为本申请实施例提供的从清洁设备角度描述的另一种清洁设备自清洁方法的流程示意图；
图18c为本申请实施例提供的一种污水桶的自清洁方法的流程示意图；
图18d为本申请实施例提供的另一种污水桶的自清洁方法的流程示意图；
图19为本申请实施例提供的一种设备自清洁启动方法的流程示意图；
图20a为本申请实施例提供的传感件与触发件工作原理性示意图；
图20b为本申请实施例提供的传感件随着触发件的靠近所产生的感应信号的原理性示意图；
图21a为本申请实施例提供的基站和清洁设备对接后的电路原理示意图；
图21b为本申请实施例示出的一种变换形式的充电信号的示意图；
图22为本申请实施例示出的另一种变化形式的充电信号的示意图；
图23为本申请实施例提供的另一种设备自清洁启动方法的流程示意图；
图24为本申请实施例提供的一种清洁设备的示意图；
图25为图24所示的清洁设备中基站的示意图；
图26为本申请实施例提供的一种堵塞检测方法的示意性流程图；
图27为本申请实施例提供的一种堵塞检测方法的示意性流程图；
图28为本申请实施例提供的一种水浸传感器的示意性结构图；
图29为图28所示的水浸传感器的外围电路的示意图；
图30为本申请实施例提供的水浸传感器在排污装置中的位置的示意图；
图31为本申请实施例提供的水浸传感器的检测结果示意图；
图32为本申请实施例提供的水浸传感器的输出波形示意图；
图33为本申请实施例提供的一种堵塞检测方法的示意性流程图；
图34为本申请实施例提供的一种清洁设备的示意性结构图；
图35为本申请实施例提供的一种堵塞检测装置的示意性结构图；
图36为本申请实施例提供的另一种堵塞检测装置的示意性结构图；
图37为本申请实施例提供的又一种堵塞检测装置的示意性结构图；
图38为本申请实施例提供的一种用于清洁设备的清洁方法的示意性流程图；
图39为本申请实施例提供的一种用于清洁设备的清洁方法的示意性流程图；
图40为本申请实施例提供的一种确定目标自清洁模式的方法的示意性流程图；
图41为本申请实施例提供的一种清洁设备的示意性结构图；
图42为本申请实施例提供的一种用于清洁设备的清洁装置的示意性结构图；
图43为本申请实施例提供的另一种用于清洁设备的清洁装置的示意性结构图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
随着科技的不断发展，越来越多的清洁设备被应用于家庭、酒店、办公室、大型会议室等场所，以解放人们的双手。其中，手持式洗地机就是比较受用户喜爱的一种清洁设备。在本申请实施例中，如图1所示，手持式洗地机包括：清洁设备10，以及与清洁设备10通信连接的基站11，该清洁设备10与基站11可拆取连接。其中，清洁设备10上设置有污水桶12，该污水桶12上设置有排污口，基站11上设置有可伸缩的触发件(图中未示出)，触发件用于在处于第一状态下打开排污口，在处于第二状态下关闭排污口，当触发件关闭排污口后，触发件回到收缩状态，在收缩状态下，触发件不与污水桶12接触，如此，当清洁设备10重新放上基站11时，清洁设备10的污水桶12不会与触发件发生干涉。其中，清洁设备10包括：洗地机、扫地机器人、地毯清洗机、布艺清洗机等，下面以清洁设备10是洗地机为例对本申请进行说明。
在实际应用中，清洁设备10与基站11可以通过无线(例如蓝牙)的方式通信连接，以便清洁设备10向基站11或者基站11向清洁设备10发送控制指令，当用户需要对目标场地进行清洁时，将清洁设备10从基站11上取下，利用清洁设备10对目标场地进行清洁，在此过程中产生的污水会被直接吸入污水桶12中，在清洁工作结束后，将清洁设备10及污水桶12放回该基站11，该手持式洗地机即可开始进行自清洁。该自清洁过程包括：利用基站11上的触发件触发污水桶12上的开关机构，以打开污水桶12上的排污口，对污水桶12中的污水进行排放，并在排放结束后对污水桶12进行清洗。
当上述自清洁过程因为清洁设备10与基站11蓝牙连接中断、基站11断电、清洁设备10断电等原因被中断时，用户如果贸然取下洗地机，污水桶可能还未被清洗干净，进而导致洗地机无法正常使用，用户体验较差。
鉴于此，本申请实施例提供了一种清洁过程中断调整方法，应用于与清洁设备通信连接的基站，如图2所示，该方法包括：
步骤201、在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断异常时执行到的第一步骤。
步骤202、若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤。
在实际应用中，手持式洗地机的自清洁过程需要执行多个步骤，在一种可选的实施例中，该多个步骤包括如下依次执行的三个步骤：对污水桶进行注水处理，对污水桶进行排污处理，对污水桶进行清洁处理；若发生设定类型的中断异常时执行到的第一步骤为三个步骤中任一个，则第二步骤为：对污水桶进行清洁处理。举例来说，当发生设定类型的中断异常时执行到的第一步骤为对污水桶进行注水处理，那么说明在执行该第一步骤时污水桶未被清理完成，此时继续执行后续步骤，直至执行完第二步骤(对污水桶进行清洁处理)。如此，即可保证在执行完第二步骤后，污水桶被清理完毕。
其中，设定类型的中断至少包括如下任一种：清洁设备和基站的通信连接中断，清洁设备断电，基站断电，以及用户的中断操作。具体地，举例来说，若清洁设备和基站的蓝牙连接中断，则说明清洁设备和基站的连接出现异常；或者，若用于控制基站开关的基站电源键被按下，则基站断电；或者，在清洁设备放在基站上进行自清洁的过程中，用户触发洗地机的自清洁键(触发包括长按、短按或连续短按两下)，使自清洁过程中断；或者，室内突然停电，接室内电源的清洁设备和基站同时断电等。需要说明的是，本申请中的断电指的均是延时断电，举例来说，基站如果发生断电，则其会在其控制污水桶冲洗完毕，再彻底进行断电。
本申请实施例提供的清洁过程中断调整方法，通过在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤，若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，保证了用户从基站上取下清洁设备时，清洁设备上的污水桶为清洁完毕状态，可以直接正常使用，用户体验较好。
此外，应理解，由于在自清洁过程中，基站上的触发件正在触发污水桶上的开关机构，因此，此时如果贸然取下清洁设备，则会损坏触发件，进而对手持式洗地机造成损坏。鉴于此：
作为一种实现方式：该第二步骤还包括：将触发件复位至与污水桶无接触的收缩状态。
作为另一种实现方式：继续执行完表示所述污水桶已被清理完成的第二步骤之后，所述方法还包括：将触发件复位至与污水桶无接触的收缩状态。
基于上述两种实现方式，将触发件复位至收缩状态可以发生在第二步骤中，也可以发生在执行完第二步骤之后，只要确保用户在拿取清洗设备之前，能够将触发件复位即可。通过将触发件复位至与污水桶无接触的收缩状态，保证了用户在拿取清洁设备时不会损坏该触发件，也提高了用户在拿取清洁设备时的安全性。
图3为本申请实施例提供的一种清洁过程中断调整方法的流程图，如图3所示，该方法包括：
步骤301、在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断异常时执行到的第一步骤。
步骤302、若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤。
步骤303、将触发件复位至与污水桶无接触的收缩状态。
步骤304、若在设定时间内检测到中断异常并未恢复，则保持停止自清洁过程的状态，或者，若在设定时间内检测到中断已经恢复，则继续执行第二步骤之后的步骤。
应理解，在基站关机、基站与清洁设备的通信连接中断等场景下导致自清洁过程中断时，可能存在基站重启，基站与清洁设备通信连接恢复的情况，为了避免出现清洁过程中断后直接重新作业的情况，本申请在将触发件复位至与污水桶无接触的收缩状态之后，对中断是否恢复进行了判断，若在设定时间内检测到中断异常并未恢复，则保持停止自清洁过程的状态，若在设定时间内检测到中断已经恢复，则继续执行第二步骤之后的步骤，既可以保证自清洁能够顺利完成，也提高了工作效率。需要说明的是，不管是自清洁中断未恢复，还是中断已经恢复，清洁设备和/或基站上会输出相对应的提示信息，比如播放自清洁被中断的提示语音，更新清洁设备和/或基站屏幕上的显示内容等。
图4为本申请实施例对用户进行信息提示的方法流程图，如图4所示，该方法包括：
步骤401、在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断异常时执行到的第一步骤。
步骤402、若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤。
步骤403、将触发件复位至与污水桶无接触的收缩状态。
步骤404、控制清洁设备输出或本地输出用于提示用户可以取走清洁设备的第一提示信息。
步骤405、若在设定时间内检测到中断异常并未恢复，则保持停止自清洁过程的状态，或者，若在设定时间内检测到中断已经恢复，则继续执行第二步骤之后的步骤。
实际应用中，当执行完表示污水桶已被清理完成的第二步骤，且触发件复位为收缩状态后，可以控制清洁设备或基站输出用于提示用户可以取走清洁设备的第一提示信息，该第一提示信息可以为语音播报和/或文字显示的形式，例如，语音播报“可以拿取”，和/或，在清洁设备/基站的屏幕上显示“可以拿取”。通过输出该第一提示信息，可以及时提醒用户什么时候可以拿取清洁设备，提高用户体验。
进一步地，为了避免污水桶未被清理完成时用户拿取清洁设备，在本申请实施例中，若执行至第一步骤时污水桶未被清理完成，则控制清洁设备或基站输出用于提示发生中断的第二提示信息。该第二提示信息可以为语音播报和/或文字显示的形式，例如，语音播报“正在操作，请勿拿取”，和/或，在清洁设备/基站的屏幕上显示“正在操作，请勿拿取”。
若执行至第一步骤时污水桶已被清理完成，则控制清洁设备或基站输出用于提示用户可以取走清洁设备的第三提示信息。该第三提示信息可以为语音播报和/或文字显示的形式，例如，语音播报“可以拿取”，和/或，在清洁设备/基站的屏幕上显示“可以拿取”。
下面以清洁设备是洗地机为例，提供一具体实施例对自清洁过程需要执行的多个步骤包括：
S1、对污水桶进行注水处理。需要说明的是，在对污水桶进行注水处理，还可以对洗地机上的清水桶进行注水处理，其中，清水桶用于在洗地机清洁目标场所时，向目标场所喷洒清水，以便对该目标场所进行清洁。为了使用户在取下洗地机时可以直接使用，此处可直接将清水桶注满。应理解，基站内设置有水箱，通过该水箱即可向污水桶和清水桶内注水。
S2、对污水桶进行排污处理。即，在洗地机与基站连接后，打开排污口，使污水排至基站的排污槽并通过排污槽排出。
S3、对污水桶进行清洁处理。在将污水桶内的污水排干净后，向污水桶内注入清水，以对污水桶进行冲洗，进而完成对污水桶的清洁处理，对污水桶冲洗完成后，也即步骤S3完成后，污水桶排空，污水桶的排污口被基站的触发件关闭，且触发件回到收缩状态。
S4、洗地机自清洁。洗地机自清洁指的是：洗地机对自身用于清洁目标场所的地刷进行自动清洗，并将清洗后产生的污水通过管道排至污水桶，在此过程中，还可以完成对管道的清洗。
S5、对污水桶进行排污处理。应理解，在洗地机自清洁结束后，污水桶内又堆积了部分污水，此时，需要对污水桶再次进行排污处理。需要说明的是，由于S4步骤中可能使用了洗地机清水桶中的水，在此步骤中，若洗地机清水桶中的水不满时，基站会对洗地机上的清水桶进行注水处理，直至清水桶水满。
S6、对污水桶进行清洁处理。此处的清洁处理过程可参见S3。
S7、对排污槽进行冲洗。基站上设置有排污槽，该排污槽设置在排污口的下方，用于引导污水桶中污水的排放，在对污水桶清洁处理完毕后，还需要对排污槽进行冲洗。
S8、洗地机开启烘干和/或紫外线除菌。其中，烘干和/或紫外线除菌指的是对洗地机的地刷部分进行烘干和/或紫外线除菌。
手持式洗地机在进行自清洁的过程中，如果执行到S1，或S2，或S3发生中断，则洗地机和/或基站会进行语音及画面提醒，如语音播报“正在操作，请勿拿取”，并在洗地机和/或基站的屏幕上显示播报语音对应的文字，直至S3执行完毕。此时，洗地机和/或基站会再次进行语音及画面提醒，如语音播报“操作完毕，可以拿取”，并在洗地机和/或基站的屏幕上显示播报语音对应的文字。即本申请之所以要执行完S3才能让用户拿取，是为了保证用户在取下洗地机时，洗地机始终处于污水桶排空且清洁完毕，清水桶装满的状态，以便用户取下洗地机后进行清洁作业，同时，也可以保证用户的使用安全。
具体地，举例来说，假设基站执行到S1，自清洁发生了中断，那么，需要等到基站执行完S3后，才提示用户可以拿取。在执行完S3后，洗地机处于污水桶排空且清洁完毕，清水桶装满的状态。此时，基站上的触发件也会复位到初始收缩状态，该初始收缩状态指的是洗地机还未放在基站上时其所在的位置。对于触发件的结构，在此不作限定，在本申请实施例中，该触发件可以优选为推杆。
如果执行到S4发生自清洁中断，那么，洗地机或基站可以直接语音及画面提醒“可以拿取”，用户可以直接从基站上取下洗地机，无需等待。应理解，S4为洗地机的自清洁过程，此过程基站与洗地机并无交互，而触发件在S3结束后已经复位为收缩状态，因此，用户可以随时取下洗地机。
如果执行到S5或S6发生自清洁中断，那么，基站将继续执行完S6(或者S7)后，才提示用户可以拿取。在执行完S6(或者S7)后，洗地机处于污水桶排空且清洁完毕，清水桶装满的状态。在执行完S6后，基站上的触发件就会复位到初始收缩状态，该初始收缩状态下，即使洗地机放在基站上，基站的触发件也不会接触到洗地机的污水桶。
如果执行到S7发生自清洁中断，那么可以有两种实现方式。作为一种实现方式，直接语音及画面提醒“可以拿取”，用户可以直接从基站上取下洗地机，无需等待。应理解，对排污槽进行冲洗时，洗地机与基站无需进行联动，因此，用户可以直接从基站上取下洗地机，但是，如果直接取下洗地机，可能会在冲洗排污槽的时候，有少量的水从排污槽溅出。作为另一种实现方式，在S7过程中发生自清洁中断，洗地机和/或基站会进行语音及画面提醒，如语音播报“正在操作，请勿拿取”，并在洗地机和/或基站的屏幕上显示播报 语音对应的文字，直至等待执行完S7，语音及画面提醒用户“可以拿取”，在此情况下，洗地机放在基站上，洗地机的污水桶封闭了该排污槽，能够防止有水从排污槽中溅出。综上，当执行到S5，或S6，或S7时，基站均可以在执行完S7再提示用户“可以取出”。
如果执行到S8发生自清洁中断，那么，洗地机或基站可以直接语音及画面提醒“可以拿取”，用户可以直接从基站上取下洗地机，无需等待。应理解，S8为洗地机内部的烘干和/或紫外线杀菌作业，基站与洗地机并无交互过程，而触发件在S6结束后已经处于收缩状态，因此，用户可以随时取下洗地机。
下面提供具体的场景实施例对本申请进行说明。
场景实施例一：
手持式洗地机自清洁过程需要执行的多个步骤包括：
S1、对污水桶和清水桶进行注水处理。需要说明的是，在对污水桶进行注水处理，还可以对洗地机上的清水桶进行注水处理，其中，清水桶用于在洗地机清洁目标场所时，向目标场所喷洒清水，以便对该目标场所进行清洁。为了使用户在取下洗地机时可以直接使用，此处可直接将清水桶注满。应理解，基站内设置有水箱，通过该水箱即可向污水桶和清水桶内注水。
S2、对污水桶进行排污处理。即，在洗地机与基站连接后，打开排污口，使污水排至基站。
S3、对污水桶进行清洁处理。在将污水桶内的污水排干净后，向污水桶内注入清水，以对污水桶进行冲洗，进而完成对污水桶的清洁处理，对污水桶冲洗完成后，也即步骤S3完成后，污水桶排空，污水桶的排污口被基站的触发件关闭，且触发件回到收缩状态。
当手持式洗地机的自清洁过程因基站与洗地机蓝牙中断而发生中断时，如图5所示，洗地机的屏幕上会显示连接提示(如连接的倒计时弹窗)，同时，也会打断洗地机正在播报的自清洁语料(该自清洁语料用于播报当前执行到的自清洁步骤)，播放异常语料(如正在重新连接基站，请勿取下洗地机)。此时，基站会确定该自清洁过程执行到的第一步骤，假设执行到上述S1，那么说明执行至第一步骤时污水桶未被清理完成，继续执行至S3结束，使洗地机处于污水桶排空且清洁完毕，清水桶装满的状态，随后，控制触发件复位到初始收缩状态。这时就可以令洗地机播放“可以拿取”的语料，并在洗地机的屏幕中显示“可以拿取”。
需要说明的是，洗地机上设置有用于控制自清洁作业开关的自清洁按键，用户触发自清洁按键(触发包括短按、长按或连续短按两下)即可控制洗地机自身自清洁的开关。在上述自清洁因基站与洗地机蓝牙中断而发生中断时，如果触发该自清洁按键，该自清洁按 键就会处于无响应的状态，仅洗地机屏幕的显示信息会发生变化，在洗地机的屏幕上显示“正在结束中”，同时播放“正在结束中，请稍后”的语料。
如果在洗地机屏幕上的倒计时连接提示结束前，蓝牙连接恢复，自清洁中断已经恢复，则洗地机的屏幕上删除当前显示的文字，并显示“继续自清洁”，同时，播放“蓝牙中断已连接”语料，确定自清洁中断前正在播放的语料(即播报当前执行到的自清洁步骤的语料)是否播放完毕，若该语料在之前的播放过程中被打断，那么此时重新对该语料进行播放。此时如果用户触发该自清洁按键，则会直接结束自清洁作业。
如果在洗地机屏幕上的倒计时连接提示结束前，蓝牙连接未恢复，自清洁中断还未恢复，则在洗地机的屏幕上删除当前显示的文字，并显示“自清洁结束”，同时，播放“自清洁结束”语料。此时如果用户触发该自清洁按键，则该自清洁按键就会处于无响应的状态。在间隔预设时间后，洗地机的屏幕上又会出现连接提示，并语音播报“正在连接基站”，此时如果用户触发该自清洁按键，则该自清洁按键仍然会处于无响应的状态。
场景实施例二：
手持式洗地机自清洁过程需要执行的多个步骤包括：
S1、对污水桶和清水桶进行注水处理。需要说明的是，在对污水桶进行注水处理，还可以对洗地机上的清水桶进行注水处理，其中，清水桶用于在洗地机清洁目标场所时，向目标场所喷洒清水，以便对该目标场所进行清洁。为了使用户在取下洗地机时可以直接使用，此处可直接将清水桶注满。应理解，基站内设置有水箱，通过该水箱即可向污水桶和清水桶内注水。
S2、对污水桶进行排污处理。即，在洗地机与基站连接后，打开排污口，使污水排至基站。
S3、对污水桶进行清洁处理。在将污水桶内的污水排干净后，向污水桶内注入清水，以对污水桶进行冲洗，进而完成对污水桶的清洁处理。
当手持式洗地机的自清洁过程因关闭基站而发生中断时，如图6所示，洗地机的屏幕上会显示开机提示(如开机的倒计时弹窗)，同时，也会打断洗地机正在播报的自清洁语料(该自清洁语料用于播报当前执行到的自清洁步骤)，播放异常语料(如请开启基站)。此时，基站会确定该自清洁过程执行到的第一步骤，假设执行到上述S1，那么说明执行至第一步骤时污水桶未被清理完成，继续执行至S3结束，使洗地机处于污水桶排空且清洁完毕，清水桶装满的状态，且触发件复位到初始收缩状态。这时就可以令洗地机播放“可以拿取”的语料，并在洗地机的屏幕中显示“可以拿取”。
需要说明的是，洗地机上设置有用于控制自清洁作业开关的自清洁按键，用户触发自 清洁按键(触发包括短按、长按或连续短按两下)即可控制洗地机自身自清洁的开关。在上述自清洁因基站关闭而发生中断时，如果用户触发该自清洁按键，该自清洁按键就会处于无响应的状态，仅洗地机屏幕的显示信息会发生变化，会在洗地机的屏幕上显示“正在结束中”，同时播放“正在结束中，请稍后”的语料。
如果在洗地机屏幕上的倒计时提示结束前，基站重新开启，自清洁中断已经恢复，则洗地机的屏幕上删除当前显示的文字，并显示“继续自清洁”，同时，播放“自清洁已恢复”语料，确定自清洁中断前正在播放的语料(即播报当前执行到的自清洁步骤的语料)是否播放完毕，若该语料在之前的播放过程中被打断，那么此时重新对该语料进行播放。此时如果用户触发该自清洁按键，则会直接结束自清洁作业。
如果在洗地机屏幕上的倒计时提示结束前，基站未重新开启，自清洁中断还未恢复，则在洗地机的屏幕上删除当前显示的文字，并显示“自清洁接收”，同时，播放“自清洁接收”语料。此时如果用户触发该自清洁按键，则该自清洁按键就会处于无响应的状态。之后，洗地机的屏幕上会显示“正在充电”。此时如果短按该自清洁按键，则会触发基站的开机提示。
场景实施例三：
手持式洗地机自清洁过程需要执行的多个步骤包括：
S1、对污水桶和清水桶进行注水处理。需要说明的是，在对污水桶进行注水处理，还可以对洗地机上的清水桶进行注水处理，其中，清水桶用于在洗地机清洁目标场所时，向目标场所喷洒清水，以便对该目标场所进行清洁。为了使用户在取下洗地机时可以直接使用，此处可直接将清水桶注满。应理解，基站内设置有水箱，通过该水箱即可向污水桶和清水桶内注水。
S2、对污水桶进行排污处理。即，在洗地机与基站连接后，打开排污口，使污水排至基站。
S3、对污水桶进行清洁处理。在将污水桶内的污水排干净后，向污水桶内注入清水，以对污水桶进行冲洗，进而完成对污水桶的清洁处理，对污水桶冲洗完成后，也即步骤S3完成后，污水桶排空，污水桶的排污口被基站的触发件关闭，且触发件回到收缩状态。
S4、洗地机自清洁。洗地机自清洁指的是：洗地机对自身用于清洁目标场所的地刷进行自动清洗，并将清洗后产生的污水通过管道排至污水桶，在此过程中，还可以完成对管道的清洗。
S5、对污水桶进行排污处理。应理解，在洗地机自清洁结束后，污水桶内又堆积了部分污水，此时，需要对污水桶再次进行排污处理。需要说明的是，由于S4步骤中可能使用 了洗地机清水桶中的水，在此步骤中，若洗地机清水桶中的水不满时，基站会对洗地机上的清水桶进行注水处理，直至清水桶水满。
S6、对污水桶进行清洁处理。此处的清洁处理过程可参见S3。
S7、对排污槽进行冲洗。基站上设置有排污槽，该排污槽设置在排污口的下方，用于引导污水桶中污水的排放，在对污水桶清洁处理完毕后，还需要对排污槽进行冲洗。
S8、洗地机开启烘干或紫外线除菌。其中，紫外线除菌指的是对洗地机的地刷部分进行紫外线除菌。
当手持式洗地机的自清洁过程因用户长按(或短按或连续短按两下)洗地机上的自清洁按键而发生中断时，则可以确定此时自清洁执行到了S4或S8，洗地机的屏幕上会显示“正在结束中”，同时播放“正在结束中，请稍后”的语料。此时，再按动该自清洁按键，该自清洁按键就会处于无响应的状态。用户可以直接取下洗地机，也可以等待S4或S8执行完毕后再取下洗地机。
场景实施例四：
手持式洗地机自清洁过程需要执行的多个步骤包括：
S1、对污水桶和清水桶进行注水处理。需要说明的是，在对污水桶进行注水处理，还可以对洗地机上的清水桶进行注水处理，其中，清水桶用于在洗地机清洁目标场所时，向目标场所喷洒清水，以便对该目标场所进行清洁。为了使用户在取下洗地机时可以直接使用，此处可直接将清水桶注满。应理解，基站内设置有水箱，通过该水箱即可向污水桶和清水桶内注水。
S2、对污水桶进行排污处理。即，在洗地机与基站连接后，打开排污口，使污水排至基站。
S3、对污水桶进行清洁处理。在将污水桶内的污水排干净后，向污水桶内注入清水，以对污水桶进行冲洗，进而完成对污水桶的清洁处理。
S4、洗地机自清洁。洗地机自清洁指的是：洗地机对自身用于清洁目标场所的地刷进行自动清洗，并将清洗后产生的污水通过管道排至污水桶，在此过程中，还可以完成对管道的清洗。
S5、对污水桶进行排污处理。应理解，在洗地机自清洁结束后，污水桶内又堆积了部分污水，此时，需要对污水桶再次进行排污处理。
S6、对污水桶进行清洁处理。此处的清洁处理过程可参见S3。
S7、对排污槽进行冲洗。基站上设置有排污槽，该排污槽设置在排污口的下方，用于引导污水桶中污水的排放，在对污水桶清洁处理完毕后，还需要对排污槽进行冲洗。
S8、洗地机开启烘干或紫外线除菌。其中，紫外线除菌指的是对洗地机的地刷部分进行紫外线除菌。
当手持式洗地机的自清洁过程因基站和洗地机同时断电而发生中断时，洗地机的屏幕上会显示开机提示(如开机的倒计时弹窗)，同时，也会打断洗地机正在播报的自清洁语料(该自清洁语料用于播报当前执行到的自清洁步骤)，播放异常语料(如请开启基站)。此时，基站会确定该自清洁过程执行到的第一步骤，假设执行到上述S5，那么说明执行至第一步骤时污水桶未被清理完成，继续执行至S6或S7结束，使洗地机处于污水桶排空且清洁完毕，清水桶装满的状态，且触发件复位到初始收缩状态。这时就可以令洗地机播放“可以拿取”的语料，并在洗地机的屏幕中显示“可以拿取”。
需要说明的是，洗地机上设置有用于控制自清洁作业开关的自清洁按键，用户触发该自清洁按键(短按、长按或连续短按两下)即可控制洗地机自身自清洁的开关。在上述自清洁因基站与洗地机蓝牙中断而发生中断时，如果用户触发该自清洁按键，该自清洁按键就会处于无响应的状态，且会在洗地机的屏幕上显示“正在结束中”，同时播放“正在结束中，请稍后”的语料。此时，再按动该自清洁按键，该自清洁按键就会处于无响应的状态。
如果在洗地机屏幕上的连接提示结束前，自清洁中断已经恢复，则洗地机的屏幕上删除当前显示的文字，并显示“继续自清洁”，同时，播放“自清洁已恢复”语料，确定自清洁中断前正在播放的语料(即播报当前执行到的自清洁步骤的语料)是否播放完毕，若该语料在之前的播放过程中被打断，那么此时重新对该语料进行播放。此时如果用户触发该自清洁按键，则会直接结束自清洁作业。
如果在洗地机屏幕上的连接提示结束前，自清洁中断还未恢复，则洗地机的屏幕上删除当前显示的文字，并显示“自清洁接收”，同时，播放“自清洁接收”语料。此时如果用户长按或连续短按两下该自清洁按键，则该自清洁按键就会处于无响应的状态。之后，洗地机的屏幕上会显示“正在充电”。此时如果用户短按该自清洁按键，则会触发基站的开机提示。
综上所述，本申请通过在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤，若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，保证了用户从基站上取下清洁设备时，清洁设备上的污水桶为清洁完毕状态，可以直接正常使用，用户体验较好。通过将触发件复位至与污水桶无接触的收缩状态，保证了用户在拿取清洁设备时不会损坏该触发件，也提高了用户在拿取清洁设备时的安全性。
相应的，本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，当计算机程序被一个或多个处理器执行时，致使一个或多个处理器至少实现以下动作：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断异常时执行到的第一步骤；若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，其中，污水桶设置在清洁设备上，清洁设备与基站通信连接。
相应的，本申请实施例还提供一种洗地机的基站，基站与清洁设备通信连接，清洁设备上设置有污水桶；基站包括：一个或多个处理器，以及存储有计算机程序的一个或多个存储器；一个或多个处理器，用于执行计算机程序，以用于：在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至第一步骤时污水桶未被清理完成，则继续执行完表示污水桶已被清理完成的第二步骤，并停止自清洁过程。
相应的，本申请实施例还提供了一种清洁排污系统，该清洁排污系统包括：通信连接的清洁设备和基站，清洁设备上设置有污水桶；基站，用于在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
在实践本申请实施例中，发明人发现，实际应用中，当用户需要对目标场地进行清洁时，将洗地机从基站上取下，利用洗地机对待清洁的场地进行清洁，在此过程中产生的污水会被直接吸入污水桶中，在清洁工作结束后，将洗地机放回该基站即可，以便基站对洗地机进行充电，以及触发污水桶上的开关机构，对污水桶中的污水进行排放。但是，用户在将设有污水桶的洗地机放回基站时，容易因为力度过大或角度偏差等原因导致污水桶上的开关机构磕碰，进而发生损坏，致使基站无法正常控制污水桶进行排污作业。鉴于此，本申请提供了一种清洁排污系统。
图7为本申请实施例提供的一种清洁排污系统的结构示意图，如图7和图8所示，该系统包括：清洁设备10(为了便于理解，以下称之为洗地机10)和基站11，该洗地机10上设有污水桶12。其中，洗地机10可移取地设置在基站11上，用于对目标场地进行清洁处理。污水桶12用于容纳上述清洁处理产生的污水，污水桶12上设置有用于控制排污口开关的开关结构13。基站11设置有可伸缩的触发件14，用于在对污水桶12内的污水进行排污作业后或在进行所述排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，在进行排污作业时，控制触发件14在第二伸展状态下打开开关结构13，在第三伸展状态下关闭开关结构13。其中，第一伸展状态下触发件对应于第一移动行程，第二伸展状态和第三伸展状态下触发件对应于第二移动行程，第一移动行程小于第二移动行程。在一 可选实施例中，触发件在第二移动行程的起点为基站的内部预设位置，终点为与开关结构13的接触位置，而触发件在第一移动行程的起点为基站的内部预设位置，终点为该预设位置与该接触位置之间的目标位置。举例来说，假设触发件对应的第二移动行程为10cm，那么，该触发件对应的第一移动行程则为5cm。在另一可选实施例中，第二移动行程为触发件从第二伸展状态运动到第三伸展状态的单向行程，或触发件从第三伸展状态运动到第二伸展状态的单向行程；第一移动行程为触发件从第二伸展状态或第三伸展状态运动到第一伸展状态的单向行程，或触发件从第一伸展状态运动到第二伸展状态或第三伸展状态的单向行程。单向行程指触发件在单一方向上的行程，例如本实施例中，触发件从第二伸展状态运动到第三伸展状态的单向行程指的是触发件以第二伸展状态为起始点，朝向远离污水桶的方向运动到第三伸展状态的行程。
实际应用中，当用户需要对目标场地(可以是酒店、办公室、超市等任意场地)进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对目标场地进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对目标场地清洁完毕后，即可将洗地机10重新放入基站11，使其与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
应理解，当用户准备将洗地机10从基站11上取下时或者当污水桶12中的污水排放结束后，需要先将污水桶12的开关结构13关闭，以避免在拿取洗地机10时出现污水桶12污水泄漏的问题。取下此时，基站11控制触发件14伸展至第三伸展状态，以关闭开关结构13。这时，就可以将洗地机10从基站11上取下，对目标场地进行清洁处理了。
然而，在对目标场地清洁完毕，将洗地机10重新与基站11连接时，触发件14还是处于第三伸展状态，即触发件14有一部分会暴露在污水桶12的下方。这时，如果用户将洗地机10放入基站11，很容易因为力度过大或角度偏差等原因导致触发件14与污水桶12上的开关结构13发生磕碰，严重时会导致开关结构13损坏，影响污水桶12正常的排污作业，同时也会大大降低开关结构13的使用寿命。
鉴于此，本申请在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，该第一伸展状态下触发件14对应的第一移动行程小于上述第二伸展状态和第三伸展状态下触发件14对应的第二移动行程，具体可参见图9b，图9b为触发件14处于第一伸展状态下的示意图，在此状态下将洗地机10放入基站11，触发件14与污水桶12上的开关结构13是不会发生磕碰的，进而可以避免该开关结构13因磕碰而发生损坏，提高开关结构13的使用寿命。应理解，洗地机只有在进行排污作业前或排污作业后才可以从基站上取下，因此，在对污水桶内的污水进行排污作业后或 在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，这时，即使用户取下洗地机10，再将洗地机10放在基站11上，触发件14也不会与污水桶12发生磕碰。
而在进行上述排污作业时，基站11会控制触发件14伸展至第二伸展状态，以打开开关结构13，即打开污水桶12上的排污口，对污水桶12内的污水进行排放。待污水排放结束后，基站11会控制触发件14伸展至第三伸展状态，以关闭开关结构13，即关闭污水桶12上的排污口。此时，为了方便下次将洗地机10与基站11重新连接，防止触发件14与开关结构13发生磕碰，可以在关闭污水桶12上的排污口后，再次控制触发件14伸展至第一伸展状态。其中，第二伸展状态和第三伸展状态可以为触发件14的最大行程状态，而触发件14在第一伸展状态的行程则可以为该最大行程的一半。
需要说明的是，通过上述方法虽然可以解决触发件14与污水桶12上的开关结构13的磕碰问题，但是同时，也会产生一个新的问题：如果洗地机10与基站11未连接时(即对污水桶内的污水进行排污作业后或在进行排污作业前)，控制触发件14处于第一伸展状态(即半行程状态)，那么，当洗地机10与基站11连接后，触发件14就会由第一伸展状态伸展为第二伸展状态(即全行程状态)，即相当于触发件14由半行程状态伸展为全行程状态，行程缩短(举例来说，假设触发件14运动的全行程为10cm，那么其运动的半行程则为5cm，在相关技术中，触发件14完成第二伸展状态需要运动10cm，而现在只运动了5cm，这就容易导致触发件14动力不足，基站11对其的控制也变的困难，从而无法顺利打开该开关结构13)。鉴于此，本申请在洗地机10与基站11连接后，可以先控制触发件14由第一伸展状态伸展为第三伸展状态，即维持开关结构13关闭。在进行排污作业时，再控制触发件14由第三伸展状态变为第二伸展状态，即可保证触发件14动力充足，进而更好地控制开关结构13的开关。
此外，为了便于理解，基于用户角度，该触发件14还用于在处于第一伸展状态时运动到第一位置，在处于第二伸展状态时运动到第二位置，处于第三伸展状态时运动到第三位置；其中，第二位置和第三位置对应的触发件伸展长度大于第一位置对应的触发件伸展长度。
在实际应用中，举例来说，触发件14可以在处于第一伸展状态时伸展了5cm运动到了第一位置，在处于第二伸展状态时伸展了10cm运动到了第二位置，在处于第三伸展状态时伸展了10cm运动到了第三位置，在本申请实施例中，第一位置对应的触发件伸展长度优选为第二位置和第三位置对应的触发件伸展长度的一半。
在另一种解释中，伸展长度可以认为是触发件14伸出基站11的长度。具体地，基站 11设有容纳部容纳触发件14，容纳部在基站11表面具有孔，触发件14自容纳部从基站11的孔中伸出，伸展长度为触发件14伸出该孔的长度。
进一步地，触发件14还用于在进行排污作业时，由第一伸展状态运动到第二伸展状态。应理解，通过使触发件14由第一伸展状态运动到第二伸展状态，可以打开污水桶12上的开关结构13，进而打开排污口，能够顺利地进行排污作业。
在本申请实施例中，触发件14还用于在由第一伸展状态运动到第二伸展状态之前，由第一伸展状态运动到第三伸展状态，并由第三伸展状态运动到第二伸展状态。通过如此设置，可以保证触发件14动力充足，进而更好地控制开关结构13的开关(具体可参见上述触发件14动力不足段落的相关描述，再次不再赘述)。
进一步地，在本申请实施例中，触发件14还用于在排污作业结束后，由第二伸展状态运动到第三伸展状态，并由第三伸展状态运动到第一伸展状态。通过如此设置，可以在排污作业结束后，关闭排污口，避免污水桶12后续发生泄漏，并在关闭排污口后，使触发件14不与污水桶12接触，进而避免用户取下洗地机10，再次放回基站11时，污水桶12与触发件14发生磕碰。
基于上述，本申请实施例提供的清洁排污系统，通过设置洗地机10，可以实现对目标场地的清洁处理。通过在洗地机10上设置污水桶12，可以收集洗地机10进行清洁处理过程中产生的污水。应理解，洗地机10只有在进行排污作业前或排污作业后才可以从基站11上取下，因此，通过设置基站11，并在对污水桶12内的污水进行排污作业后或在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，避免了洗地机10在与基站11连接时触发件14与污水桶12上的开关结构13磕碰。通过在进行排污作业时，控制触发件14在第二伸展状态下打开开关结构13，在第三伸展状态下关闭开关结构13，实现了对污水桶12内污水的排放，并在污水排放完毕后能够顺利关闭污水桶12上的排污口，完成整套清洁排污工作。
其中，如图7所示，开关结构13包括：密封件131，以及与密封件相适配的锁扣132。密封件131可开合地设置在排污口，用于在触发件14伸展至第三伸展状态时与锁扣132配合密封排污口，在触发件14伸展至第二伸展状态时与锁扣132分离，打开排污口。其中，密封件131可以为胶体结构，在此不作限定，只要其能够实现对排污口的密封即可，而锁扣132的结构只要与密封件131相适配即可。
具体实施时，当触发件14伸展至第三伸展状态时，其可以推动密封件131向污水桶12上的锁扣132运动，并最终锁止在锁扣132上，实现对排污口的密封。而当触发件14伸展至第二伸展状态，其可以推动密封件131与锁扣132分离，从而打开排污口。通过设置该 密封件131，以及与密封件相适配的锁扣132，可以快速打开或关闭排污口，并在关闭排污口时，保证了对排污口的密封性。该密封件131和锁扣132组成的开关结构13的开关原理，可以简单理解为市面上常见的按压式杯盖的开合方式，当触发杯盖上的开关时，杯盖可以打开，合上杯盖以后即可自动关闭。
在本申请实施例中，为了避免用户在将洗地机10与基站11连接时看到触发件14，提高用户体验，如图7所示，该基站11上设置有容纳腔15。该容纳腔15用于容纳触发件14，以及在触发件14处于第一伸展状态时遮挡触发件14。其中，容纳腔15的结构可以为多种，举例来说，其可以为方形开口结构，圆形开口结构等，只要能够容纳触发件14即可。
对于触发件14的结构，如图7所示，该触发件14包括：第一推杆17和第二推杆18。其中，第一推杆17用于在第二伸展状态下打开开关结构13，以使排污口打开；第二推杆18用于在第三伸展状态下关闭开关结构13，以使排污口关闭。
作为一种实现方式：第一推杆和第二推杆通过齿轮连接，第一推杆和第二推杆在伸缩的过程中反向运动。具体实施时，如图7所示，在洗地机10与基站11连接后，控制第一推杆17向污水桶12的方向移动，待其移动至第二伸展状态时(参见图9a和图10a，图9a为第一推杆17处于第二伸展状态时的示意图，图10a为本申请实施例提供的打开污水桶时，第一推杆和第二推杆的状态示意图)，即可打开开关结构13，进行排污作业。而当排污作业结束后，控制第二推杆18向污水桶12的方向移动(此时，第一推杆17顺着第二推杆18的相反方向运动)，即可关闭开关结构13，即关闭排污口，此时第二推杆18的状态可参见图9b和图10b，图9b为第二推杆18处于第三伸展状态时的示意图，图10b为本申请实施例提供的关闭污水桶时，第一推杆和第二推杆的状态示意图。需要说明的是，在洗地机10与基站11未连接时，可以控制第一推杆17和第二推杆18同时处于与污水桶12无接触的第一伸展状态，以便后续进行洗地机10与基站11的连接，此时第一推杆17和的第二推杆18状态可参见图9c和图10c，图10c为本申请实施例提供的第一推杆和第二推杆处于第一伸展状态下的状态示意图。
进一步地，为了在第一推杆17和第二推杆18运动到最大行程处时对其进行限位，如图7所示，该容纳腔15内设置有分别与基站11内的驱动机构电连接的第一行程开关19和第二行程开关20，该驱动机构用于驱动第一推杆17和第二推杆18运动。其中，第一行程开关19用于在第一推杆17处于第二伸展状态时，控制驱动机构驱动第一推杆17停止运动。第二行程开关20用于在第二推杆18处于第三伸展状态时，控制驱动机构驱动第二推杆18停止运动。其中，该驱动机构可以为驱动机构。
应理解，第一推杆17和第二推杆18是通过齿轮16连接，以实现两者的反向运动的， 因此，第一推杆17和第二推杆18上均设置有与齿轮16啮合的齿条，而为了避免第一推杆17和第二推杆18在运动的过程中脱离容纳腔15或者齿轮16脱离两者的齿条，可以在容纳腔15内设置了第一行程开关19和第二行程开关20。当第一推杆17在容纳腔15内运动到第一行程开关19处时，控制电机驱动第一推杆17停止运动。当第二推杆18在容纳腔15内运动到第二行程开关20处时，控制电机驱动第二推杆18停止运动。而对于第一行程开关19和第二行程开关20的具体位置，则可以根据容纳腔15与第一推杆17和第二推杆18的位置关系进行设定。
具体实施时，当用户需要对目标场地进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对家庭住宅进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对目标场地清洁完毕后，即可将洗地机10重新放入基站11，与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
而在洗地机10与基站11未连接时(即洗地机10还未放入基站11时)或者放污水桶12的污水排放结束后，通过基站11控制电机正转预设时间，使第一推杆17和第二推杆18同时伸展至与污水桶12无接触的第一伸展状态，如此，当将洗地机10重新放入基站11，可以避免第一推杆17或第二推杆18，与开关结构13发生磕碰，从而导致开关结构13损坏。
在洗地机10与基站11连接后，进行排污作业时，电机反转，控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20，电机刹车，并在500ms后停止转动，保证开关结构13处于关闭状态。随后，电机正转，控制第一推杆17向开关结构13的方向移动，直至触碰到第一行程开关19电机刹车，并在500ms后停止转动，以打开开关结构13，即打开污水桶12上的排污口，进行排污作业。待排污作业结束后，电机再次反转，控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20电机刹车，并在500ms后停止转动，关闭开关结构13，即关闭排污口。随后，控制第一推杆17和第二推杆18运动至第一伸展状态，以便下次洗地机10与基站11连接时使用。
作为另一种实现方式，第一推杆和第二推杆为同一推杆。
具体实施时，将第一推杆和第二推杆称为第三推杆，在洗地机10与基站11连接后，控制第三推杆伸展至第二伸展状态，以打开开关结构13，即打开污水桶12上的排污口，对污水桶12内的污水进行排放。待污水排放结束后，控制第三推杆伸展至第三伸展状态，以关闭开关结构13，即关闭污水桶12上的排污口，其具体在清洁排污系统中的工作原理与上述第一推杆17和第二推杆18在清洁排污系统中的工作原理相同，具体工作过程在此不再赘述。
下面提供具体的场景实施例对本申请进行说明：
场景实施例一：
假设目标场地为教室，触发件14包括：通过齿轮16连接的第一推杆17和第二推杆18，该第一推杆17和第二推杆18在伸缩过程中反向运动。其中，第一推杆17用于在第二伸展状态下打开开关结构13，以使排污口打开；第二推杆18用于在第三伸展状态下关闭开关结构13，以使排污口关闭。
当用户需要对教室进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对教室进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对教室清洁完毕后，即可将洗地机10重新放入基站11，使其与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
而在对污水桶内的污水进行排污作业后或在进行排污作业前，通过基站11的电机控制第一推杆17和第二推杆18同时伸展至与污水桶12无接触的第一伸展状态，此时，将洗地机10放入基站11，以避免第一推杆17或第二推杆18，与开关结构13发生磕碰，导致开关结构13损坏。
在洗地机10与基站11连接后，进行排污作业时，基站11通过电机控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20停止，保证开关结构13处于关闭状态。基站11通过电机控制第一推杆17向开关结构13的方向移动，直至触碰到第一行程开关19停止，以打开开关结构13，即打开污水桶12上的排污口，进行排污作业。待排污作业结束后，基站11通过电机再次控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20停止，关闭开关结构13，即关闭排污口。随后，基站11通过电机控制第一推杆17和第二推杆18运动至第一伸展状态，以便下次洗地机10与基站11连接时使用。应理解，由于第一推杆17和第二推杆18通过齿轮16连接，因此，第一推杆17和第二推杆18在进行上述运动时均为反向运动。
场景实施例二：
假设目标场地为家庭住宅，触发件14包括：第三推杆，可伸缩地设置在容纳腔15内，用于在第二伸展状态下触发开关结构13打开，在第三伸展状态下触发开关结构13关闭。
当用户需要对家庭住宅进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对家庭住宅进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对家庭住宅清洁完毕后，即可将洗地机10重新放入基站11，与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
而在对污水桶内的污水进行排污作业后或在进行排污作业前，通过基站11的电机控制 第三推杆伸展至与污水桶12无接触的第一伸展状态，此时，将洗地机10放入基站11，以避免第三推杆与开关结构13发生磕碰，导致开关结构13损坏。
在洗地机10与基站11连接后，进行排污作业时，基站11通过电机控制第三推杆向开关结构13的方向移动，直至触碰到第二行程开关20停止，保证开关结构13处于关闭状态。基站11通过电机控制第三推杆返回容纳腔15并再次向开关结构13的方向移动，直至触碰到第一行程开关19停止，以打开开关结构13，即打开污水桶12上的排污口，进行排污作业。待排污作业结束后，基站11通过电机再次控制第三推杆返回容纳腔15并返回容纳腔15并向开关结构13的方向移动，直至触碰到第二行程开关20停止，关闭开关结构13，即关闭排污口。随后，基站11通过电机控制第三推杆运动至第一伸展状态，以便下次洗地机10与基站11连接时使用。需要说明的是，为了使第三推杆更好地触发开关结构13，可以在每次第三推杆返回容纳腔15再进行第二伸展状态伸展或第三伸展状态伸展时，对其上下位置进行调整。
场景实施例三：
假设目标场地为饭店，当用户需要对家庭住宅进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对家庭住宅进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对家庭住宅清洁完毕后，即可将洗地机10重新放入基站11，与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
而在对污水桶内的污水进行排污作业后或在进行排污作业前，通过基站11的电机控制触发件14伸展至与污水桶12无接触的第一伸展状态，此时，将洗地机10放入基站11，以避免触发件14与开关结构13发生磕碰，导致开关结构13损坏。
在洗地机10与基站11连接后，进行排污作业时，基站11通过电机控制触发件14向开关结构13的方向移动，直至触碰到第二行程开关20停止，保证开关结构13处于关闭状态。基站11通过电机控制触发件14返回容纳腔15并再次向开关结构13的方向移动，直至触碰到第一行程开关19停止，以打开开关结构13，即打开污水桶12上的排污口，进行排污作业。待排污作业结束后，基站11通过电机再次控制触发件14返回容纳腔15并返回容纳腔15并向开关结构13的方向移动，直至触碰到第二行程开关20停止，关闭开关结构13，即关闭排污口。随后，基站11通过电机控制触发件14运动至第一伸展状态，以便下次洗地机10与基站11连接时使用。
基于上述，本申请还提供了一种洗地机的基站，如图11所示，该基站包括：控制器21和可伸缩的触发件14。其中，洗地机10上设有污水桶12，污水桶12上设置有用于控制排 污口开关的开关结构13。其中，控制器21用于在对污水桶12内的污水进行排污作业后或在进行所述排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，在进行排污作业时，控制触发件14在第二伸展状态下打开开关结构13，在第三伸展状态下关闭开关结构13。该第一伸展状态下触发件对应于第一移动行程，第二伸展状态和第三伸展状态下触发件对应于第二移动行程，第一移动行程小于第二移动行程。
本申请还提供的洗地机的基站，通过设置洗地机10，可以实现对目标场地的清洁处理。通过在洗地机10上设置污水桶12，可以收集洗地机10进行清洁处理过程中产生的污水。应理解，洗地机10只有在进行排污作业前或排污作业后才可以从基站11上取下，因此，通过设置基站11，并在对污水桶12内的污水进行排污作业后或在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，避免了洗地机10在与基站11连接时触发件14与污水桶12上的开关结构13磕碰。通过在进行排污作业时，控制触发件14在第二伸展状态下打开开关结构13，在第三伸展状态下关闭开关结构13，实现了对污水桶12内污水的排放，并在污水排放完毕后能够顺利关闭污水桶12上的排污口，完成整套清洁排污工作。
图12为本申请实施例提供的一种污水桶的开关控制方法的流程图，该方法应用于与洗地机对应的基站，洗地机上设有污水桶，污水桶上设置有用于控制排污口开关的开关结构。如图12所示，该方法包括：
步骤601、在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件处于与污水桶无接触的第一伸展状态。
步骤602、在进行排污作业时，控制触发件在第二伸展状态下打开开关结构，在第三伸展状态下关闭开关结构。其中，第一伸展状态下触发件对应于第一移动行程，第二伸展状态和第三伸展状态下触发件对应于第二移动行程，第一移动行程小于第二移动行程。
具体实施时，当用户需要对目标场地进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对目标场地进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对目标场地清洁完毕后，即可将洗地机10重新放入基站11，与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
应理解，当用户准备将洗地机10从基站11上取下时或者当污水桶12中的污水排放结束后，需要先将污水桶12的开关结构13关闭，以避免在拿取洗地机10时出现污水桶12污水泄漏的问题。取下此时，基站11控制触发件14伸展至第三伸展状态，以关闭开关结构13。这时，就可以将洗地机10从基站11上取下，对目标场地进行清洁处理了。
然而，在对目标场地清洁完毕，将洗地机10重新与基站11连接时，触发件14还是处于第三伸展状态，即触发件14有一部分会暴露在污水桶12的下方。这时，如果用户将洗地机10放入基站11，很容易因为力度过大或角度偏差等原因导致触发件14与污水桶12上的开关结构13发生磕碰，严重时会导致开关结构13损坏，影响污水桶12正常的排污作业。
鉴于此，本申请在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，该第一伸展状态下触发件14对应的第一移动行程小于上述第二伸展状态和第三伸展状态下触发件14对应的第二移动行程，在此状态下将洗地机10放入基站11，触发件14与污水桶12上的开关结构13是不会发生磕碰的，进而可以避免该开关结构13因磕碰而发生损坏，提高开关结构13的使用寿命。应理解，洗地机只有在进行排污作业前或排污作业后才可以从基站上取下，因此，在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件14处于与污水桶12无接触的第一伸展状态，这时，即使用户取下洗地机10，再将洗地机10放在基站11上，触发件14也不会与污水桶12发生磕碰。
而在洗地机10与基站11连接后，进行上述排污作业时，控制触发件14伸展至第二伸展状态，以打开开关结构13，即打开污水桶12上的排污口，对污水桶12内的污水进行排放。待污水排放结束后，控制触发件14伸展至第三伸展状态，以关闭开关结构13，即关闭污水桶12上的排污口。此时，为了方便下次将洗地机10与基站11分离并重新连接，可以在关闭污水桶12上的排污口后，再次控制触发件14伸展至第一伸展状态。其中，第二伸展状态和第三伸展状态可以为触发件14的最大行程状态，而触发件14在第一伸展状态的行程则可以为该最大行程的一半。
在一种可选的实施例中，该方法还包括：控制触发件在处于第一伸展状态时运动到第一位置，在处于第二伸展状态时运动到第二位置，处于第三伸展状态时运动到第三位置；其中，第二位置和第三位置对应的触发件伸展长度大于第一位置对应的触发件伸展长度。
在实际应用中，举例来说，触发件14可以在处于第一伸展状态时伸展了5cm运动到了第一位置，在处于第二伸展状态时伸展了10cm运动到了第二位置，在处于第三伸展状态时伸展了10cm运动到了第三位置，在本申请实施例中，第一位置对应的触发件伸展长度优选为第二位置和第三位置对应的触发件伸展长度的一半。
在一种可选的实施例中，该方法还包括：在进行排污作业时，控制触发件由第一伸展状态运动到第二伸展状态。应理解，通过使触发件14由第一伸展状态运动到第二伸展状态，可以打开污水桶12上的开关结构13，进而打开排污口，能够顺利地进行排污作业。
在一种可选的实施例中，控制触发件由第一伸展状态运动到第二伸展状态之前，该方法还包括：控制触发件由第一伸展状态运动到第三伸展状态，并由第三伸展状态运动到第二伸展状态。如此，可以保证触发件14动力充足，进而更好地控制开关结构13的开关(具体可参见上述触发件14动力不足段落的相关描述，再次不再赘述)。
在一种可选的实施例中，该方法还包括：在排污作业结束后，控制触发件由第二伸展状态运动到第三伸展状态，并由第三伸展状态运动到第一伸展状态。如此，可以在排污作业结束后，关闭排污口，避免污水桶12后续发生泄漏，并在关闭排污口后，使触发件14不与污水桶12接触，进而避免用户取下洗地机10，再次放回基站11时，污水桶12与触发件14发生磕碰。
在一种可选的实施例中，触发件包括：第一推杆17和第二推杆18；在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件处于与污水桶无接触的第一伸展状态，包括：在对污水桶内的污水进行排污作业后或在进行排污作业前，控制第一推杆和第二推杆处于与污水桶无接触的第一伸展状态；在进行排污作业时，控制触发件在第二伸展状态下打开开关结构，在第三伸展状态下关闭开关结构，包括：在进行排污作业时，控制第一推杆在第二伸展状态下打开开关结构，控制第二推杆在第三伸展状态下关闭开关结构。
作为一种实现方式：第一推杆和第二推杆通过齿轮连接，第一推杆和第二推杆在伸缩的过程中反向运动。具体实施时，如图7所示，在洗地机10与基站11连接后，控制第一推杆17向污水桶12的方向移动，待其移动至第二伸展状态时，即可打开开关结构13，进行排污作业。而当排污作业结束后，控制第二推杆18向污水桶12的方向移动(此时，第一推杆17顺着第二推杆18的相反方向运动)，即可关闭开关结构13，即关闭排污口。需要说明的是，在洗地机10与基站11未连接时，可以控制第一推杆17和第二推杆18同时处于与污水桶12无接触的第一伸展状态，以便后续进行洗地机10与基站11的连接。
进一步地，为了在第一推杆17和第二推杆18运动到最大行程处时对其进行限位，如图7所示，该容纳腔15内设置有分别与基站11内的驱动机构电连接的第一行程开关19和第二行程开关20，该驱动机构用于驱动第一推杆17和第二推杆18运动。其中，第一行程开关19用于在第一推杆17处于第二伸展状态时，控制驱动机构驱动第一推杆17停止运动。第二行程开关20用于在第二推杆18处于第三伸展状态时，控制驱动机构驱动第二推杆18停止运动。其中，该驱动机构可以为驱动机构。
应理解，第一推杆17和第二推杆18是通过齿轮16连接，以实现两者的反向运动的，因此，第一推杆17和第二推杆18上均设置有与齿轮16啮合的齿条，而为了避免第一推杆17和第二推杆18在运动的过程中脱离容纳腔15或者齿轮16脱离两者的齿条，可以在容纳 腔15内设置了第一行程开关19和第二行程开关20。当第一推杆17在容纳腔15内运动到第一行程开关19处时，控制电机驱动第一推杆17停止运动。当第二推杆18在容纳腔15内运动到第二行程开关20处时，控制电机驱动第二推杆18停止运动。而对于第一行程开关19和第二行程开关20的具体位置，则可以根据容纳腔15与第一推杆17和第二推杆18的位置关系进行设定。
具体实施时，当用户需要对目标场地进行清洁处理时，将洗地机10从基站11上取下，利用洗地机10对家庭住宅进行清洁处理，在清洁处理过程中产生的污水会被吸入污水桶12中。在对目标场地清洁完毕后，即可将洗地机10重新放入基站11，与基站11连接，通过基站11对洗地机10进行充电，以及触发污水桶12上的开关结构13，对污水桶12中的污水进行排放。
而在洗地机10与基站11未连接时(即洗地机10还未放入基站11时)或者放污水桶12的污水排放结束后，通过基站11控制电机正转预设时间，使第一推杆17和第二推杆18同时伸展至与污水桶12无接触的第一伸展状态，如此，当将洗地机10重新放入基站11，可以避免第一推杆17或第二推杆18，与开关结构13发生磕碰，从而导致开关结构13损坏。
在洗地机10与基站11连接后，进行所述排污作业时，电机反转，控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20，电机刹车，并在500ms后停止转动，保证开关结构13处于关闭状态。随后，电机正转，控制第一推杆17向开关结构13的方向移动，直至触碰到第一行程开关19电机刹车，并在500ms后停止转动，以打开开关结构13，即打开污水桶12上的排污口，进行排污作业。待排污作业结束后，电机再次反转，控制第二推杆18向开关结构13的方向移动，直至触碰到第二行程开关20电机刹车，并在500ms后停止转动，关闭开关结构13，即关闭排污口。随后，控制第一推杆17和第二推杆18运动至第一伸展状态，以便下次洗地机10与基站11连接时使用。
作为另一种实现方式，第一推杆和第二推杆为同一推杆。
具体实施时，将第一推杆和第二推杆称为第三推杆，在洗地机10与基站11连接后，控制第三推杆伸展至第二伸展状态，以打开开关结构13，即打开污水桶12上的排污口，对污水桶12内的污水进行排放。待污水排放结束后，控制第三推杆伸展至第三伸展状态，以关闭开关结构13，即关闭污水桶12上的排污口，其具体在清洁排污系统中的工作原理与上述第一推杆17和第二推杆18在清洁排污系统中的工作原理相同，具体工作过程在此不再赘述。
基于上述，本申请实施例提供的一种触发件控制方法，通过在对污水桶内的污水进行排污作业后或在进行排污作业前，控制触发件处于与污水桶无接触的第一伸展状态，避免 了洗地机在与基站连接时触发件与污水桶上的开关结构磕碰。通过在进行排污作业时，控制触发件在第二伸展状态下打开开关结构，在第三伸展状态下关闭开关结构，实现了对污水桶内污水的排放，并在污水排放完毕后能够顺利关闭污水桶上的排污口，完成整套清洁排污工作。
此外，在现有技术中，当清水桶中的液体耗尽后，需要用户手动拆下清水桶，然后在向清水桶中添加足够干净液体后重新安装到清洗机的机身上。相应地，当污水桶中的污水满了或者清洁任务结束后，需要用户手动拆下污水桶，将污水桶中的污水倒出，并对污水桶进行清洁后重新安装到清洗机的机身上，防止发臭。即现有污水桶清洗操作繁琐，清洗效率较低；另外，如果用户未能及时清洗污水桶，会导致发臭，体验感较差。
针对现有清洁设备面临的污水桶清洁不便的技术问题，在本申请一些实施例中提供一种清洁设备系统，如图13a所示，该清洁设备系统包括：清洁设备10和基站11。其中，清洁设备10和基站11可以相互通信，并进行信息交互。关于清洁设备10与基站11之间的通信方式不做限定，例如清洁设备10与基站11上可以设置红外收发器，两者之间通过红外信号进行通信；又例如，清洁设备10和基站11上均设置蓝牙模块，两者之间可以通过蓝牙信号进行通信；又例如，清洁设备10和基站11均增设WiFi模块，两者之间通过WiFi信号进行通信；又例如，清洁设备10和基站11也可以均增设移动通信模块，两者之间通过移动通信网络进行通信。当然，清洁设备10也可以通过有线方式与基站11通信连接。本实施例中，清洁设备为手持吸清洗机，在其他实施例中，清洁设备可以为扫地机器人、地毯清洗机、布艺清洗机等对地面、桌面、地毯、沙发等各种待清洁面进行清洁的清洁设备。
在本实施例中，基站11可以为清洁设备10提供一些基础服务，例如基站11可以为清洁设备10提供停靠服务，清洁设备10不需要执行地面清洁任务时可以停靠在基站11；又例如，基站11还可以为清洁设备10提供充电服务，在清洁设备10停靠在基站11时可以同时进行充电蓄能，当然，清洁设备10电量不足时，也可以回到基站11进行充电蓄能。
除上述基础服务之外，在本申请实施例中，对基站11的功能做了进一步扩展，基站11可以与清洁设备10配合，为清洁设备10提供整机清洁服务。为了实现为清洁设备10提供整机清洁服务的目的，在基站11上增设一些硬件部件，例如储水箱、排污槽以及与储水箱、排污槽等连通的各种管路等；与此同时，还对基站11的控制逻辑进行了改进，为基站11增加了为清洁设备10提供整机清洁服务相关的控制逻辑，这些控制逻辑以软件程序的方式实现。基站11通过运行这些软件程序，并配合为清洁设备10提供整机清洁服务增设的硬件部件，可以为清洁设备10提供整机清洁服务。其中，排污槽是指基站上辅助对清洁设备 上的污水桶进行排污所需的一些部件，对排污槽的结构不做限定，例如可以是包含容腔的排污结构，也可以是不包含容腔的排污管道。对于包含容腔的排污结构，其容腔具有一定的容积，可容纳一定污水量，便于进行较大容量的污水排放，该容腔的大小可根据产品需求灵活设置。另外，本领域技术人员可以理解，根据应用需求或场景的不同，排污槽可以灵活选择包含容腔的排污结构，也可以选择不包含容腔的排污管道。
在本申请实施例中，基站11为清洁设备10提供整机清洁服务是自动对清洁设备10进行清洁过程，在该过程中不需要用户干预，可简化清洁设备的清洁操作，提高清洁效率。为清洁设备10提供的整机清洁服务主要包括清洁设备10上清洁组件的自清洁和清洁设备10上污水箱的自清洁两部分。其中，清洁组件的自清洁主要是对清洁组件进行清洗、烘干的清洁过程，从而完成对清洁设备10的清洁组件的自清洁任务；污水桶的自清洁主要是指对污水桶进行排污、清洗的清洁过程，即将污水桶中的污水排走，并将污水桶冲洗干净，从而自动完成对清洁设备10上污水桶的自清洁任务。进一步，在基站11为清洁设备10提供整机清洁服务的过程中，还可以针对污水桶与清洁组件之间的抽吸通道一并进行清洁。
基于基站11为清洁设备10提供的整机清洁服务，在清洁设备10执行地面清洁任务结束后，用户只需将清洁设备10放置于基站11上，基站11与清洁设备10相互配合可自动完成清洁组件的自清洁和污水桶的自清洁，在执行完清洁组件的自清洁动作后，即可达到清洁组件的清洁目的，在执行完污水桶的自清洁动作后，即可达到污水桶的清洁目的，并且本实施例提供的清洁组件和污水桶的自清洁动作还能够达到较好的清洁效果。用户不需要拆卸污水桶手动清洗，即可达到清洁污水桶的目的，甚至可以实现整个清洁设备的自清洁，极大地提高用户的使用体验。
需要说明的是，在整机清洁服务中，清洁组件的自清洁与污水桶的自清洁可以相互关联，也可以相互独立。例如，基站11可以单独为清洁设备10提供污水桶的自清洁服务，也可以单独为清洁设备10提供清洁组件的自清洁服务。当然，考虑到清洁组件的自清洁依赖于污水桶，需要污水桶存储清洁组件在自清洁过程中产生的污水，所以在优选实施例中，可以将两个自清洁过程融合在一起在同一过程中完成，实现整机的自清洁。
进一步，基站11除了可以为清洁设备10提供整机清洁服务之外，还可以为清洁设备10上的清水桶提供注水服务。这样，当清水桶需要补充干净液体时，用户不需要将清水桶从机身上拆卸下来，即可达到自动为清水桶补充干净液体的目的。在此说明，清水桶中的干净液体可以是清水，也可以是添加有清洗剂的各种清洁液，对此不做限定。
进一步，基站11可以单独为清洁设备10提供整机清洁服务，也可以单独为清洁设备10的清水桶提供注水服务；也可以在同一过程中同步为清洁设备10提供整机清洁服务和注 水服务，例如可以在为清洁设备10提供整机清洁服务的过程中，一并为清洁设备10的清水桶提供注水服务。
需要说明的是，在基站11为清洁设备10提供整机清洁服务和/或注水服务的过程中，需要清洁设备10与基站11进行通信进行相关信息或状态的同步。关于清洁设备10和基站11相互配合进行整机自清洁的过程可参见后续实施例，在介绍整机自清洁过程之前，先行结合图13a以及图14对本申请实施例涉及的清洁设备10和基站11的结构进行简单的介绍说明。
下面对本申请实施例涉及的清洁设备10进行简单的介绍。如图13a所示，清洁设备10至少包括：手柄组件101、机身102、清洁组件103、处理系统(未图示)以及设置于机身102上的清水桶1021和污水桶12。
在本实施例中，手柄组件101可设置于机身102的上端，也可设置于机身102的侧面(背面、左面或右面)。可选地，若手柄组件101设置于机身102的上端，其轴线方向(重心所指方向)与机身102的轴线方向平行。
可选地，手柄组件101可包括：供用户手部握持的手柄，以及连接手柄与机身102的延长杆。进一步，延长杆的长度可以是固定的，也可为可调节的。可选地，若延长杆的长度为可调节的，其结构为可伸缩结构。相应地，用户可根据自身需求，灵活调整延长杆的长度。
在本实施例中，处理系统可设置于机身内，也可设置于机身表面，在图13a中未对处理系统进行图示。处理系统可以承载于清洁设备的主板上，例如可以是CPU、控制器或GPU等，处理系统为清洁设备的控制系统，主要负责清洁设备的各种控制逻辑，并可控制与其连接的其它部件的使用状态和工作状态。在下面实施例中，清洁设备10配合基站11实现整机自清洁的过程，清洁设备10执行的操作可以理解为是在清洁设备10的处理系统的控制下完成的，在后续实施例中以清洁设备10作为执行主体进行描述时，本领域技术人员可以理解该执行主体也可以是清洁设备10的处理系统。
在本实施例中，清洁组件103包括地刷(或滚刷)、水泵和地刷电机；地刷上设有地刷喷嘴，清水桶1021与地刷喷嘴通过送水管路连通，送水管路包括连接于清水桶与地刷喷嘴之间的一条软管，但不限于，水泵设置在清水桶1021与地刷喷嘴之间的送水管路上。为便于描述和区分，将清洁设备上清水桶与地刷喷嘴之间的送水管路称为第一送水管路。在执行地面清洁任务时，地刷电机一方面带动地刷转动，依靠地刷与地面之间的摩擦力实现地面清洁，另一方面驱动水泵将清水桶1021中的干净液体通过第一送水管路输送至地刷喷嘴，由地刷喷嘴喷洒至地面和/或地刷上进行地面清洁任务。在执行清洁任务之后，干净液 体变为污浊液体，地面上的污浊液体由清洁组件103上的吸嘴抽吸并经抽吸通道送入污水桶12内。需要说明的是，清洁设备执行清洁任务的对象并不限于地面，还可以是地板、桌面等其它清洁对象。如图14所示，抽吸通道124也就是清洁设备的风道，可以包括连接于清洁组件103上的吸嘴与污水桶12之间的软管，但不限于此。
在一些可选实施例中，机身102上还可以设置显示器，在图13a中未对显示器进行图示。显示器与处理系统电连接，用于显示清洁设备的工作状态、电量信息以及清洁设备上至少一个部件的工作状态信息。显示器可包括至少一个显示区域，用于显示不同部件的工作状态信息。可选地，至少一个部件的工作状态信息包括如下的至少一种：(1)液体存储装置的液位信息；(2)清洁组件对清洁对象的清洁程度信息；(3)供电单元的电量信息；(4)清洁设备的自清洁信息；(5)主电机功率信息；(6)清洁组件的堵转信息；(7)通信组件的工作状态信息；(8)自清洁的阶段信息。其中，液体存储装置可为该清洁设备的清水桶，也可为清洁设备的污水桶。
在本申请实施例中，不限定显示器的具体形状。可选地，显示器可以为圆形、方形、椭圆形、梯形或多边形等规则形状，也可为任意不规则形状，在此不再一一列举。
可选地，显示器可固定设置于机身102的表面，或者可伸缩地设置于机身102的上。例如，显示器可设置在机身的顶部，也可设置于机身的前面、左面或右面。可选地，若显示器设置于机身102的顶部，显示器所在平面可与机身102的轴线垂直或成一定角度。机身102包括主电机和液体存储装置(如清水桶和污水桶)，可选的，显示器设置在液体存储装置上方，即显示器设置于清水桶或污水桶上方，优选的，设置于清水桶上方。进一步，为了满足用户的观看视角，显示器可设置于手柄组件101的前面。
在本实施例中，为了实现对污水桶12的自清洁，在污水桶12底部增设了排污口121(如图13a所示)；相应地，为了实现对清水桶1021的自动注水，在机身102底部邻近排污口121的位置增设了注水口(图中未示出)。注水口通过液体管道与清水桶1021的出液口连通，用于通过该出液口为清水桶1021补充清洁液，在清洁设备清洁待清洁面时，清水桶1021中的水通过所述出液口排出到出水管道并输送至地刷喷嘴。其中，排污口、注水口需要与基站上对应的硬件部件配合使用。关于排污口、注水口的设置位置不做限定，可以设置在便于与基站11上对应部件配合使用的位置。
下面对本申请实施例涉及的基站11进行简单的介绍。如图13a所示，基站11包括基站主体21和用于支撑清洁设备10的底座22。基站主体21上设置有控制器和存储器，存储器中存储有计算机程序，控制器执行该存储器中的计算机程序，以实现对基站11的各种控制逻辑，例如，对清洁设备10的整机清洗流程可由基站11的控制器控制执行。在各附图 中未对控制器和存储器进行图示。
其中，底座22也可以称为基站托盘，底座22上设置有用于容纳清洁组件103(具体是指容纳地刷)的容纳槽221，清洁设备10放在底座22时，清洁组件103中的地刷会位于容纳槽221内。另外，在底座22上还设置有第一充电部223，第一充电部223的一端用于与清洁设备10上的第二充电部进行对接，另一端连接电源端，该电源端可以是充电电源或基站11所在环境中的市电电源，对此不做限定，从而在清洁设备10停靠在基站11时为清洁设备10进行充电蓄能。其中，第一充电部223可以是无线充电接口，用于实现无线充电。进一步，底座22上还可以设置其它一些组件，例如用于固定或稳定清洁设备10的一些固定部件，未作图示。
进一步，结合图13a和图14，基站主体21上至少设置有储水箱211、与储水箱211连通的注水阀212，排污槽213以及排污槽213的入口部214；进一步，如图16e和图16f所示，储水箱211经第三送水管路219连接排污槽213，排污槽213的另一端连接下水道水管，该下水道水管连接下水道或其它排污通道。
如图13b所示，清洁设备10与基站11对接时，在清洁设备10放置于底座22上时，排污槽213的该入口部214与清洁设备10的污水桶12的排污口121对接，这样在对污水桶12进行自清洁时，污水桶12中的污水通过排污口121流到入口部214，经入口部214流入排污槽213，最终经排污槽213排放至下水道或其它排污管道中。可选地，排污口除了可以设置在污水桶的底部，也可以设置在污水桶的侧壁的下方区域。
如图13b所示，清洁设备10与基站11对接时，在清洁设备10放置于底座22上时，清洁设备10的清水桶1021上的注水口与基站11上的注水阀212对接，该注水阀212与基站11上的储水箱211连通。这样，在注水阀212打开的状态下，储水箱211内的干净液体就可以通过注水阀212和注水口进入到清水桶1021内，实现自动注水；在注水阀212关闭的状态下，会停止向清水桶1021注水。可选地，注水口可以设置在清水桶或污水桶的底部支架上，不限于此。
进一步，如图13b所示，基站11的基站主体21上还设置有显示器218，该显示器218与基站的控制器电连接，用于显示基站的工作状态以及基站上各部件的工作状态信息，进一步还可以显示针对清洁设备的整机自清洁的阶段、步骤等信息。
同理，在本申请实施例中，不限定基站11上显示器218的具体形状。可选地，显示器218可以为圆形、方形、椭圆形、梯形或多边形等规则形状，也可为任意不规则形状，在此不再一一列举。可选地，显示器218可固定设置于基站主体21的表面，或者可伸缩地设置于基站主体21的上。例如，显示器218可设置在基站主体21的顶部，也可设置于基站主 体21的前面、左面或右面。可选地，若显示器218设置于基站主体21的顶部，显示器所在平面可与基站主体21的轴线垂直或成一定角度。在图13b中，以显示器218设置于基站主体21的顶部为例进行图示。
进一步可选地，如图14所示，在容纳槽221的内侧设置有冲洗喷头222，该冲洗喷头222通过第二送水管路215与储水箱211连通。其中，第二送水管路215可以是连接于储水箱211与冲洗喷头222之间的水管或软管等，不做限定。在清洁设备10放置于底座22上时，储水箱211中的干净液体经过第二送水管路215可输送至冲洗喷头222，由冲洗喷头222将干净液体喷洒到容纳槽221内的地刷上，清洁设备的主电机开启，将液体回收至污水桶12内，为污水桶12注水。在另外的实施例中，地刷自清洁时也可以采用此种方式对地刷进行自清洁，而不必使用清水桶中的水。
进一步可选地，如图14所示，基站主体21上设置有能开启关闭污水桶12的运动机构216。污水桶12的排污口上设置有盖板122，该运动机构216与污水桶12上的盖板对应，该运动机构216通过运动可将盖板打开，使得污水桶12的排污口与排污槽213连通；该运动机构216进行反向运行可以关闭污水桶12的盖板，在盖板122闭合状态下，污水桶上的锁扣123会锁住盖板122，以关闭污水桶12。
进一步可选地，如图14所示，基站主体21上还设置冲洗污水桶12的冲洗装置217，该冲洗装置217与污水桶的排污口121对应设置，在污水桶的盖板122被打开的状态下，该冲洗装置217可向污水桶反复运动并从排污口121伸入污水桶内，对污水桶进行冲洗。
上述清洁设备10和基站11的结构仅为示例性说明，这些结构是与整机清洁服务相关的一些结构，但并不意味着本实施例的清洁设备10和基站11仅包含上述结构，也不意味着清洁设备10和基站11必须包含上述全部结构。
基于上述清洁设备10和基站11的相关结构，本申请下面实施例给出几种清洁设备10和基站11相互配合对清洁设备10进行整机清洁的方法逻辑。
在一些可选实施例中，清洁设备10和基站11相互配合按照统一的整机清洁流程对清洁设备10进行整机的自清洁，如图15a所示，该整机清洁流程包括：
步骤31、在清洁设备与基站对接的情况下，基站对污水桶进行首次自清洁；
步骤32、在对污水桶完成首次自清洁后，清洁设备对地刷进行自清洁；
步骤33、在清洁设备完成地刷的自清洁后，基站对污水桶进行二次自清洁。
进一步，如图15b所示，在步骤33之后，还包括：
步骤34、在对污水桶完成二次自清洁后，基站对上述自清洁过程中使用到的排污槽进行自清洁。
在此说明，在图15a和图15b所示的实施例中，在所有步骤中，基站还可以控制储水箱同步向清水桶注水。如果步骤32清洁设备对地刷进行自清洁中，由清洁设备的清水桶提供清洗液，则在除了步骤32之外的其它步骤中，基站控制储水箱同步向清水桶注水。本专利中以步骤32由清洁设备的清水桶供液来进行示例性说明。
进一步，将对污水桶的自清洁过程拆分为：污水桶注水、污水桶排空、污水桶冲洗三种操作，其中，污水桶注水是指向污水桶注水使污水桶处于水满状态的过程；污水桶排空是指打开污水桶的排污口将污水排出到基站的过程；污水桶冲洗是指将污水桶排空之后，对污水桶内部进行冲洗直至冲洗结束的过程。
需要说明的是，在上述图15a和图15b所示实施例中，对污水桶的首次自清洁中至少包括污水桶排空的步骤，至于污水桶注水和污水桶冲洗两个步骤为可选步骤；相应地，对污水桶的二次清洁中至少包括：污水桶排空和污水桶冲洗的步骤，至于污水桶注水为可选步骤。基于此，图15a和图15b所示按照统一的整机清洁流程对清洁设备10进行整机自清洁的过程包括以下几种具体实施方式：
在具体实施方式A1中，如图16a所示，清洁设备的整机自清洁过程包括以下步骤：
(1)污水桶注水，可选地，清水桶同步注水；
(2)污水桶排空，可选地，清水桶同步注水；
(3)污水桶冲洗，可选地，清水桶同步注水；
(4)清洁设备对地刷的自清洁；
(5)污水桶注水，可选地，清水桶同步注水；
(6)污水桶排空，可选地，清水桶同步注水；
(7)污水桶冲洗，可选地，清水桶同步注水；
进一步，图15b所示实施例的整机清洗过程在步骤(7)之后还包括以下步骤：
(8)排污槽冲洗，可选地，清水桶同步注水；
(9)开启烘干和/或除菌。
在上述步骤(1)中，若清水桶注水已至水满，则步骤(2)、(3)中停止注水，若步骤(1)清水桶水未注满，则接下来的步骤中继续给清水桶注水。步骤(5)同理。步骤(9)中烘干和/或除菌指对地刷进行烘干和/或除菌，除菌可采用UV灯除菌。
在具体实施方式A2中，如图16b所示，清洁设备的整机自清洁过程包括以下步骤：
(1)污水桶注水，可选地，清水桶同步注水；
(2)污水桶排空，可选地，清水桶同步注水；
(3)污水桶冲洗，可选地，清水桶同步注水；
(4)清洁设备对地刷的自清洁；
(6)污水桶排空，可选地，清水桶同步注水；
(7)污水桶冲洗，可选地，清水桶同步注水；
进一步，图16b所示实施例的整机清洗过程在步骤(7)之后还包括以下步骤：
(8)排污槽冲洗，可选地，清水桶同步注水；
(9)开启烘干和/或除菌。
在具体实施方式A3中，如图16c所示，清洁设备的整机自清洁过程包括以下步骤：
(1)污水桶注水，可选地，清水桶同步注水；
(2)污水桶排空，可选地，清水桶同步注水；
(4)清洁设备对地刷的自清洁；
(5)污水桶注水，可选地，清水桶同步注水；
(6)污水桶排空，可选地，清水桶同步注水；
(7)污水桶冲洗，可选地，清水桶同步注水；
进一步，图16c所示实施例的整机清洗过程在步骤(7)之后还包括以下步骤：
(8)排污槽冲洗，可选地，清水桶同步注水；
(9)开启烘干和/或除菌。
在具体实施方式A4中，如图16d所示，清洁设备的整机自清洁过程包括以下步骤：
(1)污水桶注水，可选地，清水桶同步注水；
(2)污水桶排空，可选地，清水桶同步注水；
(4)清洁设备对地刷的自清洁；
(6)污水桶排空，可选地，清水桶同步注水；
(7)污水桶冲洗，可选地，清水桶同步注水；
进一步，图16d所示实施例的整机清洗过程在步骤(7)之后还包括以下步骤：
(8)排污槽冲洗，可选地，清水桶同步注水；
(9)开启烘干和/或除菌。
在上述具体实施方式A1-A4中，步骤(1)是在污水桶未处于水满状态时需要执行的步骤，如果污水桶处于水满状态，则在各个具体实施方式中可以直接从步骤(2)开始执行。
在与图15a所示实施例对应的各个具体实施方式A1-A4中，可以以步骤(4)为分割点，步骤(4)之前的步骤是对污水桶的首次自清洁过程，步骤(4)之后的步骤是对污水桶的二次自清洁过程，步骤(4)自身是地刷的自清洁过程。在上述具体实施方式A1-A4中，在污水桶的首次自清洁过程中存在一定区别，即污水桶排空是必选步骤，而污水桶注水和污 水桶冲洗两个步骤为可选步骤；相应地，对污水桶的二次自清洁过程中存在一定区别，即污水桶排空和污水桶冲洗是必选步骤，而污水桶注水为可选步骤。
进一步可选地，在上述实施方式A1-A4以及其它实施例中，在对污水桶进行二次自清洁之后，即在步骤(7)之后，还包括：对地刷进行离心甩干的操作。该离心甩干操作可由自清洁设备带动地刷完成。具体地，在离心甩干时，自清洁设备的主电机开启，带动地刷转动(例如旋转)，此时，所有送水管路上的水泵都关闭，地刷在转动过程中将液体甩出至容纳槽内并经抽吸通道将容纳槽内的液体抽吸至污水桶内，在一定程度上干燥滚刷。在此说明，该离心甩干操作产生的液体相对较少，且也相对较为干净，所以储存在经过清洗后的污水桶内并不会产生发臭、异味等情况。
在本申请实施例中，考虑到在对污水桶进行二次自清洁的过程中，可能需要对污水桶注水和/或对污水桶冲洗，其中，对污水桶注水的过程会经过容纳槽，该过程中的液体会打湿地刷，而对污水桶冲洗时，冲洗污水桶的液体可能会沿着污水桶的进污管道(进污管道是指污水桶内与吸污管道联通的部分)流出并经过吸污管道(即上述实施例中提到的将容纳槽与污水桶进行联通的一段管路，即抽吸通道)流下从而打湿地刷，因此，在对污水桶进行二次自清洁之后执行对地刷的离心甩干操作，可避免二次自清洁过程再次将地刷打湿的问题，起到真正的离心甩干作用。
在此说明，由于在对污水桶进行二次自清洁之后会执行对地刷的离心甩干操作，所以在上述步骤(4)中对地刷的自清洁过程中，在每次清洗之后可以执行对地刷的离心甩干操作，也可以不执行对地刷的离心甩干操作。一种优选实施方式是将步骤(4)中的离心甩干操作放到步骤(7)之后执行，这样既可以达到对地刷甩干的目的，又可以减少整个清洁过程中不必要的离心甩干操作，提高清洁效率，节约离心甩干消耗的资源。
进一步可选地，上述对地刷进行离心甩干的操作可在步骤(7)之后执行，至于与其它步骤，例如步骤(8)、步骤(9)之间的先后顺序不做严格限定。优先地，步骤(9)的操作可在离心甩干操作之后执行，即在对地刷进行离心甩干操作之后，开启烘干和/或除菌功能，对地刷进行烘干和/或除菌处理。或者，较佳地，为了节省时间，可以将离心甩干步骤放在步骤(8)中同步进行，或者放在步骤(9)中同步进行。
下面对上述具体实施方式A1-A4的整体流程以及其中各个步骤的详细实现过程进行说明。
具体地，用户使用清洁设备执行地面清洁任务，在执行地面清洁任务过程中，若发生以下任一情况，用户可以中断地面清洁任务并将清洁设备放置到基站的基座上并与基站完成对接。
情况1：在执行地面清洁任务过程中，收到清洁设备发出的电量不足告警信息，电量不足告警信息可以是通过显示屏显示的图文信息(例如电池图标高亮显示)，也可以是通过显示灯输出的灯光信号(例如连续闪烁的红光信号)，还可以是以语音方式输出的语音信号，例如“电池电量不足，请充电”。
情况2：在执行地面清洁任务过程中，收到清洁设备上污水桶水满告警信息时，污水桶水满告警信息可以是通过显示屏显示的图文信息(例如污水桶图标高亮显示，或者是“污水桶水满”的文字信息)，也可以是通过显示灯输出的灯光信号(例如连续闪烁的绿光信号)，还可以是以语音方式输出的语音信号，例如“污水桶水满，请清洁”。
情况3：在执行地面清洁任务过程中，收到清洁设备上清水桶水量不足告警信息时，清水桶水量不足告警信息可以是通过显示屏显示的图文信息(例如清水桶图标高亮显示，或者是“清水桶水位过低”的文字信息)，也可以是通过显示灯输出的灯光信号(例如连续闪烁的蓝光信号)，还可以是以语音方式输出的语音信号，例如“清水桶水量不足，请加水”。
在通过显示灯输出不同告警信息时，可以是灯光信号的颜色不同，也可以是相同颜色的灯光信号，但是灯光信号闪烁的频率不同，只要能够将不同告警信息进行区分的灯光信号表达方式均适用于本申请实施例。
除了上述几种情况之外，在执行地面清洁任务过程中，若发生其它问题，也可能致使地面清洁任务的中断，需要将清洁设备放置到基站的基座上并与基站完成对接。另外，当地面清洁任务结束之后，用户也可以将清洁设备放置到基站的基座上并与基站完成对接。
其中，基站和清洁设备可以检测是否与对端完成对接。关于完成对接的检测方式在本申请实施例中，不做限定。其中，基站与清洁设备完成对接时，清洁设备的清洁组件位于基站底座上的容纳槽内，污水桶的排污口与所述排污槽的入口部对接，清水桶的注水口与储水桶的注水阀对接；当然，如果还有其它需要对接的部件之间也会完成对接。
在确定清洁设备与基站对接的情况下，可进入上述具体实施方式A1-A4中的任一种清洁设备整机清洁流程，最终使用的清洁设备整机流程是产品出厂时预置好的，也可以是用户预先设定的好的。
在具体实施方式A1-A4中，基站在确定清洁设备与其对接的情况下，首先获取污水桶的水位状态；若污水桶处于水满状态，则从各个具体实时方式中的步骤(2)开始执行；若污水桶未处于水满状态，则从各个具体实施方式中的步骤(1)开始执行。在此说明，水满状态可以根据应用需求进行灵活定义，例如可以将整个污水桶容量的某个比例值(例如90％，4/5)定义为水满状态，低于该比例值就是水未满状态，等于该比例值或高于该比例值定义 为水满状态；当然，该比例值也可以是100％，即将污水桶容量的100％定义为水满状态，凡是低于100％的容量状态都属于水未满状态；还可以将污水桶容量的80-90％的范围定义为水满状态，对于超过90％容量的情况可定义为过满或溢出状态，低于80％的容量状态为水未满状态。
在上述可选实施例中，清洁设备10的污水桶12中设置有用于检测污水桶是否处于水满状态的一组电极片，该组电极片的末端代表水满状态；当污水桶12中的污水没过该组电极片的末端时，该组电极片会因为导通而产生表示水满状态的电信号，这组电极片与清洁设备10的处理系统电器连接，该电信号会被发送给清洁设备10的处理系统，该处理系统可以根据是否接收到表示水满状态的电信号来识别污水桶12是否处于水满状态。
其中，清洁设备10可以实时或定时检测污水桶是否处于水满状态，并将污水桶是否处于水满状态的指示信息发送给基站11，基站11根据清洁设备发送的污水桶是否处于水满状态的指示信息，确定污水桶是否处于水满状态。或者，清洁设备10检测到水满信号，并将污水桶水满的状态发送给基站。当然，清洁设备也可以将污水桶的当前水位信息发送给基站11，基站11根据污水桶的当前水位信息自行判断污水桶是否处于水满状态。如果污水桶处于水满状态，则直接对污水桶进行排污处理，以将污水桶中的污水排空；如果污水桶未处于水满状态，则先对污水桶进行注水处理，待污水桶处于水满状态时，再对污水桶进行排污处理，以将污水桶中的污水排空。
其中，对污水桶进行注水处理的方式包括但不限于以下两种方式：
方式1：清洁设备通过清水桶向污水桶注入。即由清洁设备10的清水桶经第一送水管路(第一送水管路是指从清水桶到清洁组件上的喷嘴之间的管路)向清洁组件(如地刷或滚刷)或容纳槽输送干净液体，然后启动主电机(也可称为抽吸电机)经抽吸通道将清洁组件或容纳槽内的液体(即污水)吸回污水桶，直至污水桶水满，从而达到向污水桶注水的目的。在该实施例中，容纳槽经第一送水管路与清水桶连通，并经抽吸通道与污水桶连通。
可选地，在方式1中，清洁设备10可以主动向污水桶注水。具体地，在确定与基站对接的情况下，清洁设备开始检测污水桶是否处于水满状态；如果清洁设备检测到污水桶未处于水满状态，一方面可以将污水桶未处于水满状态的指示信息发送给基站，以使基站获知污水桶当前未处于水满状态，一方面可直接控制地刷电机打开水泵将清水桶中的干净液体输送到清洁组件或容纳槽内，并启动主电机将清洁组件或容纳槽内的液体吸回污水桶，直至接收到电极片因水满导通而产生的代表污水桶水满的电信号为止。在向污水桶注水到水满状态时，清洁设备可控制清水桶停止输送液体并控制主电机停止抽吸。其中，当清洁 设备检测到污水桶水满的电信号时，向基站发送污水桶处于水满状态的指示信息，以使基站获知污水桶处于水满状态。或者
可选地，在方式1中，清洁设备10根据基站11的控制向污水桶注水。在确定与基站对接的情况下，清洁设备开始检测污水桶是否处于水满状态；如果清洁设备检测到污水桶未处于水满状态，将污水桶未处于水满状态的指示信息发送给基站，以使基站获知污水桶当前未处于水满状态；基站根据污水桶未处于水满状态的指示信息，向清洁设备返回注水指令，指示清洁设备为污水桶注水。对清洁设备来说，可以根据基站返回的注水指令，控制地刷电机打开水泵让清水桶中的干净液体输送到清洁组件或容纳槽内，并启动主电机将清洁组件或容纳槽内的污水吸回污水桶，直至清洁设备接收到电极片因水满导通而产生的代表污水桶水满的电信号为止。此时，清洁设备可控制清水桶停止输送液体并控制主电机停止抽吸。
方式2：在基站的容纳槽内设有冲洗喷头，该冲洗喷头与储水箱连通，可以朝向容纳槽或容纳槽内的清洁组件喷洒液体，可选地，该冲洗喷头可设置在容纳槽的前壁，但不限于此，例如也可以环绕容纳槽四周设置，冲洗喷头的数量可以是一个或多个。基于此，基站可以通过储水箱向污水桶注入。
具体地，在确定与基站对接的情况下，清洁设备开始检测污水桶是否处于水满状态；如果清洁设备检测到污水桶未处于水满状态，将污水桶未处于水满状态的指示信息发送给基站，以使基站获知污水桶当前未处于水满状态；基站根据污水桶未处于水满状态的指示信息，控制其储水箱经第二送水管路向容纳槽内注水，第二送水管路包括储水箱与冲洗喷头之间的管路以及冲洗喷头，具体地，储水箱向冲洗喷头输送干净液体，由冲洗喷头将干净液体喷洒到清洁组件或容纳槽内，并向清洁设备发送抽吸指令；清洁设备根据抽吸指令，启动主电机经由抽吸通道将清洁组件或容纳槽内的污水吸回污水桶，直至污水桶水满，从而达到向污水桶注水的目的。其中，在向污水桶注水的过程中，清洁设备会持续检测污水桶是否处于水满状态，当检测到污水桶处于水满状态时，一方面会向基站发送污水桶处于水满状态的指示信息，以使基站根据该通知信息终止储水箱向污水桶注水，另一方面会关闭主电机，以停止抽吸污水。在该实施例中，容纳槽经第二送水管路与储水箱连通，并经抽吸通道与污水桶连通。
需要说明的是，在上述方式2中，清洁设备除了根据基站发送的抽吸指令启动主电机之外，还可以在检测到污水桶未处于水满状态时，自动启动主电机，以用于抽吸容纳槽或清洁组件上的液体进入污水桶。
在此说明，在上述向污水桶注水的两种实施例中，无论是清洁设备上的清水桶还是基 站上的储水箱向清洁组件或容纳槽输送干净液体之后，可以让干净液体在清洁组件上停留一定时间后，再启动主电机经由抽吸通道将清洁组件上的污水吸回污水桶，以达到对清洁组件中地刷的预浸泡，为后续地刷的自清洁提供一定条件。在上述过程中，并不限定干净液体在清洁组件上的停留时间，例如可以是2s、5s或者5-10s等。当然，也可以在向清洁组件或容纳槽喷洒液体的同时，将清洁组件上的污水及时吸回污水桶。
在上述向污水桶注水的两种实施例中，无论从清洁设备的清水桶内释放干净液体，还是从基站的储水箱释放干净液体，如图16e中灰色箭头所示的液体流向，最终产生的污水都会通过地刷、抽吸通道(例如连接污水桶和地刷的软管)进入污水桶，这个过程同时清洁了地刷和抽吸通道，节省了干净液体的用量；另外，向污水桶内注满液体后可以将残留在污水桶侧壁上的一些污渍，能够带走更多的赃污，加强清洗效果。
在上述具体实施方式A1-A4中，在执行步骤(1)之后，进入步骤(2)。其中，在污水桶的首次自清洁过程中，污水桶排空的过程包括：基站控制基站上开启关闭污水桶的运动机构开始朝向污水桶的排污口运动，直至与排污口抵接且顶开排污口的盖板，以使污水桶中的污水经排污口和排污槽的入口部流入排污槽实现排污。可选地，排污口的盖板可通过锁扣固定，在锁扣闭合的状态下，盖板闭合，在锁扣打开的状态下，盖板开启。基于此，基站可控制运动机构朝向排污口运动，顶开闭合排污口盖板的锁扣，进而开启排污口的盖板，污水桶中的污水经排污口和排污槽的入口部流入基站上的排污槽，最终由排污槽连接的外置排污口将污水排入下水道或其它污水通道，实现排污。
为了判断污水桶排空过程是否结束，在基站上可以预先设置污水桶从水满到排空所需的排污时长阈值，基于此，在污水桶排空操作开始时统计污水桶的排污时长，当对污水桶的排污时长达到预设的排污时长阈值时，确定污水桶排空操作结束。此时，在具体实施方式A3-A4中，基站可以向清洁设备发送污水桶已排空的通知消息，以指示清洁设备对地刷进行自清洁或者告知清洁设备进入下一步骤；在具体实施方式A1-A2中，基站可以开始执行污水桶冲洗操作。
在上述具体实施方式A1-A2中，在执行步骤(2)之后，进入步骤(3)。其中，在污水桶的首次自清洁过程中，污水桶冲洗的一种实现过程包括：在污水桶的排污口开启的情况下，基站控制冲洗污水桶的冲洗装置开始朝向排污口(例如向上)运动直至伸入污水桶内且到达指定位置，然后冲洗装置开始往复运动，在往复运动过程中冲洗污水桶，冲洗污水桶的液体经排污口和排污槽的入口部流入排污槽并排出，实现污水桶的冲洗；当冲洗次数达到设定的第一次数阈值或者冲洗时间达到设定的第一时长阈值时，结束冲洗动作，冲洗污水桶的冲洗装置复原到原始位置。例如，第一次数阈值可以是3次、5次等，第一时长 阈值可以是3s、7s、10s等，对此不做限定。
其中，在污水桶的首次自清洁过程中，污水桶冲洗的另一种实现过程包括：储水桶还与污水桶的注水口连通，基站控制储水桶通过污水桶的注水口将干净液体注入到污水桶内，优选地可以通过注水口将液体注入到污水桶的第一指定位置，第一指定位置是污水桶相对较高的位置，例如桶盖位置，这样液体会产生从高处向下喷射的状态，达到对污水桶冲洗的目的，最终被注入污水桶内的液体会流向排污口，再由排污口和排污槽的入口部流出至排污槽。可选地，污水桶的注水口可以设置在污水桶的底部支架上，对于这种设置方式，可以通过较大的水压或较大的水量让液体达到污水桶内的第一指定位置处，但不限于此。或者，在另一种可选实施例中，可以在污水桶的较高位置处开设注水口，例如靠近桶盖的侧壁上，或者在桶盖附近开设注水口，这样通过注水口向污水桶注入液体，也可以达到从高处向下喷射的状态。
为了判断污水桶冲洗过程是否结束，在基站上可以预先设置在污水桶的首次自清洁过程中所需的第一冲洗次数阈值或第一时长阈值；基于此，在污水桶冲洗操作开始时统计污水桶的冲洗次数或冲洗时间，当对污水桶的冲洗次数或冲洗时间达到预设的第一冲洗次数阈值或第一时长阈值时，确定污水桶冲洗操作结束。或者，在基于冲洗装置对污水桶进行冲洗的方案中，基站也可以检测冲洗装置是否回重新到原始位置来判断对污水桶冲洗操作是否结束，当检测到冲洗装置重新回到原始位置时，确定污水桶冲洗操作结束。其中，在通过冲洗装置对污水桶进行冲洗操作的方案中，可以根据冲洗装置往复运动的次数确定冲洗次数，例如往复运动一次算一次冲洗过程，则往复运动的次数即为冲洗次数，或者也可以是往复运动一次算两次冲洗过程，则往复运动的次数的2倍即为冲洗次数，等等。当然，在通过冲洗装置对污水桶进行冲洗操作的方案中，也可以统计冲洗时长，在冲洗时长达到第一时长阈值时，确定冲洗操作结束。相应地，在通过储水箱向污水桶注入液体对污水桶进行冲洗操作的方案中，可以统计由储水箱向污水桶注入液体的时长(简称为注水时长)，在注水时长达到设定的第一注水时长阈值时，确定污水桶冲洗操作结束。此时，在具体实施方式A1-A2中，基站可以向清洁设备发送污水桶冲洗完成的通知消息，以指示清洁设备对地刷进行自清洁。
在污水桶的首次自清洁完成后，在上述具体实施方式A1-A4中均进入步骤(4)中对地刷进行自清洁。其中，清洁设备根据基站发送的污水桶已排空或清洗完成的通知消息，确定需要对地刷进行自清洁，于是，控制清水桶和主电机交替对清洁组件或容纳槽执行出水操作和抽水操作，以实现对地刷的自清洁。
具体地，地刷自清洁包括两个阶段，即第一阶段和第二阶段。在第一阶段中，清洁设 备控制清水桶在首次出水操作中向容纳槽输出指定量的液体，具体地，控制地刷电机打开水泵，让清水桶内的干净液体经第一送水管路(第一送水管路包括从清水桶到清洁组件上的喷嘴之间的管路以及喷嘴)向容纳槽喷出指定量；并在等待第三时长后，控制主电机以第四时长进行首次抽水操作，即将浸泡地刷产生的污水经由抽吸通道吸回到污水桶，该抽吸过程持续第四时长。其中，等待第三时长的目的是为了让液体充分浸泡地刷，在第一阶段要清水桶需要输出指定量的液体是为了有足够量的液体浸泡地刷。
在一可选实施例中，可以预先设定清水桶在地刷自清洁过程中首次释放的液体量阈值，并在基座的容纳槽内设置水量检测传感器，通过该水量检测传感器检测清水桶释放的液体量是否达到设定的液体量阈值，当达到设定的液体量阈值时，控制清水桶停止释放干净液体，此时认为液体量达到了浸泡地刷所需的指定量。或者，在另一可选实施例中，可以预先设定清水桶在地刷自清洁过程中首次释放液体的时长阈值，例如第三时长阈值，当清水桶释放干净液体的时长达到第三时长阈值的情况下，控制清水桶停止释放干净液体，说明此时液体量已达到浸泡地刷所需的指定量。
在第二阶段中，控制清水桶与主电机按照各自对应的第一时长和第二时长交替进行出水操作和抽水操作，例如清水桶每次按照第一时长进行出水操作，之后主电机按照第二时长进行抽水操作，抽水操作是指把清水桶释放的液体经由抽吸通道抽吸到污水桶内。
其中，上述出水操作和抽水操作交替执行多次直至达到预先设定的第二次数阈值，或者上述出水操作和抽水操作交替执行多次直至达到指定的第二时长阈值，或者上述出水操作和抽水操作交替执行多次直至污水桶再次处于水满状态，完成地刷的自清洁。其中，第一时长和第二时长可以相同，例如都是1s、3s等。或者，第一时长和第二时长不同，优选地，第二时长大于第一时长，例如第一时长可以是1s，第二时长是2s，第一时长是2s，第二时长是3s等等。相应地，也不对第四时长的取值进行限定，例如可以是5s、7s等，可选地，第四时长可以大于第二时长，但并不限于此。第四时长与上述首次出水的指定量的多少有关，如果首次出水的指定量较大，则第四时长较长，如果首次出水的指定量较小，则第四时长较短。相应地，第一时长越长，说明需要抽吸的水量较多，故第二时长较长，第一时长越短，说明需要抽吸的水量较少，第二时长相应越短。
在本实施例中，并不限定上述第三时长的取值，例如可以是3s、5s、10s、20s等，该第三时长可以是一个预设值，或者也可以根据地刷的脏污程度灵活设定。可以在地刷上设置脏污程度传感器，通过该脏污程度传感器采集地刷的脏污程度并上报给清洁设备的处理系统；或者，清洁设备上可以安装摄像头，通过摄像头采集地刷的图像，由清洁设备或服务端对该图像进行识别，得到地刷的脏污程度信息。在得到地刷的脏污程序信息之后，可 以根据地刷的脏污程度信息设置上述第三时长，上述第三时长也可以称为地刷的浸泡时长。除了采用清洁设备上的摄像头采集地刷的图像之外，也可以由基站上的摄像头或其它终端设备(例如安装有清洁设备APP的手机)上的摄像头采集地刷的图像，并上传至服务端进行图像识别，对此不做限定。
在上述对地刷的自清洁过程中，清水桶释放的干净液体浸泡清洁组件一定时间，能够提前溶解地刷上的赃污物，去除一些难以清洁的污渍，更好地清洁地刷；另外，留出一定时间，清水桶释放的液体可以累积较多的量，这样在主电机工作时，也有足够的液体冲洗抽吸通道(例如软管)，更好的清洗整个风道。
进一步，当地刷的自清洁结束条件是污水桶再次处于水满状态时，可以进一步带走污水桶内更多的赃污，也为后续污水桶二次自清洁过程减轻了了一定负担，增强清洗效果，节省用水量。
在一可选实施例中，清水桶中安装有电解水制备设备，清洁设备可以控制电解水制备设备制备一段时间的电解水，然后由地刷电机打开水泵让清水桶中的电解水经清洁组件上的喷嘴喷出指定量，使用电解水不仅能够浸泡和清洗地刷，还能起到杀菌的作用。
在本实施例中，在地刷的自清洁结束条件是上述出水操作和抽水操作交替执行的次数达到第二次数阈值的情况下，在地刷的自清洁过程中，清洁设备可以统计上述出水操作和抽水操作交替执行的次数，当达到第二次数阈值时，确定地刷的自清洁操作结束，向基站发送地刷自清洁完成的通知消息，以指示基站进入污水桶的二次自清洁过程。或者，在地刷的自清洁结束条件是上述出水操作和抽水操作交替执行的时间达到第二时长阈值的情况下，在地刷的自清洁过程中，清洁设备可以统计上述出水操作和抽水操作交替执行的时间，当达到第二时长阈值时，确定地刷的自清洁结束，向基站发送地刷自清洁完成的通知消息，以指示基站进入污水桶的二次自清洁过程。或者，在地刷的自清洁结束条件是污水桶再次处于水满状态的情况下，在地刷的自清洁过程中，清洁设备还可以检测污水桶的状态，并在确定污水桶再次处于水满状态时，确定地刷的自清洁结束，向基站发送地刷自清洁完成的通知消息，以指示基站进入污水桶的二次自清洁过程。
在此说明，在上述对地刷的自清洁过程中，在每次抽水操作完成之后可以对地刷进行离心甩干操作，以加速对地刷的清洁效率，在该方式中，对地刷的自清洁过程包括多次执行放水、抽水和离心甩干操作。当然，在每次抽水操作完成之后，也可以不对地刷进行离心甩干操作，而是等到步骤(7)之后再对地刷进行离心甩干操作，这样的话，对地刷的自清洁过程主要包括多次执行放水和抽水操作。
在对地刷的自清洁操作完成后，在上述具体实施方式A1-A4中均进入污水桶的二次自 清洁过程，但在上述具体实施方式A1-A4中，污水桶的二次清洁过程有所不同。具体地，在具体实施方式A1和A3中，依次执行步骤(5)-(7)，即先对污水桶注水，污水桶注水之后进行污水桶排空，污水桶排空之后进行污水桶冲洗；在具体实施方式A2和A4中，依次执行步骤(6)和(7)，即先对污水桶排空，污水桶排空之后进行污水桶冲洗。
在具体实施方式A1和A3中，考虑到对地刷的自清洁通常不会让污水桶处于水满状态，故可以直接向污水桶中注水，关于向污水桶中注水的方式可参见前述方式1和方式2，在此不再赘述。
在具体实施方式A1-A4中，均包括步骤(6)污水桶排空和步骤(7)污水桶冲洗。关于步骤(6)在具体实现流程以及涉及的参数均与上述步骤(2)是相同的，在此不再赘述。关于步骤(7)在具体实现流程上与上述步骤(3)相同，在此不再赘述。步骤(7)属于二次自清洁过程中的污水桶冲洗操作，步骤(3)属于首次自清洁过程中的污水桶冲洗操作，两者在相关冲洗参数上可以相同，也可以不同。
例如，在步骤(7)的污水桶冲洗操作中，关于冲洗操作结束条件可以设置为第三次数阈值或者第三时长阈值时，基于此，在步骤(7)的执行过程中，在污水桶的排污口开启的情况下，基站控制基站上冲洗污水桶的冲洗装置开始向上运动直至伸入污水桶内且到达指定位置，然后开始往复运动，在往复运动过程中冲洗污水桶；当冲洗次数达到设定的第三次数阈值或者冲洗时间达到设定的第三时长阈值时，结束冲洗动作，冲洗污水桶的冲洗装置复原到原始位置。例如，第三次数阈值可以是5次、8次、10次等，第三时长阈值可以是5s、10s、15s等，对此不做限定。当然，在步骤(7)的执行过程中，基站也可以检测冲洗装置是否回到原始位置来判断冲洗动作是否结束，当检测到冲洗装置重新回到原始位置时，确定冲洗动作结束，反之，重新动作尚未结束。其中，在通过冲洗装置对污水桶进行冲洗操作的方案中，可以根据冲洗装置往复运动的次数确定冲洗次数，例如往复运动一次算一次冲洗过程，则往复运动的次数即为冲洗次数，或者也可以是往复运动一次算两次冲洗过程，则往复运动的次数的2倍即为冲洗次数，等等。当然，在通过冲洗装置对污水桶进行冲洗操作的方案中，也可以统计冲洗时长，在冲洗时长达到第三时长阈值时，确定冲洗操作结束。相应地，在通过储水箱向污水桶注入液体对污水桶进行冲洗操作的方案中，可以统计由储水箱向污水桶注入液体的时长(简称为注水时长)，在注水时长达到设定的第二注水时长阈值时，确定污水桶冲洗操作结束。
可选地，相对于首次自清洁中的冲洗次数或冲洗时间，在污水桶的二次自清洁过程中，对污水桶的冲洗次数可以更多一些，或者冲洗时间可以更长一些，例如，第三次数阈值大于第一次数阈值，或者第三时长阈值大于第一时长阈值，或者，第二注水时长阈值大于第 一注水时长阈值，用以保证对污水桶的清洁效果。但是，并不限于第三次数阈值大于第一次数阈值，或者第三时长阈值大于第一时长阈值，或者第二注水时长阈值大于第一注水时长阈值，如果在首次自清洁过程中，冲洗次数足够多或冲洗时间足够长，对污水桶已经达到了一定的清洁效果，那么在二次自清洁过程中，也可以使用较少的冲洗次数或冲洗时间或注水时长，只要能够保证在二次自清洁过程中将污水桶清洁干净即可。
进一步，在上述具体实施方式A1-A4中，在执行步骤(7)之后，基站控制开启关闭污水桶的运动机构向远离污水桶的排污口的方向运动，进而关闭污水桶的排污口的盖板，闭合污水桶的锁扣锁住污水桶，然后向清洁设备发送整机清洁完成的通知消息，以使清洁设备了解整机自清洁已完成。
进一步，如图15b所示实施例，在对完整清洁设备的整机清洁后，可进入步骤34中，对基站上的排污槽进行自清洁。具体地，如图16f所示，在储水箱211与排污槽213之间存在第三送水管路219，在第三送水管路219上设置有开关阀杆，可选地，该开关阀杆设置在储水箱内，用于打开或关闭第三送水管路219；在污水桶被彻底清洁干净之后，基站控制储水箱211内的阀杆打开，储水箱释放干净液体，该干净液体经与排污槽连接的第三送水管路219直接流向排污槽213，冲洗排污槽213，冲洗排污槽后的液体经排污槽213连接的下水道连接管流入下水道，实现对排污槽的自清洁。在图16f中，灰色箭头线表示冲洗排污槽时液体的流向。
在上述具体实施方式A1-A4中，在冲洗排污槽之后，还可以开启设置在基站上的UV灯对清洁组件进行除菌。可选地，该UV灯设置在基站的底座上，用于发射具有杀菌的紫外线，用于对清洁组件(具体为地刷)进行照射杀菌，以避免地刷滋生细菌；另外，该UV灯还具有对清洁组件加热、烘干的作用，加速地刷的干燥速度。再者，还可以在底座上增设一套烘干系统，该系统包括设置在底座内部的加热模块，导流通道以及设置在容纳槽内一排出风孔，出风孔与导流通道连通；在烘干系统被启动后，加热模块开始工作产生热风，热风经导流通道到达出风孔，由出风孔朝向清洁组件吹出热风，在UV等对清洁组件进行杀菌的过程中，可以同时对清洁组件进行烘干。
在此说明，在上述整机自清洁过程中，清洁设备还可以通过清水桶内用于检测是否处于水满状态的一组电极片检测清水桶的水位状态，电极片的末端位置代表清水桶的水满状态，在水满状态，该组电极片可产生代表水满状态的电信号；在非水满状态时，不会产生该电信号；清洁设备可以根据是否接收到电信号，确定清水桶是否处于水满状态。在清水桶未处于水满状态时，清洁设备向基站发送清水桶未处于水满状态的指示信息，基站根据该信息，通过储水箱向清水桶注水，具体地，开启与储水箱连通的注水阀，使储水箱内的 干净液体经过注水阀和清水桶的注水口流向清水桶，达到给清水桶注水的目的。在该过程中，当清水桶的水位信息超过电极片的末端位置时，电极片会产生表示清水桶处于水满状态的电信号并发送给清洁设备的处理系统；清洁设备根据是否接收到该电信号判断清水桶是否处于水满状态。在向清水桶注水过程中，清洁设备在接收到电极片产生的电信号时，向基站发送清水桶处于水满状态的指示信息，基站根据该指示信息关闭注水阀，从而停止向清水桶注水。
在上述实施例中，在清水桶未处于水满状态时，就需要基站为清水桶注水，从而始终保持清水桶处于水满状态，但并不限于此。例如，在清水桶内可以设置两组电极片，第一组电极片的末端位置低于第二组电极片的末端位置，即第一组电极片的末端位置更加靠近清水桶的底部位置，第二组电极片的末端位置更加靠肩清水桶的顶部位置，第一组电极片用于检测清水桶的最低水位，第二组电极片用于检测清水桶的水满状态。当清水桶内的水位低于第一组电极片的末端位置时，第一组电极片将断开连接，第一组电极片产生的电信号会消息，清洁设备可以根据该电信号的消失判断出清水桶的水位已经低于最低水位，于是向基站发送注水请求，以使基站通过储水箱向清水桶注水。随着不断注水，清水桶内的水位逐渐升高，当升高到第二组电极片的末端位置时，第二组电极片会导通而产生电信号，此时，清洁设备可根据该电信号判断出清水桶的水位已经超过最高水位，即处于水满状态，于是向基站发送清水桶处于水满状态的通知消息，以使基站停止向清水桶注水。
进一步可选地，还可以设置多组电极片，不同电极片的末端位置处于清水桶中的不同位置，可以对清水桶进行多个水位检测，并根据各个水位检测结果确实是否需要向清水桶注水。
在上述具体实施方式A1-A4中，在污水桶未处于水满状态的情况下，先执行步骤(1)向污水桶注水的原因是：在清洁设备执行地面清洁之后，污水桶内的脏污程度可能较严重，污水桶内可能会有一些固体垃圾或者粘附在桶壁上的垃圾，先注水让污水桶处于水满状态，有助于将桶壁上的垃圾从桶壁上冲洗下来或将较干燥粘稠的垃圾排出，因此，在排空污水桶之前需要先将污水桶注满以利于脏污排出。
在步骤(4)之前，先执行步骤(1)-(3)的原因是：在对地刷进行自清洁之前，先将污水桶排空并初步清洗污水桶，将清洁设备清洁地面回收的脏污排出并冲洗掉污水桶内残留的脏污，使污水桶达到相对干净的状态，之后再对清洁设备的地刷进行自清洁，此时的脏污程度一般比清洁地面回收的脏污轻，后续再冲洗回收桶就会变得相对容易，因为污水桶已经预清洁，方便对地刷进行自清洁。如果污水桶处于水满或较满状态时，无法对地刷进行自清洁或者无法一次完成地刷的自清洁，导致清洁效率较低。另一方面，由于用户 在清洁地面任务未完成而污水桶已满和/或清水桶已空，用户可能仅仅需要排空污水桶加满清水桶，而不是先对地刷自清洁，因此，在步骤(4)之前，先执行步骤(1)-(3)。
另外，在具体实施方式A1和A2中，在步骤(2)-(4)之间设置步骤(3)的原因是：清洁设备执行了地面清洁，虽然有步骤(2)对污水桶进行了排空，但清洁设备清洁地面回收的脏污程度可能较重，污水桶内可能仍然较脏，这里先将执行地面清洁带来的脏污冲洗掉，在步骤(4)之后执行步骤(7)对污水桶冲洗时，就会更容易将污水桶冲洗干净。
需要说明的是，在本申请各实施例中，在清洁设备的机身上设置有显示屏的情况下，该显示屏可以显示整机清洁过程当前是什么阶段，以及整机清洁过程的进展情况(例如具体执行的步骤信息)，这些阶段信息和步骤信息可由基站发送给清洁设备，清洁设备通过显示屏进行显示，以便用户了解当前清洁阶段和步骤。
图17为本申请实施例提供的从清洁设备角度描述的清洁设备自清洁方法的流程示意图。如图17所示，该方法包括：
51、在清洁设备与基站对接的情况下，确定污水桶是否处于水满状态；
52、向基站发送污水桶是否处于水满状态的指示信息，以使基站根据所述指示信息对污水桶进行首次自清洁；
53、在接收到基站发送的清洁指令时，对地刷进行自清洁，所述清洁指令是基站确定对污水桶的首次自清洁完成的情况下发送的；
54、向基站发送地刷自清洁完成的通知消息，以使基站继续对污水桶进行二次自清洁。
在一可选实施例中，清洁设备的机身上还设置有清水桶，上述方法还包括：在地刷位于基站底座上的容纳槽内的情况下，接收基站发送的注水指令，控制清水桶经第一送水管路向容纳槽内注水并经抽吸通道向污水桶注水，直至污水桶处于水满状态，容纳槽与第一送水管路和抽吸通道连通。
在一可选实施例中，对地刷进行自清洁，包括：控制清水桶在首次出水操作中向容纳槽输出指定量的液体，并在等待第三时长后，控制主电机以第四时长对容纳槽进行首次抽水操作；控制清水桶与主电机按照各自对应的第一时长和第二时长交替进行出水和抽水操作，直至满足地刷自清洁结束条件。
在一可选实施例中，上述方法还包括：检测清水桶是否处于水满状态，并向基站发送清水桶是否处于水满状态的指示信息，以供基站对清水桶进行注水处理。
关于上述各方法步骤的详细实现方式可参见前述系统实施例的描述，在此不再赘述。
本申请实施例除了提供上述方法和系统之外，还提供一种基站和一种清洁设备。关于基站的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该基站中的控制器 执行存储器中存储的计算机程序，可实现上述各方法实施例中可由基站执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
同理，关于清洁设备的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该清洁设备中的处理系统可实现上述各方法实施例中可由清洁设备执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
下面给出一种具体的场景实施例1：
用户使用清洗机完成地面清洁等的工作后，将清洗机放回基站的底座上，与基站完成对接。基站检测到与清洗机完成对接的情况下，开启对清洗机的整机自清洁流程。基站控制储水桶向污水桶中注入清水至污水桶水满，控制驱动机构打开污水桶的排污口上的盖板进行排污，污水通过排污槽流入下水道；在排污10s后，驱动冲洗污水桶的冲洗装置升起到污水桶内的指定位置，开始反复的上下运动，在反复上下运动过程中喷出清水(例如可以带有旋转的喷头朝向四周喷水或者带有朝向不同的多个喷头朝向四周喷水)，以便能冲洗到污水桶内各个位置；在冲洗污水桶30s后，冲洗装置回到初始位置(即复位)；此时，驱动用于开启关闭污水桶的运动机构反向运动，使盖板闭合以关闭污水桶。然后，通知清洗机准备进行地刷的自清洁。清洗机在清水桶内开始制备电解水30s，清水桶通过清洁组件上的喷嘴喷出一定量的电解水，并在浸泡滚刷15s后，驱动主电机工作3s以将污水吸入污水桶内；接着，清水桶通过喷嘴向容纳槽喷水1s，驱动主电机工作1s，依次循环数次后，最终由主电机将容纳槽内的污水全部抽吸到污水桶内，并对地刷进行风干，完成地刷和整个风道的自清洁。接着，再次驱动运动机构朝向污水桶的排污口运行，打开排污口上的盖板进行排污，在排污10s后，驱动冲洗污水桶的冲洗装置升起到污水桶内的指定位置，开始对污水桶进行冲洗，在冲洗污水桶30s后，冲洗装置回到初始位置(即复位)；此时，驱动用于开启关闭污水桶的运动机构反向运动，使盖板闭合以关闭污水桶。可选地，在对污水桶清洗完成后，可以对地刷进行离心甩干操作，以甩干地刷。进一步还可以对地刷进行烘干和/除菌操作。最后，基站上的储水箱放水冲洗排污槽，完成整个自清洁流程。需要说明的是，冲洗排污槽的操作与对地刷进行离心甩干、烘干和/或除菌的操作可以顺序执行，也可以同步执行，对此不做限定。整个过程中，用户不需要对清洗机本身进行清洁，实现用户双手不沾污的目的。
在此说明，在清洁设备与基站对接的情况下，基站会自动启动针对清洁设备的整机清洁流程，但并不限于此。例如，用户将清洁设备放置于基站底座之后，可以通过语音信号向基站和/或清洁设备发出启动整机清洁流程的语音指令。其中，启动整机清洁流程的语音指令可以面向基站发出，然后由基站向清洁设备发送控制指令，以使清洁设备进入整机清 洁流程，配合基站完成整机清洁流程；或者，启动整机清洁流程的语音指令也可以面向清洁设备发出，然后由清洁设备向基站发送通知消息，以使基站进入整机清洁流程，配合清洁设备完成整机清洁流程；或者，启动整机清洁流程的语音指令也可以同时面向清洁设备和基站发出，两者同时进入整机清洁流程。又例如，用户将清洁设备放置于基站底座之后，可以通过清洁设备的显示屏上的自清洁按键或者通过基站的显示屏上的自清洁按键，向清洁设备或基站发出启动整机清洁流程的指令，从而启动整机清洁流程。当然，用户也可以通过清洁设备或基站上的物理按钮，向清洁设备或基站发出启动整机清洁流程的指令，从而启动整机清洁流程。
除上述各实施例提供的由清洁设备10和基站11相互配合按照统一的整机清洁流程对清洁设备10进行整机自清洁之外，本申请一些实施例还提供了污水桶的自清洁方法，该自清洁方法应用于自清洁系统，自清洁系统包括：清洁设备和基站，清洁设备至少包括污水桶，基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在清洁设备与基站对接的情况下，污水桶的排污口至少与排污槽对接；关于自清洁系统的其它介绍可参见前述实施例，在此不再赘述。
另外，需要说明，冲洗系统是对上述实施例中涉及的能够对污水桶进行冲洗的冲洗装置或储水桶的总称，该冲洗系统具体可实现为上述冲洗装置或者能够针对污水桶提供冲洗服务的储水箱。该自清洁方法主要可由自清洁系统中的基站完成，如图18c所示，该方法包括：
61、在清洁设备与基站对接的情况下，响应污水桶的清洁触发事件；
64、依次执行污水桶排空和污水桶冲洗操作，以实现污水桶的自清洁。
在一可选实施例中，基站上设置有开启关闭污水桶的运动机构，运动机构与污水桶的排污口对接。基于此，响应污水桶的清洁触发事件，执行污水桶排空操作，包括：响应污水桶的清洁触发事件，控制运动机构朝向污水桶的排污口运行，直至与排污口抵接且顶开排污口的盖板，以使污水桶中的污水经排污口流入排污槽实现排污。
在一可选实施例中，还包括：检测污水桶的排污时长，并在排污时长达到设定的排污时长阈值时，确定污水桶排空操作结束。
在一可选实施例中，冲洗系统包括设置于基站上的用于冲洗污水桶的冲洗装置，冲洗装置与排污口对应设置。基于此，响应污水桶的清洁触发事件，执行污水桶冲洗操作，包括：在污水桶排空操作结束后，控制冲洗装置开始朝向排污口运动，直至伸入污水桶内且到达指定位置，冲洗装置开始往复运动，在往复运动过程中喷出液体冲洗污水桶，液体经排污口流入基站上对接的排污槽。
在上述可选实施例的基础上，该方法还包括：检测对污水桶的冲洗次数或冲洗时间，在冲洗次数或冲洗时间达到设定的次数阈值或时长阈值时，确定污水桶冲洗操作结束；或者，检测冲洗装置是否重新回到原始位置，当检测到冲洗装置重新回到原始位置时，确定污水桶冲洗操作结束。需要说明的是，在对污水桶连续进行多次自清洁的情况下，不同自清洁过程中时长阈值的取值可以不同，也可以相同。
在一可选实施例中，冲洗系统包括设置在基站上的储水箱，且储水箱与污水桶的注水口连通。基于此，响应污水桶的清洁触发事件，执行污水桶冲洗操作，包括：在污水桶排空操作结束后，控制储水箱经污水桶的注水口向污水桶内注入液体，液体经排污口流入基站上对接的排污槽，以实现对污水桶的冲洗。
在上述可选实施例的基础上，该方法还包括：检测对污水桶的注水时长，在注水时长达到设定的注水时长阈值时，确定污水桶冲洗操作结束。需要说明的是，在对污水桶连续进行多次自清洁的情况下，不同自清洁过程中注水时长阈值的取值可以不同，也可以相同。
在一可选实施例中，如图18d所示，在执行污水桶排空操作之前，还包括：
步骤62、获取污水桶是否处于水满状态的指示信息或污水桶的水位信息；
步骤63、在根据指示信息或水位信息确定污水桶未处于水满状态的情况下，执行污水桶注水操作，以使污水桶处于水满状态。
在一可选实施例中，清洁设备的地刷位于基站底座上的容纳槽内，容纳槽经第一送水管路和抽吸通道分别与清洁设备的清水桶和污水桶连通，则执行污水桶注水操作，以使污水桶处于水满状态，包括：
向清洁设备发送注水指令，以指示清洁设备控制清水桶经第一送水管路向容纳槽注水并经抽吸通道将容纳槽内的液体抽吸到污水桶内，直至污水桶处于水满状态；
或者
基站控制基站上的储水箱经第二送水管路向容纳槽内注水，并向清洁设备发送抽吸指令，以指示清洁设备经抽吸通道将容纳槽内的液体抽吸到污水桶内，直至污水桶处于水满状态。
在一可选实施例中，上述污水桶的清洁触发事件包括以下至少一种：
检测到清洁设备与基站对接的事件；
接收到用户发出的用于指示清洁污水桶的语音指令；
接收到显示屏上污水桶清洁控件被触发的事件；
接收到清洁设备发送的污水桶清洁指令；
获取到清洁顺序在污水桶之前的其它组件清洁完成的信息。
在一可选实施例中，该方法还包括：在污水桶的本次自清洁完成后，再次按序执行污水桶注水、污水桶排空和污水桶冲洗操作，以实现污水桶的下一次自清洁，从而实现对污水桶的多次自清洁，提高清洁效果。
在一可选实施例中，该方法还包括：在污水桶的自清洁完成后，对排污槽进行自清洁。
在一可选实施例中，基站上设置有储水箱，储水箱与排污槽通过第三送水管路联通，且第三送水管路上设置有开关阀门。对排污槽进行自清洁，包括：打开开关阀门，以使储水箱经第三送水管路向排污槽送入液体，以对排污槽进行自清洁。
在一可选实施例中，储水箱与清水桶的注水口连通；方法还包括：获取清洁设备的清水桶是否处于水满状态的指示信息或清水桶的水位信息；在根据指示信息或水位信息确定所清水桶未处于水满状态时，通过储水箱对清水桶进行注水处理。
关于上述各方法步骤的详细实现方式可参见前述系统实施例的描述，在此不再赘述。
本申请实施例除了提供上述方法和系统之外，还提供一种基站。关于基站的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该基站中的控制器执行存储器中存储的计算机程序，可实现上述图18c所示方法实施例中可由基站执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
除上述方法实施例之外，本申请实施例还提供一种污水桶的自清洁方法，应用于自清洁系统，自清洁系统包括：清洁设备和基站，清洁设备至少包括污水桶，基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在清洁设备与基站对接的情况下，污水桶的排污口至少与排污槽对接；关于自清洁系统的其它介绍可参见前述实施例，在此不再赘述。另外，需要说明，冲洗系统是对上述实施例中涉及的能够对污水桶进行冲洗的冲洗装置或储水桶的总称，该冲洗系统具体可实现为上述冲洗装置或者能够针对污水桶提供冲洗服务的储水箱。该自清洁方法可由自清洁系统中的基站和清洁设备配合完成。该方法包括：
S1、确定清洁设备与基站对接；
S2、清洁设备检测到污水桶未满；
S3、基站向容纳槽注水，清洁设备的主电机开启以经抽吸通道将容纳槽内的液体抽吸到污水桶内，直至污水桶处于水满状态；
S4、基站将污水桶的排污口打开，以排空污水桶；
S5、基站的冲洗系统对污水桶进行冲洗；
S6、确认污水桶冲洗完成，基站将污水桶的排污口关闭。
关于上述各步骤的详细实现可参见前述实施例中相关步骤或操作的描述，在此不再赘述。
在此说明，在本申请上述或下述各实施例中，清洁设备与基站对接主要是指两个设备上相关结构在位置上的对接，进一步，也包括两个设备之间通信信号的对接。
本申请实施例还提供一种污水桶的注水方法，该方法可由清洁设备执行，清洁设备包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和清水桶。如图18b所示，该方法包括：
601、在清洁设备与基站对接的情况下，检测污水桶是否处于水满状态；
602、向基站发送污水桶是否处于水满状态的指示信息，以使基站根据指示信息判断是否需要对污水桶注水；
603、在接收到基站发送的注水指令时，控制清水桶经第一送水管路向基站上用于容纳清洁组件的容纳槽注水并经抽吸通道将容纳槽内的液体抽吸到污水桶内，直至污水桶处于水满状态；其中，容纳槽经第一送水管路和抽吸通道分别与清水桶和污水桶连通。
关于本实施例中各步骤的详细实现可参见前述实施例，在此不再赘述。
本申请实施例除了提供上述方法和系统之外，还提供一种清洁设备。关于清洁设备的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该清洁设备中的处理系统可实现上述图18b所示方法实施例中可由清洁设备执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤31至步骤33的执行主体可以为设备A；又比如，步骤31和32的执行主体可以为设备A，步骤32的执行主体可以为设备B；等等。
除上述各实施例提供的由清洁设备10和基站11相互配合按照统一的整机清洁流程对清洁设备10进行整机自清洁之外，还可以采用下述实施例提供的方法流程对清洁设备10进行整机自清洁。该整机自清洁过程应用于图13a、图13b或图14所示的自清洁系统，可由基站11和清洁设备10配合完成。如图18a所示，该整机清洁流程包括：
步骤61、在清洁设备与所述基站对接的情况下，获取污水桶的当前水位状态；
步骤62、从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程；
步骤63、按照第一目标整机清洁流程对清洁设备进行整机自清洁，每个目标整机清洁流程包括污水箱的自清洁和地刷的自清洁。
需要说明的是，上述步骤61和62可由基站执行，步骤63可由基站和清洁设备配合完成，具体配合过程可参见后续详细实施例。
在本实施例中，将污水桶的水位状态划分为几类，对于划分的水位状态的类别和数量 均不做限定。举例说明，可以将污水桶的水位状态划分为三类，即空桶状态、水满状态以及有水但未满状态；也可以将污水桶的水位状态划分为两类，即水满状态和水未满状态；或者，也可以将污水桶的水位状态划分为两类，即水位大于设定水位阈值(包括水满状态)和水位小于等于设定水位阈值(包括空桶状态)。设定水位阈值可以是污水桶70％的水位位置，80％的水位位置，85％的水位位置或者是90％的水位位置，对此不做限定。
在本申请实施例中，对于不同水位状态，可以设置不同的目标整机清洁流程，目标整机清洁流程是指在该水位状态下最终可以使用的整机清洁流程；其中，每个目标整机清洁流程包括污水箱的自清洁和地刷的自清洁，以便实现对清洁设备的整机自清洁。对于不同目标整机清洁流程来说，污水箱的自清洁和地刷的自清洁中至少存在一个自清洁过程不同。这里对于不同目标整机清洁流程中的同一自清洁过程的不同，可以是该自清洁过程包含的作业步骤不同，也可以是该自清洁过程中涉及的作业参数不同，还可以是作业步骤和作业参数均不同。
其中，污水桶的水位状态不同，在一定程度上表征清洁设备的工作时长，通常，工作时长越长，污水桶的水位会越高。而清洁设备的工作时长越长，清洁设备的污水桶、清洁组件(具体是指清洁组件中的地刷)的脏污程度越严重。在本实施例中，针对的不同水位状态设置不同的目标整机清洁流程，一定程度上相当于针对不同脏污程度的清洁需求，配置不同的整机清洁流程。例如，脏污程度不严重的情况(即污水桶水位较低的或未满的情况)，可以使用作业步骤较少或作业参数相对较小的一些整机清洁流程；反之，对于脏污程度较为严重的情况(即污水桶的水位较高或水满的情况)，可以使用作业步骤较多或作业参数相对较大一些的整机清洁流程。这样，可以根据不同脏污程度，选择不同的整机清洁流程，既可以满足整机自清洁的需求，又可以根据不同脏污程序的清洁需求减少一些不必要的作业步骤，节约电量，延长清洁设备和基站的使用寿命。
在本实施例中，在清洁设备与基站对接的情况下，基站获取污水桶的当前水位状态；然后，从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的目标整机清洁流程，为便于描述和区分，将与当前水位状态适配的目标整机清洁流程称为第一目标整机清洁流程；然后，按照第一目标整机清洁流程对所述清洁设备进行整机自清洁。
其中，基站获取污水桶的当前水位状态的详细方式，与上述实施例中基站获取污水桶是否处于水满状态的方式相同或相似，可以由清洁设备通过用于进行水位信息检测的电极片进行水位状态的检测并提供给基站。需要说明的是，在本实施例中，可以根据对水位状态划分的数量，在污水桶中可以设置更多组电极片，以实现对不同水位状态的检测。
在一可选实施例中，可以将污水桶的水位状态划分为两类，即第一水位状态和第二水 位状态。在一种应用场景中，第一水位状态包括水满状态，第二水位状态包括水未满状态。在另一种应用场景中，第一水位状态包括水位大于设定水位阈值的状态(在该场景，该状态包括水满状态)，第二水位状态包括水位小于等于设定水位阈值的状态(在该场景下，该状态包括空桶状态)。
基于上述对水位状态的分类情况，上述从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程，包括：
在当前水位状态为第一水位状态时，确定与第一水位状态对应的目标整机清洁流程作为第一目标整机清洁流程；在当前水位状态为第二水位状态时，确定与第二水位状态对应的目标整机清洁流程作为第一目标整机清洁流程。其中，与第一水位状态对应的目标整机清洁流程和与第二水位状态对应的目标整机清洁流程不完全相同，可以是作业步骤和作业参数中的至少一种不相同。
需要说明的是，对于不同水位状态对应的目标整机清洁流程可以包含相同的第一粒度的自清洁过程，也可以包含不同的第一粒度的自清洁过程。下面分场景进行说明：
在一种应用场景B1中，不同水位状态对应的目标整机清洁流程依次包括：污水桶的首次自清洁，地刷的自清洁，污水桶的二次自清洁。在该应用场景中，与第一水位状态对应的目标整机清洁流程依次包括：污水桶的首次自清洁，地刷的自清洁，污水桶的二次自清洁。与第二水位状态对应的目标整机清洁流程也依次包括：污水桶的首次自清洁，地刷的自清洁，污水桶的二次自清洁。将污水桶的首次自清洁，地刷的自清洁，污水桶的二次自清洁称为是第一粒度的自清洁。从所包含的第一粒度的自清洁过程来看，两个目标整机清洁流程是相同的，区别在于这三个第一粒度的自清洁过程(即污水桶的首次自清洁，地刷的自清洁以及污水桶的二次自清洁)中至少存在一个自清洁过程不同。这里自清洁过程的不同，主要是指对于不同目标整机清洁流程，同一个第一粒度的自清洁过程在详细实现上有所不同，可以是该自清洁过程包含的作业步骤不同，也可以是该自清洁过程中涉及的作业参数不同，还可以是作业步骤和作业参数均不同。
在上述应用场景B1中，在任何水位状态下，均先对污水桶进行首次自清洁，通过首次自清洁将污水桶中的污水排空，一方面起到对污水桶清洁的作用，另一方面也可以让污水桶有足够空间容纳地刷自清洁过程中产生的污水，确保地刷自清洁过程一次性完成而不会因为污水桶水满而被中断，提高地刷自清洁的效率，进而提高整机自清洁的效率。
在另一种应用场景B2中，根据水位状态的不同，对应目标整机清洁流程依次包括的第一粒度的自清洁过程会有所不同。在以上述第一水位状态和第二水位状态为例的情况下，与第一水位状态对应的目标整机清洁流程依次包括：污水桶的首次自清洁，地刷的自清洁， 污水桶的二次自清洁；与第二水位状态对应的目标整机清洁流程依次包括：地刷的自清洁，污水桶的二次自清洁。
在上述应用场景B2中，在污水桶处于水满状态或水位较高的情况下，可以先对污水桶进行首次自清洁，通过首次自清洁将污水桶中的污水排空，这样，一方面起到对污水桶清洁的作用，另一方面也可以让污水桶有足够空间容纳地刷自清洁过程中产生的污水，确保地刷自清洁过程一次性完成而不会因为污水桶水满而被中断，提高地刷自清洁的效率，进而提高整机自清洁的效率。在污水桶水位较低的情况下，说明污水桶具有足够空间容纳地刷自清洁过程中产生的污水，因此可以直接对地刷进行自清洁，之后再对污水桶进行自清洁，通过减少自清洁的环节，可以减少基站和清洁设备之间的交互，有利于提高整机自清洁效率。
关于上述应用场景B1和B2中涉及到的各个第一粒度的自清洁流程的相关定义和描述与前述实施例中相同概念的自清洁过程相同，可参见前述实施例，在此不再赘述。根据前述实施例中对各个第一粒度的自清洁过程的描述，可知每个第一粒度的自清洁过程可以有多种不同的实现方式，例如上述具体实施方式A1-A4，这些不同的实现方式可以形成本实施例中的多个候选整机清洁流程。也就是说，在本申请实施例中，每个水位状态会对应多个候选整机清洁流程，不同候选整机清洁流程不完全相同。
基于此，在从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程之前，需要针对不同水位状态从其对应的多个候选整机清洁流程中确定出其所对应的目标整机清洁流程，目标整机清洁流程是每个水位状态最终使用的整机清洁流程。其中，为每个水位状态确定目标整机清洁流程的过程可以是预先完成的，也可以是在清洁设备自清洁过程中实时完成的，还可以是在设备出厂前预先确定的，这样在设备出厂时会直接内置各个水位状态对应的目标整机清洁流程。
其中，对每个水位状态而言，为其确定目标整机清洁流程的实施方式相同或详细，下面针对上述应用场景B1和应用场景B2，对为第一或第二水位状态确定目标整机清洁流程的实施方式进行说明。
对于应用场景B1，在确定与第一水位状态适配的目标整机清洁流程作为第一目标整机清洁流程之前，还包括：从与第一水位状态对应的多个候选整机清洁流程，确定与第一水位状态对应的目标整机清洁流程。在应用场景B1中，每个候选整机清洁流程依次包括：污水桶的首次自清洁，地刷的自清洁，污水桶的二次自清洁；且对于不同候选整机清洁流程，污水桶的首次自清洁，地刷的自清洁以及污水桶的二次自清洁中至少存在一个自清洁过程不同。这里的不同可以是自清洁过程包含的作业步骤和/或涉及的作业参数的不同。
进一步，接续于上述实施例，每个候选整机清洁流程中污水桶的首次自清洁，或者包括执行污水桶排空步骤；或者包括依次执行污水桶排空和污水桶冲洗步骤。相应地，每个候选整机清洁流程中污水桶的二次自清洁，或者包括依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；或者包括依次执行污水桶排空和污水桶冲洗步骤。在本实施例中，可以认为地刷的自清洁包含的作业步骤对各个水位状态而言是相同的，但并不限于此。
基于上述，对污水桶的首次自清洁的实现方式和污水桶的二次自清洁的实现方式进行组合，可以得到与第一水位状态对应的多个候选整机清洁流程，具体如下：
候选整机清洁流程a1：依次包括(P1)污水桶排空、(P2)污水桶冲洗、(P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗；
候选整机清洁流程a2：依次包括(P1)污水桶排空、(P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗；
候选整机清洁流程a3：依次包括(P1)污水桶排空、(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗；
候选整机清洁流程a4：依次包括(P1)污水桶排空、(P2)污水桶冲洗、(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗。
进而，可以从上述候选整机清洁流程a1-a4中确定出与第一水位状态对应的目标整机清洁流程。其中，从多个候选整机清洁流程中确定与第一水位状态对应的目标整机清洁流程的详细实施方式包括但不限于下述几种：
方式C1：展示第一设置页面，第一设置页面上包括与第一水位状态对应的多个候选整机清洁流程的详情信息；响应于第一设置页面上的选择操作，确定被选择的候选整机清洁流程作为与第一水位状态对应的目标整机清洁流程。候选整机清洁流程的详情信息包括候选整机清洁流程的名称、包含的作业步骤、涉及的作业参数以及对应的水位状态等信息。对于第一设置页面的显示形态不做限定，可以区分不同子区域，也可以内嵌不同标签页，每个标签页或每个子区域显示一个候选整机清洁流程的详情信息。
其中，可以在基站的显示屏上展示第一设置页面，也可以在清洁设备的显示屏上展示第一设置页面，还可以在与清洁设备或基站绑定的APP所在终端设备的显示屏上展示第一设置页面。在清洁设备或终端设备的显示屏上展示第一设置页面时可能涉及页面信息以及候选整机清洁流程的详情信息的传输，对于传输过程不做限定。
方式C2：根据当前水位状态对应的水位值，确定目标清洁力度；从与第一水位状态对应的多个候选整机清洁流程，确定与目标清洁力度适配的候选整机清洁流程，作为与第一水位状态对应的目标整机清洁流程；其中，不同候选整机清洁流程对应的清洁力度不同。
在方式C2中，对多个候选整机清洁流程的清洁力度进行了区分。具体地，可以根据每个候选整机清洁流程包含的作业步骤的数量以及涉及的作业参数的大小确定每个候选整机清洁流程的清洁力度。进一步，可以根据候选整机清洁流程的数量，将清洁力度划分为多个等级，例如从小到大或从大到小依次是一级清洁力度、二级清洁力度、三级清洁力度等。通常，作业步骤的数量越多，作业参数越大，该候选整机清洁流程对应的清洁力度越强。另外，在本实施例中，基站不仅可以获取污水桶的水位状态，还可以获取水位状态对应的具体水位值，对于同一水位状态下的不同水位值，可以进一步区分清洁设备的工作时长，不同水位值对应的工作时长不同，水位值越高，工作时长越长，脏污程度越高，需要的清洁力度越强。基于此，可以根据候选整机清洁流程的数量将水位值划分为对应数量的数值区间，然后建立各个水位值区间与清洁力度之间的对应关系。进而，根据当前水位状态对应的水位值，查询该对应关系，确定当前水位状态对应的水位值所在水位值区间，将该水位值区间对应的清洁力度作为目标清洁力度；从与第一水位状态对应的多个候选整机清洁流程，确定与目标清洁力度适配的候选整机清洁流程，作为与第一水位状态对应的目标整机清洁流程。
方式C3：在设备出厂前，预先根据一定方式从与第一水位状态对应的多个候选整机清洁流程，确定与第一水位状态对应的目标整机清洁流程，并设置在基站或清洁设备中。
对于应用场景B1，在确定与第二水位状态适配的目标整机清洁流程作为第二目标整机清洁流程之前，还包括：从与第二水位状态对应的多个候选整机清洁流程，确定与第二水位状态对应的目标整机清洁流程。关于该过程与确定与第一水位状态对应的目标整机清洁流程的过程相同，不再赘述。
在此说明，在应用场景B1中，对于不同水位状态对应的目标整机清洁流程所包含的作业步骤可能是相同的，例如与第一水位状态对应的目标整机清洁流程是上述候选整机清洁流程a1，与第二水位状态对应的目标整机清洁流程也是上述候选整机清洁流程a1。对于这种情况，不同目标整机清洁流程中涉及的作业参数至少部分是不同的，例如在污水桶注水过程中，注水次数、注水量或注水时长可以不同，又例如在污水桶冲洗过程中，冲洗次数、冲洗时长可以不同，从而形成不同的整机清洁流程。进一步可选地，接续于上述实施例，上述作业参数可以与整机清洁流程对应的清洁力度相关联，从而形成不同清洁力度的整机清洁流程，以便于根据所需清洁力度进行整机清洁流程的选择使用。
对于应用场景B2，在确定与第一水位状态适配的目标整机清洁流程作为第一目标整机清洁流程之前，还包括：从与第一水位状态对应的多个候选整机清洁流程，确定与第一水位状态对应的目标整机清洁流程。由于应用场景B2中的第一水位状态与应用场景B1中的 第一水位状态的定义相同，故关于确定与第一水位状态对应的目标整机清洁流程的过程也与应用场景B1中相同，在此不再赘述。
对于应用场景B2，在确定与第二水位状态适配的目标整机清洁流程作为第二目标整机清洁流程之前，还包括：从与第二水位状态对应的多个候选整机清洁流程，确定与第二水位状态对应的目标整机清洁流程。在应用场景B1中，与第二水位状态对应的每个候选整机清洁流程依次包括：地刷的自清洁，污水桶的自清洁；且对于不同候选整机清洁流程，地刷的自清洁以及污水桶的自清洁中至少存在一个自清洁过程不同。这里的不同可以是自清洁过程包含的作业步骤和/或涉及的作业参数的不同。
进一步，接续于上述实施例，与第二水位状态对应的每个候选整机清洁流程中污水桶的自清洁，或者包括依次执行污水桶排空和污水桶冲洗步骤；或者包括依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；或者包括在污水桶处于水满状态时，依次执行污水桶排空和污水桶冲洗步骤；在污水桶未处于水满状态时，依次执行污水桶注水、污水桶排空和污水桶冲洗步骤。在本实施例中，可以认为地刷的自清洁包含的作业步骤对各个水位状态而言是相同的，但并不限于此。
基于上述，对地刷的自清洁和污水桶的自清洁的实现方式进行组合，可以得到与第二水位状态对应的多个候选整机清洁流程，具体如下：
候选整机清洁流程b1：依次包括(P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗；
候选整机清洁流程b2：依次包括(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗。
进而，可以从上述候选整机清洁流程b1-b2中确定出与第二水位状态对应的目标整机清洁流程。其中，从多个候选整机清洁流程中确定与第二水位状态对应的目标整机清洁流程的详细实施方式，与确定与第一水位状态对应的目标整机清洁流程的详细实施方式相同，可参见前述方式C1-C3，在此不再赘述。
接续于上述应用场景B1和应用场景B2，第一目标整机清洁流程可能是上述候选整机清洁流程a1-a4以及b1-b2中的任意一个，具体根据两个水位状态对应的目标整机清洁流程而定。按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，也即是说按照上述候选整机清洁流程a1-a4以及b1-b2中的任意一个对清洁设备进行整机自清洁的过程。
例如，当第一水位状态对应的目标整机清洁流程为候选整机清洁流程a1，且第一目标整机清洁流程为第一水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P1)污水桶排空、(P2)污水桶冲洗、 (P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗。
又例如，当第一水位状态对应的目标整机清洁流程为候选整机清洁流程a2，且第一目标整机清洁流程为第一水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P1)污水桶排空、(P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗。
又例如，当第一水位状态对应的目标整机清洁流程为候选整机清洁流程a3，且第一目标整机清洁流程为第一水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P1)污水桶排空、(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗。
又例如，当第一水位状态对应的目标整机清洁流程为候选整机清洁流程a4，且第一目标整机清洁流程为第一水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P1)污水桶排空、(P2)污水桶冲洗、(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗。
又例如，当第二水位状态对应的目标整机清洁流程为候选整机清洁流程b1，且第一目标整机清洁流程为第二水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P3)地刷的自清洁、(P4)污水桶注水、(P5)污水桶排空和(P6)污水桶冲洗。
又例如，当第二水位状态对应的目标整机清洁流程为候选整机清洁流程b2，且第一目标整机清洁流程为第二水位状态对应的目标整机清洁流程时，按照第一目标整机清洁流程对清洁设备进行整机自清洁的过程，包括：依次执行(P3)地刷的自清洁、(P5)污水桶排空和(P6)污水桶冲洗。
关于上述执行(P4)污水桶注水、(P5)污水桶排空、(P6)污水桶冲洗以及(P3)地刷的自清洁的详细实施过程，可参见前述实施例，在此不再赘述。
进一步，在上述实施例中，还包括：在最后一次污水桶冲洗操作结束后，对排污槽进行自清洁。在应用场景B1中，最后一次污水桶冲洗操作是污水桶的二次自清洁过程中的污水桶冲洗操作；在应用场景B2中，最后一次污水桶冲洗操作是污水桶的自清洁过程中的污水桶冲洗操作。
进一步可选地，在整机自清洁过程中，在清水桶未处于水满状态时，基站还可以向清水桶进行注水，以使清水桶处于水满状态，详细实施过程参见前述实施例，在此不再赘述。
图18b为本申请实施例提供的从清洁设备角度描述的另一种清洁设备自清洁方法的流程示意图。如图18b所示，该方法包括：
601、在确定清洁设备与基站对接的情况下，检测污水桶的当前水位状态；
602、向基站发送污水桶的当前水位状态，以使基站从对应不同水位状态的目标整机清洁流程中确定与当前水位状态适配的第一目标整机清洁流程；
603、配合基站按照第一目标整机清洁流程对清洁设备进行整机自清洁，每个目标整机清洁流程包括污水箱的自清洁和地刷的自清洁。
在一可选实施例中，配合基站按照第一目标整机清洁流程对清洁设备进行整机自清洁，包括：在接收到基站发送的清洁指令时，对地刷进行自清洁，清洁指令是基站在确定第一目标整机清洁流程后直接发送的或者是在确定对污水桶的首次自清洁完成的情况下发送的；向基站发送地刷自清洁完成的通知消息，以使基站继续根据第一目标整机清洁流程对污水桶进行自清洁。
关于上述各方法步骤的详细实现方式可参见前述系统实施例的描述，在此不再赘述。
本申请实施例除了提供上述方法和系统之外，还提供一种基站和一种清洁设备。关于基站的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该基站中的控制器执行存储器中存储的计算机程序，可实现上述图18a所示方法实施例中可由基站执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
同理，关于清洁设备的结构可参见图13a或图13b或图14所示实施例，在此不再赘述，该清洁设备中的处理系统可实现上述图18b所示方法实施例中可由清洁设备执行的各个步骤，关于各方法步骤的详细描述同样参见前述实施例，在此不再赘述。
下面给出一种具体的场景实施例2：
假设污水桶状态分为水满状态和水不满状态，水满状态对应超强整机清洁流程，水不满状态对应标准或快速整机清洁流程。相比于超强整机清洁流程，标准或快速整机清洁流程包含的作业步骤相同，但作业步骤中涉及的作业参数要小。例如，在超强整机清洁流程中，冲洗污水桶的时间为40s，制备电解水的时间为40s，浸泡地刷的时间为30s，每次喷水的时间为5s，每次主电机工作的时间为5s；在标准或快速整机清洁流程中，冲洗污水桶的时间为30s，制备电解水的时间为30s，浸泡地刷的时间为15s，每次喷水的时间为1s，每次主电机工作的时间为1s。
基于上述，用户使用清洗机完成地面清洁等的工作后，将清洗机放回基站的底座上，与基站完成对接。基站检测到与清洗机完成对接的情况下，开启对清洗机的整机自清洁流程。基站接收清洗机上报的污水桶的水位状态；若当前水位状态为水满状态，则选择超强整机清洁流程，并进入超强整机清洁流程；若当前水位状态为水未满状态，则选择标准或快速整机清洁流程，并进入标准或快速整机清洁流程。
以选择超强整机清洁流程为例，则执行超强整机清洁流程的过程包括：基站控制储水桶向污水桶中注入清水至污水桶水满，控制驱动机构打开污水桶的排污口上的盖板进行排污，污水通过排污槽流入下水道；在排污10s后，驱动冲洗污水桶的冲洗装置升起到污水桶内的指定位置，开始反复的上下运动，在反复上下运动过程中喷出清水(例如可以带有旋转的喷头朝向四周喷水或者带有朝向不同的多个喷头朝向四周喷水)，以便能冲洗到污水桶内各个位置；在冲洗污水桶40s后，冲洗装置回到初始位置(即复位)；此时，驱动用于开启关闭污水桶的运动机构反向运动，使盖板闭合以关闭污水桶。然后，通知清洗机准备进行地刷的自清洁。清洗机在清水桶内开始制备电解水40s，清水桶通过清洁组件上的喷嘴喷出一定量的电解水，并在浸泡滚刷30s后，驱动主电机工作5s以将污水吸入污水桶内；接着，清水桶通过喷嘴向容纳槽喷水5s，驱动主电机工作5s，依次循环数次后，最终由主电机将容纳槽内的污水全部抽吸到污水桶内，并对地刷进行风干，完成地刷和整个风道的自清洁。接着，再次驱动运动机构朝向污水桶的排污口运行，打开排污口上的盖板进行排污，在排污10s后，驱动冲洗污水桶的冲洗装置升起到污水桶内的指定位置，开始对污水桶进行冲洗，在冲洗污水桶40s后，冲洗装置回到初始位置(即复位)；此时，驱动用于开启关闭污水桶的运动机构反向运动，使盖板闭合以关闭污水桶。最后，基站上的储水箱放水冲洗排污槽，完成整个自清洁流程。整个过程中，用户不需要对清洗机本身进行清洁，实现用户双手不沾污的目的。
在另一场景中，基站接收清洗机上报的污水桶的水位状态；通过其显示屏或清洗机的显示屏显示当前水位状态，以供用户选择需要使用的整机清洁流程。用户看到当前水位状态后，可以通过显示屏查看可选的整机清洁流程，该场景中具体包括：水满状态对应的超强整机清洁流程，以及水未满状态对应的标准或快速整机清洁流程。用户根据当前水位状态来选择需要使用的整机清洁流程。如果为水满状态，可以选择超强整机清洁流程；如果为水未满状态，可以选择标准或快速整机清洁流程。
需要说明的是，在用户根据当前水位状态选择整机清洁流程的情况下，用户可以选择与当前水位状态适配的整机清洁流程，也可以根据自己的喜好或者实际应用情况灵活选择其它整机清洁流程。
在此说明，在本申请上述或下述各实施例中，清洁设备与基站对接主要是指两个设备上相关结构在位置上的对接，进一步，也包括两个设备之间通信信号的对接。
需要说明的是，上述实施例所提供方法的各步骤的执行主体均可以是同一设备，或者，该方法也由不同设备作为执行主体。比如，步骤31至步骤33的执行主体可以为设备A；又比如，步骤31和32的执行主体可以为设备A，步骤32的执行主体可以为设备B；等等。
另外，在上述实施例及附图中的描述的一些流程中，包含了按照特定顺序出现的多个操作，但是应该清楚了解，这些操作可以不按照其在本文中出现的顺序来执行或并行执行，操作的序号如31、32等，仅仅是用于区分开各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
相应地，本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，计算机程序被执行时能够实现上述方法实施例中的各步骤。
图19示出了本申请一实施例提供的设备自清洁启动方法的流程示意图，该方法适用于如图13a或图13c示出的基站11，具体实施时，本实施例提供的方法可由基站11上设置的控制器(图中未示出)来实现，其中，控制器可以为但不限于微控制器、单片机、CPU等，此处不作限定。如图19所示，所述设备自清洁启动方法包括如下步骤：
101、检测清洁设备是否位于所述基站处的设定位置；
102、检测与所述清洁设备间的通信连接；
103、若检测所述清洁设备位于所述设定位置、且所述通信链路符合通信要求，则确定所述基站与所述清洁设备对接成功；
104、通过所述通信链路向所述清洁设备发送启动自清洁功能的指令；
105、启动协助所述清洁设备自清洁的清洗功能。
在实际应用中，参见图13a或图13c，为了能全自动的实现清洁设备10和基站11相互配合对清洁设备10进行整机清洁，除需保证清洁设备10的污水桶12上的排污口121与基站11的排污槽的入口部214连接，以连通污水桶12与排污槽之外，清洁设备10与基站11之间还需能进行通信。基于此，在本实施例中，基站11与清洁设备10对接包括：位置对接和信号对接。位置对接指的是令清洁设备位于基站处的设定位置，具体地，使清洁设备10的污水桶12上的排污口121与基站11的排污槽的入口部214接合。信号对接指的是清洁设备10与基站11建立通信连接。
为了实现检测位置对接，本实施例的基站11上设置有传感部件229，相应地，清洁设备10上设有与传感部件适配的触发部件125。传感部件通过感测触发部件的信号能产生相应的感应信号(如电流信号)，可为检测清洁设备是否位于基站处的设定位置提供数据支持。具体实施时，参见图13c和图13d，触发部件125可设在清洁设备10朝向基站11的一侧面上，更具体地，触发部件可设在清洁设备10的污水桶12朝向基站的一侧面上、且靠近排污口121。相对应地，传感部件229可设在基站11上靠近排污槽的入口部214的一位置。
传感部件通过感测触发部件的信号所产生的感应信号，会随着传感部件与触发部件之间的相对位置变化而变化。传感部件与触发部件的相对位置变化主要是因清洁设备发生移动引起的。在触发部件125随清洁设备10的移动逐渐向基站11上的传感部件229靠近过程中，传感部件229感测到的触发部件211的信号会变得越来越强，从而产生的感应信号也会随之增强。当清洁设备10的污水桶12底部的排污口121与基站11的排污槽的入口部214标准接合时，触发部件与传感部件的相对位置达到最小值，相应地，传感部件感测到的触发部件的信号达到最强，所产生的感应信号也会达到峰值。
具体地，结合图20a，以触发部件125为磁性件(如磁铁)、传感部件229为干簧管为例，在干簧管未感测到磁性件产生的磁场信号时，其内的两片簧片e处于未接触状态(如图20a横向箭头左侧示出的状态)，换句话也就是说，干簧管内的电路处于断开状态。当清洁设备10逐渐被移动至基站11处以与基站11对接时，磁性件随着清洁设备10的移动逐渐向基站11的干簧管靠近，磁性件产生的磁场信号靠近干簧管，可使干簧管内的两个簧片磁化产生不同极性，并在磁力超过簧片本身的弹力时两个簧片吸合(如图20a横向箭头右侧示出的状态)，干簧管电路导通产生相应的感应信号(如电流信号)。当清洁设备10的污水桶21底部的排污口121与基站11的排污槽的入口部214标准接合时，干簧管与磁性件的相对位置最小，干簧管感测到的磁性元件的磁场信号达到最强，相应地，产生的感应信号也达到最强值(即峰值)。图20b示出了干簧管随着磁性元件的不断靠近所产生的感应信号变化的原理性示意图，其中，原点O表示干簧管所处的位置，横向箭头指示的是磁性件移动的方向，横坐标D表示磁性元件与干簧管的相对距离。
上述示例中，一般的是当磁性件与干簧管之间的距离小于或等于10mm左右，干簧管电路可导通产生相应的感应信号。由此，干簧管产生感应信号时，是可以反映出污水桶12底部的排污口121与基站11的排污槽的入口部214已处于连接状态的。基于此，为避免偶然发生性，可以在确定干簧管产生感应信号的持续时长达到预设时长后仍存在，认为排污口121与基站11的排污槽的入口部214已连接，即清洁设备已位于基站处的设定位置。基于上述内容，在一种可实现的技术方案中，上述101“检测清洁设备是否位于所述基站处的设定位置”，可具体包括：
1011、感测到所述清洁设备上的触发部件时，产生对接入位信息；
1012、若所述对接入位信号持续第一预设时长仍未消失，则确定所述清洁设备位于所述设定位置。
上述1011中，基站11可通过自身上的传感部件来感测清洁设备上的触发部件。针对不同传感部件和触发部件，传感部件感测触发部件的原理也不同。以传感部件为干簧管或 霍尔开关器件等开关式部件为例，传感部件在感测到触发部件时，其内电路导通，传感部件所在电路上流通有如电流信号(也即上文所述的感应信号)；进一步地，基站11可在监测到的传感部件所在电路上存有电流信号，生成对接入位信号，并将该对接入位信号存储于本地。其中，上述对接入位信号能反映出清洁设备的污水桶12底部的排污口121与基站11的排污槽的入口部214已处于连接状态。上述示例中，有关传感件部件内电路导通的具体原理，可参见上文相关内容。
基于上述内容，出于成本考虑，在一具体实施例中，上述触发部件可以为磁性件，相应地，传感部件可为与磁性件适配的开关式部件，如干簧管。进一步地，上述1011“感测到所述清洁设备上的触发部件时，产生对接入位信号”的一具体实现技术方案，可包括如下具体步骤：
10111、感测到所述磁性件时，接通感测电路；
10112、监测到所述感测电路上存在接通电信号时，生成所述对接入位信号。
具体实施时，上述感测电路可指的是传感部件所在的电路。传感部件内的电路导通，也就可实现将感测电路接通。感测电路接通时，感测电路存在的接通电信号可以为但不限于电流信号、电压信号。
当然，在其他实施例中，触发部件和传感部件也可以是其他的类型。例如，触发部件还可以是反光板，传感部件还可以是光电开关；或者，触发部件还可以是红外发生器，传感部件还可以是红外传感器等。有关在其他类型情况下，传感部件感测触发部件的原理，可参见现有内容或参见上述本实施例提供的触发部件为磁性元件的示例内容，此处不再做赘述。作为优选实例，本实施例是选取磁性件作为触发部件、干簧管作为传感部件。
这里需要补充说明的是：上述基站11在未感测到清洁设备上的触发部件时，还可以产生离位信号。离位信号能反映出清洁设备的污水桶12底部的排污口121与基站11的排污槽的入口部214已分离。即，上述101“检测清洁设备是否位于所述基站处的设定位置”，还可包括如下步骤：
1013、未感测到所述清洁设备上的触发部件时，产生离位信息；
进一步地，结合与上述1011相关的内容，上述1013中的触发部件为磁性件时，上述“未感测到所述清洁设备上的触发部件时，产生离位信息”的一具体实现技术方案，可包括如下具体步骤：
10131、未感测到所述磁性件时，断开感测电路；
10132、监测到所述感测电路上不存在电信号时，生成所述离位信号。
具体实施时，上述感测电路可指的是基站上传感部件所在的电路，基站通过传感件感 测磁性件。当传感件未感测到磁性件时，传感部件内的电路断开，也就断开了感测电路，感测电路上无电信号流通，基站监测到感测电路上无电信号时，生成离位信号，并将该离位信号缓存于本地。
这里需要补充说明的是，在其他一些实施例中，比如下文图22示出的以清洁设备10作为执行主体提供的设备自清洁启动实施例，基站11还可以将生成的对接入位信号、离位信号发送至清洁设备10，以给清洁设备10检测是否位于基站11处提供数据支持，具体实现可参见与图22相关的描述内容。
上述1012中，第一预设时长可以是30s、1min或其他，此处不作限定。对接入位信号持续的时长达到第一预设时长还仍未消失，可表征出清洁设备的污水桶12底部的排污口121与基站11的排污槽的入口部214的连接是处于稳定状态的，为此也就可确定清洁设备已位于基站处的设定位置。
上述102中，基站11与清洁设备10间的通信连接实现方式可以包括但不限于如下中的任一种：无线、有线、电极(或触点)。其中，无线方式可包括但不限于：蓝牙、WIFI、近场通讯、移动网络(如4G+、5G+)等，除此之外，还可以包括借助于无线充电方式实现的无线通信连接。有线方式包括但不限于通过信号数据线建立的有线通信连接。电极(或触点)方式包括但不限于借助于通信电极、充电电极等建立的通信连接。基于此，上述102“监测与所述清洁设备间的通信链路”，可以采用如下中的任一项来实现：
(1)检测所述基站的第一充电正电极和第一充电负电极间的充电电路上的充电电信号；若监测到所述充电电路上存在充电信号，则确定与所述清洁设备间的通信链路已建立，且所述通信链路符合通信要求，以利用所述充电电路传输通信信号。
(2)监测所述基站上用于通信的第一电连接端是否有接收到源自所述清洁设备的通信信号；若监测到源自所述清洁设备的通信信号，则确定与所述清洁设备间的通信链路已建立，且所述通信链路符合通信要求。
(3)探测所述清洁设备的无线连接信号；若探测到所述清洁设备的无线连接信号，则与所述清洁设备建立通信链路，通信链路建立成功即符合通信要求。
(4)探测所述基站上的无线充电发射装置；若探测到所述无线充电发射装置启动工作并发出无线充电信号，则确定与所述清洁设备间的通信链路已建立，且所述通信链路符合通信要求，以利用无线充电发射装置传输通信信号。
上述(1)中，利用充电电路，可以通过改变充电模式的方式来传输通信信号。
例如，参见图21a所示，基站11上设有两个第一充电电极，即第一充电正电极A1和第一充电负电极A2；相应地，清洁设备上对应设有两个第二充电电极，即第二充电正电极B1和第 二充电负电极B2；第一充电电极与第二充电电极连接后，即形成图21a中加粗黑线示出的充电电路，基站11可通过该充电电路为清洁设备10充电，同时也可以在确定基站与清洁设备对接成功的情况下，二者可利用该充电电路传输通信信号。具体地，以基站向清洁设备发送启动自清洁功能的指令为例，正常下，基站11为清洁设备10充电是由基站11内的供电控制装置将获取到的外部电源提供的交流电信号，转换为恒流充电信号输送给清洁设备10。基站11内的控制器若确定出基站与清洁设备对接成功，则向供电控制装置发送切换指令。供电控制装置接收到该切换指令后，可基于接收到的交流电信号生成如五个脉冲周期的脉冲信号，将向清洁设备10的供电模式由恒流供电模式切换为脉冲供电模式，供电控制装置在生成具有五个脉冲周期的脉冲信号后，再将提供的充电信号恢复为恒定信号。这样，清洁设备10上的第二充电正极B1处的充电信号可呈如图21b所示的形式，进而流入分流器处的充电信号也呈如图21b所示的形式。
上述中，分流器是内包含一个阻值很小的电阻的电部件，其利用电阻的伏安特性，当有电流信号流经电阻时便会在电阻两端产生对应的电压信号。
清洁设备10内的处理器可监测流入分流器的充电信号，并在监测到流入分流器的充电信号发生变化、且确定变化信息符合诸如如下目标要求：
变化方式：直流——>脉冲——>直流；
变化持续时长(或周期)：持续周期为5个脉冲周期；
则确定接收到基站发送的启动自清洁功能的指令，并按照该指令启动自清洁功能。
上述示例仅是示意性地，反过来也是可以的，此处不作限定。同理，清洁设备10也可以通过电池系统内的充电控制单元来改变电池的充电模式，以利用充电电路向基站11传输通信信号，此处不再作详述。
上述(2)中，基站上用于通信的第一电连接端，可以是用于有线通信的电接口，或者也可以是触点式的通信电极(或通信触点)。相应地，清洁设备上设有用于与第一电连接连接的第二电连接端。当基站上的第一电连接端能接收到源自清洁设备的通信信号时，即可表明基站上的第一电连接端与清洁设备上的第二电连接端已电连接，也即基站与清洁设备已建立通信链路，且通信链路具有稳定性，能符合通信要求。基站11在确定出与清洁设备对接成功基站11后，与清洁设备便可利用该通信链路互传通信信号。
上述(3)中，是基站与清洁设备采用无线通信方式建立通信连接的情况。无线通信连接为短距离通信，当基站能探测到清洁设备的无线连接信号时，即说明基站与清洁设备已成功建立通信链路，此时可直接认为该通信链路符合通信要求，或者也可以进一步确定该通信链路上传出的通信信号的信号强度是否大于或等于预设阈值，并在信号强度大于或等于预设阈值时，确 定通信链路符合通信要求。
上述(4)，同上述(1)类似，利用无线充电发射装置，也可以通过改变充电模式的方式来传输通信信号。
具体地，常态化情况下，基站11利用自身上的无线充电发射装置为清洁设备10充电时，是让交流充电信号通过线圈产生不停变化(交流充电信号)的磁场；这个变化的磁场被在清洁设备10的无线接收装置接收到后，便会在本地感应线圈中产生交流充电信号，进一步地，清洁设备10将该交流充电信号进行整流稳压，即可给电池充电。
基站11确定出与清洁设备对接成功，在需要清洁设备发送启动自清洁功能的指令时，可执行整流切换操作，以基于交流充电信号生成具有如五个脉冲周期的脉冲信号，该脉冲信号通过无线发射装置内的线圈可产生磁场方向不变但磁场强度大小不停变换的磁场，该变化的磁场被清洁设备10的无线接收装置接收，便会在其本地感应线圈中产生相应的脉冲信号。基站11在生成具有五个脉冲周期的脉冲信号后，可再将提供的充电信号恢复交流充电信号。由上，清洁设备10上的无线接收装置接收到的充电信号可呈如图22所示的形式。
清洁设备10内的处理器可监测无线接收装置接收到的充电信号，并在监测到无线接收装置接收到的充电信号发生变化、且确定变化信息符合诸如如下目标要求：
变化方式：交流——>脉冲——>交流；
变化持续时长(或周期)：持续周期为5个脉冲周期；
则确定接收到基站发送的启动自清洁功能的指令，并按照该指令启动自清洁功能。
上述示例仅是示意性地，反过来也是可以的，此处不作限定。
在上述情况下，若清洁设备10需要向基站11传输信号，可以通过但不限于反向无线充电的形式来实现。反向无线充电是指通过技术手段让集成于清洁设备2内部的电感线圈转换为输出模式，从而给基站11供电。这样，清洁设备10的无线接收装置由原来为接收端变换为发射端，基站11的无线发射装置由由原来为发射端变换为接收端。具体实施时，以清洁设备10需向基站11发送启动向清水桶1021注水的启动指令为例，清洁设备10可以在预设时间时长内向基站11反向无线充电，达到预设时间时长后，恢复原来的无线充电模式；相应地，基站11可以在监测到无线充电模式发生改变时，启动计时，并在计时时长达到预设时长后，监测到无线充电模式恢复至原本状态，确定接收到清洁设备发送的启动向清水桶1021注水的启动指令。其中，预设时长可以为10s、25s或其它等，此处不作限定。
有关上述103～104中的具体实现描述，可参见上文步骤101～102中描述的相关内容。
上述105中，基站11启动协助清洁设备10自清洁的清洗功能，可包括但不限于如下中至少一项功能：
启动向清洁设备上的污水桶注水的功能；
启动排放清洁设备上污水桶内污水的功能；
待污水桶内污水排放完后，启动冲洗所述污水桶的功能；
启动向清洁设备的清水桶内注入清洁液的功能；
启动向清洁设备的清洁执行件喷清洁液以浸润清洁执行件的功能；
待清洁设备的清洁执行件完成自清洁后，启动干燥清洁执行件的功能。
有关上述中的至少一项启动的时机，可以是基站根据接收到的清洁设备发送的指令确定的。有关上述中至少一项的启动流程的具体实现，可参见本申请提供的清洁设备自清洁方法实施例中的相关内容(即与图15a～图17示出的实施例相关的内容)，此处不作详述。
本实施例提供的技术方案，基站通过检测清洁设备是否位于基站处的设定位置，以及检测与清洁设备间的通信链路，可实现在检测出清洁设备位于设定位置且通信链路符合通信要求的基础上，确定基站与清洁设备对接成功，并进一步地通过通信链路向清洁设备发送启动自清洁功能的指令，以及启动协助所述清洁设备自清洁的清洗功能。可见，本方案中基站具有识别与清洁设备是否对接成功的功能，能够自动启动清洁功能，这简化了清洁操作、能提高用户体验。
进一步地，在一实施例中，上述101～102的执行，可以是在监测到用户输入了启动对清洁设备进行清洗的指令条件下触发的。即，本实施例提供的所述方法还可包括如下步骤：
100、响应于用户输入的启动对清洁设备进行清洗的指令，触发检测所述清洁设备是否位于所述设定位置及检测与所述清洁设备间的通信链路的步骤。
具体实施时，可以在监测到如下中的至少一项事件的情况下，确定用户输入了启动对清洁设备进行清洗的指令：用户对目标控件(如自清洁功能控件)的操控事件；用户发出指定语义语音的语音控制事件，比如用户发出启动清洁的语音。
相应于上文图19示出的本申请提供的设备自清洁启动方法实施例，本申请分别还提供了一种清洁系统和一种基站的实施例。具体地，
本申请一实施例提供的清洁系统的架构如图13c所示。参见图13c，所述清洁系统包括：基站11和清洁设备10；其中，
基站11，用于检测所述清洁设备是否位于基站处的设定位置；检测与所述清洁设备间的通信链路；若检测出所述清洁设备位于所述设定位置、且所述通信链路符合通信要求，则确定所述基站与所述清洁设备对接成功；通过所述通信链路向所述清洁设备发送启动自清洁功能的指令；启动协助所述清洁设备自清洁的清洗功能。
清洁设备10，用于响应于所述清洁设备发送的启动自清洁功能的指令，启动自清洁功能。
这里需要说明的是，本申请实施例所提供的清洁设备和基站的结构和功能，并不仅限于上述本实施例所描述的可包括部件和功能。清洁设备和基站的具体结构和功能，可以参见本申请其他实施例中描述的相关内容，在此不再做赘述。
本申请提供的一种基站的结构如图13c中示出的基站11的结构。参见图13c，该基站包括：基站主体和用于承载清洁设备的底座，所述基站主体上设置控制器和存储器；所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请图19示出的设备自清洁启动方法实施例中的步骤。
这里需要说明的是，本申请实施例所提供的基站的结构和功能，并不仅限于上述本实施例所描述的可包括部件和功能。基站的具体结构和功能，可以参见本申请其他实施例中描述的相关内容，在此不再做赘述。
上文内容，主要是从基站11来执行“检测清洁设备是否位于基站处的设定位置及检测基站与清洁设备间的通信链路”的角度来介绍本技术方案的，当然，反过来由清洁设备10来执行也是可以的，基于此，本申请另一实施例还提供了一种设备自清洁启动方法，该方法适用于清洁设备，具体实施时，本实施例提供的方法可由清洁设备10上设置的控制器(图中未示出)来实现，其中，控制器可以为但不限于微控制器、单片机、CPU等。具体地，
参见图23示出的本申请另一实施例提供的设备自清洁启动方法的流程示意图，该设备自清洁启动方法包括如下步骤：
201、检测与基站间的通信链路；
202、确定是否位于基站处的设定位置；
203、若所述通信链路符合通信要求、且确定已处于所述设定位置，则启动自清洁功能；
204、通过所述通信链路向所述基站发送启动指令，以使所述基站启动协助所述清洁设备自清洁的清洗功能。
在一种可实现技术方案中，上述201“检测与基站间的通信链路”的实现方式，可具体包括但不限于如下中的任一项：
1)检测所述清洁设备上的第二充电正电极和第二充电负电极间的充电电路上的充电信号；若检测到所述充电电路上存在充电信号，则确定与所述基站间的通信链路已建立，且所述通信链路符合通信要求，以利用充电电路传输通信信号；
2)监测所述清洁设备上用于通信的第二电连接端是否有接收到源自所述基站的通信信号，若监测到源自所述基站的通信信号，则确定与所述基站间的通信链路已建立，且所述通信链路符合通信要求；
3)探测所述基站的无线连接信号，若探测到所述基站的无线连接信号，则与所述基站 建立通信链路，通信链路建立成功即符合通信要求；
4)探测所述清洁设备上的无线充电接收装置；若探测到所述无线充电接收装置接收到无线充电信号，则确定与所述基站间的通信链路已建立，且所述通信链路符合通信要求，以利用无线充电接收装置传输通信信号。
有关清洁设备10与基站11如何通过上述1)～4)中的任一项方式确定的通信链路传输通信信号的具体实现，可参见本申请其它实施例中相关内容(如图19提供的实施例)，此处不再作具体赘述。
上述202中，在一实施例中，如图13c和图13d所示，在基站11上设置的是仍传感件219、清洁设备10上仍设置的是触发部件125的情况下，若清洁设备和基站已建立通信链路、且通信链路符合通信要求，清洁设备10可以基于接收到的基站11发送的对接入位信号，来确定是否位于基站处的设定位置。在另一实施例中，清洁设备10上可设置有传感部件，基站11上可设置有触发部件；具体地，参见图13a，触发部件(图中未示出)可设置在基站11朝向清洁设备10的一侧面上，更具体地，触发部件可设置基站11朝向清洁设备10的一侧面上、且靠近排污槽的入污口214；相对应的，传感部件(图中未示出)可设置在清洁设备10的污水桶12上、且靠近污水桶底部的排污口121的一位置。在上述另一实例情况下，清洁设备10可以通过感测基站11上的触发部件，来确定是否位于基站11处的设定位置。基于此，一具体可实现技术方案中，上述201“确定是否位于基站处的设定位置”，可具体包括如下中的任一种实现方式：
方式一：通过所述通信链路接收到所述基站发送的对接入位信号，且持续第一时长未接收到所述基站发送的离位信号时，确定位于所述设定位置；
方式二：感测到基站上的触发部件时产生对接入位信号，若所述对接入位信号持续第一预设时长仍未消失，则确定位于所述设定位置。
上述方式一中，有关基站11通过通信链路实现向清洁设备10发送对接入位信号、离位信号的具体实现，可参见上文本申请其他各实施例中的相关内容。
上述方式二中，基站上的触发部件可为磁性件，相应地，清洁设备上的传感部件可为开关式部件，比如干簧管。进一步地，上述“感测到基站上的触发部件时，产生对接入位信号”的一具体实现技术方案，可包括如下步骤：
S1、感测到所述磁性件时，接通感测电路；
S2、监测到所述感测电路上存在接通电信号时，生成所述对接入位信号。
有关上述步骤S1～S2的具体实现描述，可参见上文本申请其他各实施例中的相关内容，此处不再做赘述。
本实施例提供的技术方案，清洁设备能够检测与基站间的通信链路，以及确定是否位于基站处的设定位置；并可以在确定通信链路符合通信要求且确定已处于设定位置的基础上，自动启动自清洁功能，以及通过通信链路向基站发送启动指令，使得基站启动协助清洁设备自清洁的清洗功能。可见，本方案中清洁设备具有识别与清洁设备是否对接成功的功能，能够自动启动清洁功能，这有效地简化了清洁操作、能提高用户体验。
进一步地，本实施例提供的所述方法还可包括如下步骤：
200、响应于用户输入的启动自清洁功能的指令，启动检测与基站间的通信链路及确定是否位于基站处的设定位置的步骤。
具体实施时，可以在监测到如下中的至少一项事件的情况下，确定用户输入了启动自清洁功能的指令：用户对目标控件(如自清洁功能控件)的操控事件；用户发出指定语义语音的语音控制事件，比如用户发出启动自清洁的语音。
相应于上文图23示出的本申请提供的设备自清洁启动方法实施例，本申请分别还提供了一种清洁系统及一种清洁设备的实施例。具体地，
本申请提供的一种清洁系统的架构与图13a示出的清洁系统架构类似。参见图13a，所述清洁系统包括：基站11和清洁设备10；其中，
清洁设备10，用于检测与基站间的通信链路；确定是否位于基站处的设定位置；若所述通信链路符合通信要求、且确定已处于所述设定位置，则启动自清洁功能；通过所述通信链路向所述基站发送启动指令；
基站11，用于响应于所述启动指令，启动协助所述清洁设备自清洁的清洗功能。
这里需要说明的是，本申请实施例所提供的清洁设备和基站的结构和功能，并不仅限于上述本实施例所描述的可包括部件和功能。清洁设备和基站的具体结构和功能，可以参见本申请其他实施例中描述的相关内容，在此不再做赘述。
本申请提供的一种清洁设备的结构与图13a及图13b中示出的清洁设备10结构类似。该清洁设备包括：设备体以及设置在所述设备体上的控制器和存储器；所述存储器用于存储计算机程序，所述控制器与所述存储器耦合，用于执行所述计算机程序，以用于执行本申请图23示出的设备自清洁启动方法实施例中的步骤。
这里需要说明的是，本申请实施例所提供的清洁设备的结构和功能，并不仅限于上述本实施例所描述的可包括部件和功能。清洁设备的具体结构和功能，可以参见本申请其他实施例中描述的相关内容，在此不再做赘述。
针对上文本申请各实施例提供的技术方案，需要补充说明的是，基站(或清洁设备)在确定与清洁设备(或基站)对接未成功的情况下，可以输出用户可感知的提示信息，以提示用
户基站与清洁设备对接未成功，便于用户基于提示信息对清洁设备和基站的对接进行检查。其中，提示信息但不限于语音、文字、图片、字符、数字等的一种或组合。例如，若确定检测出基站与清洁设备的通信链路不符合要求，比如基站与清洁设备为有线通信连接，通信链路上传输的通信信号具有不稳定性，此时可输出如“请检查通信连接线连接是否松动”的语音提示”。
下面结合具体场景，对上文本申请采用的技术方案进行说明，以帮助理解。
用户家里有一台手持式地面清洗机(下文简称清洗机)，该清洁机的系统结构类似于如图13a和图13b所示。即，清洗机包括清洗机10和基站11，其中，基站11与清洗机10通过蓝牙进行通信，二者的蓝牙均处于打开状态；清洗机10上设有触发部件(为磁性元件)，具体设置位置可参见上文相关描述。
用户打开清洗机10的电源开关进行清洁地面。地面清洁完后，用户将清洗机10放置在基站11上，并对基站11上用于启动清洗清洗机10的功能控件进行了按压。基站11响应于该按压操作，通过感测清洗机10上的触发部件来检测清洗机是否位于设定位置，以及通过探测清洗机10的蓝牙信号以检测与清洗机间的通信链路的功能程序。经检测，确定出清洗机已位于设定位置、且也已与清洗机通过蓝牙成功建立通信链路并符合通信要求，从而便确定与清洗机对接成功；进一步地，会通过蓝牙向清洗机发送启动自清洁功能的指令，并还会启动协助清洗机自清洁的清洗功能，比如启动打开清洗机上污水桶底部的污水口的功能，以排放污水桶内的污物。污物可以为但不限于污物、固态垃圾等。
此外，洗地机在待清洁脏污区域移动的过程中，洗地机中的滚刷与洗地机的清水箱配合，滚刷在清水箱喷出清水之后，对待清洁脏污区域进行清洁。在清洁完成后产生的污水被吸入洗地机的污水箱内。
为了进一步提高洗地机的智能性以降低用户使用门限，可以为洗地机设置基站。在清洁结束后，用户可以将洗地机放置在基站上，或者，洗地机可以自动移动至基站上。基站可以用于为清水箱补充清水，并用于排出污水箱中的污水。用户还可以启动洗地机的自清洁功能，对洗地机内部的排水管道、滚刷等部件进行系统清洗。
图24是一种清洁设备的示意性结构图。图25为图24所示的清洁设备中基站11的剖面示意图。清洁设备100包括清洁部件110(也即上述洗地机10)和基站11。基站11用于放置清洁部件110。清洁部件110与基站11可以是可拆卸式结构。
清洁部件110用于对待清洁区域进行清扫，具体可以是手持式吸尘器、手持式清洗机、扫地机器人、洗地机或表面清洁设备等。
基站11用于对清洁部件110进行清洁。基站11可以为固定式基站，例如基站11可以通过
螺钉等连接件固定在墙壁上。基站11也可以为移动式基站。例如，基站11底部可以设置有滚轮，在用户的推动下基站11可以被动移动。基站11也可以包括自移动装置，可以根据用户或清洁部件110发出的指令，自行移动。
在实际应用中，基站11可以连通外部水源，利用外部水源对清洁部件110进行清洁。基站11可以包括进水口1232，基站11的进水口1232与外部水源连通。在基站11为固定式基站的情况下，用户可以在固定基站11的位置处引入自来水管道，基站11上的进水口1232可以与自来水管道连通，通过自来水管道向基站11注入水流。在基站11为移动式基站的情况下，用户可以移动基站11到外部水源处(例如自来水管道处)，然后通过柔性软管将基站11的进水口1232与外部水源连通，通过外部水源向基站11注入水流。
在基站11包括自移动装置的情况下，用户可以在外部水源处设置信号标识装置，该信号标识装置可以定期对外发送信号，当基站11接收到上述信号后，基站11可以获知该信号标识装置的具体位置，进而基站11可以自行移动到上述外部水源处。示例性地，利用红外线定位、蓝牙定位、无线电定位等技术，基站11可以自行移动到上述外部水源处。当基站11移动到上述外部水源处后，用户可以将基站11的进水口1232与外部水源连通，通过外部水源向基站11注入水流。可选地，外部水源与基站11的进水口1232之间设置有相互匹配的对接装置，当基站11移动到外部水源处后，基站11的进水口1232可以自动与外部水源对接。
在一些其它应用场景中，在可以在清洁部件110中设置信号标识装置，该信号标识装置可以定期对外发送信号，当基站11接收到上述信号后，基站11可以获知清洁部件110的具体位置，进而基站11可以自行移动到清洁部件110的附近位置。从而，基站11可以跟随清洁部件110的移动而移动，使得基站11始终位于清洁部件110的附近位置，当用户需要对清洁部件110进行清洁时，用户便可以快速寻找到基站11，提高了清洁效率。
自移动注入基站11的水流对清洁部件110进行清洗后，基站11可以将上述水流排出，因此，基站11上还可以设置有包括排污口121，排污口121可以与布置在家庭中的下水管道连通，通过下水管道将污水引入城市排污系统。与基站11的进水口1232类似的配置，基站11的排污口121与下水管道连通。在一些应用场景中，如果基站11是固定式基站，排污口121直接与下水管道连通，通过排污口121向下水管道排放污水。在一些其它应用场景中，如果基站11是移动式基站，可以在排污口121与下水管道之间设置连接管，通过排污口121和连接管向下水管道排放污水。在一些其它应用场景中，如果基站11是移动式基站，用户可以移动基站11到下水管道处，或者，移动基站11可以自移动到下水管道处，使得排污口121与下水管道连通，通过排污口121向下水管道排放污水。
可选地，清洁部件110和基站11可以包括相互契合的结构件(未示出)，该结构件包括：
限位件、卡扣件、弹性件等，当清洁部件110放置在基站11上时，基站11可以通过上述结构件将清洁部件110固定，以避免清洁部件110从基站11上脱离。
清洁部件110包括清水箱1021、污水箱12、滚刷组件113。
清水箱1021与滚刷组件113可以通过清水管道(未示出)连通。
在清洁部件对待清洁区域(例如地面)进行清洁的过程中，清水箱1021清水通过清水管道流至滚刷组件113，滚刷组件113旋转对待清洁区域进行清洁。之后，待清洁区域的污水经过可以被抽吸到污水箱12中。
基站11可以包括底座22和机体23。机体23中设置有相互隔离的进水装置233和排污装置234。
当清洁部件110放置在基站11的底座22上时，滚刷组件113至少部分的位于底座22上表面形成的凹陷部235内。
基站11可以通过有线或无线的方式为清洁部件110充电。示例性地，凹陷部235中可以设置有无线充电发射器(transport，TX)236，清洁部件110的底部可以设置有无线充电接收器(receive，RX)。
进水装置233的出水端1231可以设置有进水阀。在清洁部件110放置在基站11的底座22上的情况下，位于进水装置233出水端1231的进水阀可以打开，以使得进水装置233与清水箱1021联通，进水装置的水注入清水箱1021中。
进水装置233还可以包括清水容器1233。进水口1232与外部水源连通。进水口1232注入水流可以存储在清水容器1233中。在清洁部件110放置在基站11的底座22上且位于进水装置233出水端1231的进水阀打开的情况下，清水容器1233中盛装的水可与注入清水箱1021中。排污装置234的进水端1241可以设置有进水阀。排污装置234还可以包括污水容器1243和排污槽1244。在清洁部件110放置在基站11的底座22上的情况下，位于排污装置234的进水端1241的进水阀可以打开，使得污水箱12与排污装置234连通。污水箱12中的污水可以经排污装置234的进水端1241、污水容器1243、排污槽1244、排污口121流出清洁设备100。排污槽1244可以沿水平方向或近似沿水平方向设置。污水通过排污口121流出的过程中，由于污水中可能携带有固体垃圾，固体垃圾可能会在排污槽1244处淤积，导致排污槽1244堵塞，影响清洁装置的正常工作。
为了解决上述问题，本申请实施例提供一种堵塞检测方法以及一种清洁设备的基站。下面结合图26，对本申请实施例提供堵塞检测方法进行说明。
图26是本申请实施例提供的一种堵塞检测方法的示意性流程图。图26所示的堵塞检测方法具体可以应用于具有堵塞检测功能的电子设备。
在S301，根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目标时间段，在所述目标时间段中所述传感器的检测结果指示该传感器被浸没。
传感器可以是水浸传感器。传感器可以包括光学元件以及光学元件内设置的光发射器和光接收器。光学元件用于将光发射器发送的光线反射至光接收器。在液体浸没光学元件与液体未浸没光学元件情况下，光学元件对光发射器发送的光线的反射率不同。
传感器的检测结果可以是根据传感器输出的电压信号与预设电压的大小关系确定的，传感器输出的电压信号可以与光接收器接收的光线的光强正相关或负相关。
具体地，传感器的原理可以参见图28的说明。光发射器可以是发光二极管(light-emittingdiode，LED)。
在S302，在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阂值。
与排水相关处理所需的时长，可以理解为正常情况即未出现堵塞的情况下完成该与排水相关处理的时间长度。
异常指示信息也可以用于提醒用户对污水桶的堵塞进行处理。异常指示信息还可以用于指示停止正在进行的与排水相关处理。
通过S301至S302，在清洁设备的污水桶中设置传感器，根据清洁设备进行与排水相关处理所需的时长设置第二目标阂值，使得第二目标阂值大于在与排水相关处理所需的时长，从而，传感器被浸没的时间长度大于或等于第二目标阂值，即大于清洁设备进行排水相关处理所需的时长，可以确定污水桶堵塞，使得堵塞检测更加及时和准确。
浸没时间段中目标时间段的数量可以是一个或多个。
在浸没时间段中目标时间段的数量为一个的情况下，浸没时间段的浸没时长可理解为目标时间段的时长。
在所述目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阂值，在所述时间间隔中，所述传感器的检测结果指示所述传感器未被浸没时间段中目标时间段的数量为多个，即目标时间段之间出现了一个或者若干检测结果指示该传感器未被浸没的时间间隔，则浸没时长可以采取如下两种计算方式中的一种：1)浸没时长包括所述目标时间段之间的时间间隔：2)浸没时长不包括所述目标时间段之间的时间间隔。
在实际的检测过程中，一般情况下，出现堵塞情况时，检测过程中出现的所述时间间隔长度多为脉冲式的，对计时结果的影响很小，因此浸没时长实际不会因为采取上述两种方案而存 在很大区别，对堵塞结果的判断差别也不大。
在采取方案1)时，即浸没时长包括所述目标时间段之间的时间间隔的情况下，浸没时长为各个目标时间段与时间间隔之和。也就是说，浸没时长可以表示为该多个目标时间段中第一个目标时间段的开始时刻到最后一个目标时间段的结束时刻之间的时长。
在采用该方案的情况下，在检测结果指示传感器被浸没的情况下，可以进行计时。若在计时过程中检测结果指示传感器未被浸没，并不立刻停止计时，直到达到第一目标阂值所设定的时间长度，检测结果在此期间均指示所述传感器未被浸没，则计时清零，在后续出现检测结果指示传感器再次被浸没时，则从0开始重新计时。换言之，上述计时过程是在检测结果指示传感器被浸没的情况下开始计时，计时的结果可以作为浸没时长。在计时过程中检测结果指示传感器未被浸没之后，不停止计时，直到出现了一段超过第一目标阂值的时间长度的未被浸没的检测时段，则将计时结果清零，并在下一个检测到浸没状态的时间点再重头开始计时。
在采用上述方案2)时，即浸没时间段不包括时间间隔的情况下，浸没时长是对目标时间段的时长的累计。也就是说，在计算浸没时长时的过程中，可以将目标时间段之间的时间间隔扣除。
在采用上述方案时，通过对各个目标时间段的计时时长累计的方式，可以确定浸没时长。具体的，在检测结果首次指示传感器被浸没情况下，可以进行计时。若在计时过程中检测结果指示传感器未被浸没，可以停止计时。若在停止计时之后的第一目标阂值内，检测结果指示传感器被浸没，可以继续在前次计时数据的基础上继续计时。若在停止计时之后，已经经过第一目标阂值所设定的时间长度，检测结果始终指示所述传感器未被浸没，则对计时结果清零，在检测结果指示传感器再次被浸没时，从0开始重新计时。
不论采用上述方式1)还是方式2)，实际均是对出现浸没情况的相邻的连续时间段进行合并计时；之所以采用上述方式，是为了避免在堵塞情况下水流不稳定造成的检测毛刺，以便及时发现出现堵塞的情况。
根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括至少一个目标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没，在所述至少一个目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阂值，在所述时间间隔中，所述传感器的检测结果指示所述传感器未被浸没；在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。上述堵塞检测方法中具有以下优点：设置了第二目标阂值，并确保清洁设备进行与排水相关处理所需的时间小于第二目标阂值；以及，考虑到进行与排水相关处理的过程中，水流流过传感器，水流的流量及稳定性对传感器的检测结果会产生影响，因此，在堵塞检测过 程中充分考虑清洁设备进行与排水相关处理的特点，在一段时间内传感器持续未被液体浸没的时间长度小于第一目标阂值的情况下，对该时间段进行计时以确定浸没时长；在上述前提下，在检测到浸没时长超过第二目标阂值后，才确定存在堵塞，从而使得对清洁设备中污水桶是否堵塞的判断更加及时和准确。
图31示出了一个具体检测过程，以下结合图31对该具体的检测过程进行说明。
对于如图31所示的传感器的检测结果，表示了传感器在各个时间点输出电压的大小。在传感器的输出电压大于预设电压V1的情况下，表示传感器未被浸没；反之，在传感器的输出电压小于或等于预设电压V1的情况下，表示传感器被浸没。
在时间段T1，水面覆盖在水浸传感器之上。因此，在T1时间段，水浸传感器输出为较小的电压值，该电压值小于或等于预设电压V1。
在时间段T2和T3，水流流过水浸传感器。由于水流不稳定，在时间段T2和T3内，水浸传感器输出有时为较大的电压值V0，有时为较小的电压值。电压值V0大于预设电压V1，较小的电压值可以是指小于或等于预设电压V1的电压值。
在时间段T2和T3，在传感器的输出电压可能由电压值V0跳转至小于预设电压V1的电压值，再由小于预设电压V1的电压值跳转至电压值V0。这两次跳转的时间间隔小于第一目标阂值的情况下，在该时间间隔之后不对浸没时长进行重置，能够有效滤除传感器检测结果中的毛刺，消除误差，使得得到的浸没时长更为准确。
如图32所示，水浸传感器输出的电压值小于预设电压值的两个时间段的时间长度为x1和△x3。在时间长度为△x1和△x3的时间段之间，水浸传感器输出的电压值大于预设电压值，且水浸传感器输出的电压值大于预设电压值的时间段的时间长度为△x2。
在时间长度为△x1的时间段之前以及时间长度为△x3的时间段之后，水浸传感器输出的电压值小于预设电压值的时间长度大于第一目标阂值100ms，且△x2小于第一目标阂值100ms的情况下，浸没时长可以表示为△x1+△x3，或者浸没时长可以表示为△x1+△x2+△x3。
进行与排水相关处理的过程中，水流可能流过传感器，并且水流的流量及稳定性对传感器的检测结果产生影响。浸没时间段的目标时间段内，检测结果指示传感器被浸没。而浸没时间段仅包括一个目标时间段，或者浸没时间段中相邻的目标时间段之间的时间间隔小于第一目标阂值，且在时间间隔内传感器的检测结果指示该传感器未被浸没。也就是说，在浸没时间段对应的这一段时间内传感器处连续或间断性处于被浸没的状态。
清洁设备进行与排水相关处理所需时长小于第二目标阂值。因此，在正常情况下，浸没时长小于第二目标阂值。如果浸没时长超过第二目标阂值，则清洁设备的污水桶堵塞。
通过在一段时间内传感器持续未被液体浸没的时间长度小于第一目标阂值的情况下，对该 时间段进行计时以确定浸没时长，并在浸没时长超过第二目标阂值后确定存在堵塞，第二目标阂值大于清洁设备进行与排水相关处理所需的时间，使得对清洁设备中污水桶是否堵塞的判断更加及时和准确。
所述污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体。
图26所示的堵塞检测方法可以应用于基站，传感器可以位于排污装置。或者，图26所述的堵塞检测方法可以应用于清洁部件，传感器可以位于污水箱。
从而，执行图26所示方法的装置与传感器均位于基站或清洁部件，从而执行图26所示方法的装置与传感器可以通过总线或其他有线方式进行通信，从而执行图26所示方法的装置与传感器之间的通信具有较高的及时性和稳定性，提高检测结果的准确性。
在传感器位于排污装置的情况下，异常指示信息可以用于控制所述排污装置的进水阀关闭，以停止所述污水箱中的液体向所述排污装置的流动。
传感器位于排污装置，则堵塞可能发生在排污装置。在确定发生堵塞的情况下，关闭排污装置的进水阀，停止污水箱中的液体向排污装置的流动，避免排污装置中的液体继续积累导致溢出。
传感器设置的位置对堵塞检测的准确度也会产生影响。下面对传感器设置的位置进行说明。
污水桶的底部沿水平方向可以设置排污槽。
传感器可以位于排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
传感器设置在排污槽的底部，可以及时对排污槽中是否有水进行检测。而将传感器设置在与排污槽的侧壁具有预定距离的位置，可以降低侧壁残留的水对传感器的检测结果产生影响。
传感器位于排污槽与排污口相对的一端。排污口用于排出污水桶中的液体。固体垃圾容易在靠近排水口的一端堆积，传感器设置在远离排水口的位置，可以提高检测结果准确度。
步骤S301可以在清洁设备进行与排水相关处理的情况下开始执行。
在S301之前，可以获取排水指示信息，排水指示信息用于指示排水相关处理的进行。
获取排水指示信息的方式，可以是接收获取排水指示信息，也可以是生成排水指示信息。响应于排水指示信息，可以进行S301。也就是说，在获取排水指示信息的情况下，可以进行S301。
第一目标阂值可以是预设的，也可以是根据排水指示信息确定的。
与排水相关处理的种类可以是多种。不同与排水相关处理的种类可以对应于不同的第一预设阂值。排水指示信息可以用于指示进行的排水相关处理的种类。根据排水指示信息指示的种类，可以将该种类对应的第一预设阂值作为第一目标阂值。
第二目标阂值可以是预设的，也可以是根据排水指示信息确定的。
不同与排水相关处理的种类可以对应于不同的第二预设阂值。排水指示信息可以用于指示进行的排水相关处理的种类。根据排水指示信息指示的种类，可以将该种类对应的第二预设阂值作为第二目标阂值。
在获取排水指示信息并经过第三预设阂值之后，可以不再进行浸没时长的确定。也就是说，在经过获取排水指示信息并经过第三预设阂值之后，传感器可以停止检测。第三预设阂值可以大于各个第二预设阂值。
下面结合图27，以传感器为水浸传感器，且传感器设置在基站中排污装置为例进行说明。
图27是本申请实施例提供的一种堵塞检测方法的示意性流程图。图27所示的堵塞检测方法具体可以应用于具有堵塞检测功能的电子设备。该电子设备可以位于清洁设备的基站中。
清洁设备可以包括基站和清洁部件。清洁部件中设置有污水箱，基站中设置有排污装置。排污装置设置有排污口，用于排出排污装置中的液体。排污口可以与下水管道连接。
在清洁部件放置在基站上的情况下，排污装置的进水阀可以打开，以使得污水箱中的液体流经排污装置排出。
排污装置中设置有水浸传感器。
如图28所示，水浸传感器包括光学元件501以及位于光学元件501内的光发射器502和光接收器503。光学元件501可以是光维。
在液体未浸没水浸传感器的情况下，光发射器502发射光线，光线经过光学元件501反射，传输至光接收器503。
在液体没过水浸传感器的情况下，光发射器502发射的光线照射在光学元件501表面，在光学元件501表面发生折射和反射。传输至接收器503的光线减少，接收器503接收的光能降低。
水浸传感器可以将光信号转换为电信号。在液体未浸没水浸传感器的情况下，光接收器503接收的光信号较强，输出的电压较高。在液体没过水浸传感器的情况下，传输至光接收器503的光线减少，光接收器503接收的光能降低，光接收器503输出的电压较低。
并且，在水浸没水浸传感器的情况下，水越清则水浸传感器输出的电压较高，反之，水越脏水浸传感器的输出电压越小。
水浸传感器输出的电压可以是模拟信号。在水浸传感器的输出端可以连接模数转换器(analogtodigital，AD)，从而将水浸传感器的输出的模拟信号转换为数字信号。
如图29所示，水浸传感器610上设置有电源端口601、地端口602和输出端口603。电源端口601用于连接直流电源VD，地端口602用于连接地电位。直流电源VD的电压例如可以是3.3伏(V)。输出端口603可以理解为开路。示例性地，输出端口603可以经过串联的电阻R 和电容C连接至地电位，电阻R可以为1千殴(ko)，电容C可以是0.1微法(uF)。
电阻R和电容C之间的连接点可以连接模数转换器(analogtodigital，AD)620。模数转换器62用于将电阻R和电容C之间的电压值转换为数字输出。
将水浸传感器设置在排污装置中。在水浸传感器的输出电压小于或等于预设电压的情况下，可以确定排污装置中的液体浸没水浸传感器。预设电压可以大于或等于清水浸没水浸传感器情况下水浸传感器的输出电压。例如，在清水浸没水浸传感器的情况下水浸传感器输出的电压值为0.8伏(V)，污水浸没水浸传感器的情况下水浸传感器输出的电压值为0.4V，则预设电压可以设置为0.8V、0.9V或1V。
水浸传感器在排污装置中的位置可以参见图30。排污装置700的底部可以设置有排污槽710，排污槽710可以水平设置。水平设置，也可以理解为近似平方向设置，即排污槽与水平方向之间的夹角较小，例如小于预设角度。
水浸传感器720可以设置于排污槽的底部。示例性地，水浸传感器720的光维可以突出于排污槽的底部。
排污口用于排出排污装置中的液体。排污口可以用于与下水管道连接，将基站排出的污水引入城市排污系统。排污装置中的固体垃圾倾向于在靠近排污口的一侧堆积，导致排污装置堵塞。
如果将水浸传感器720设置在靠近排污口730的一侧，在少量固体垃圾覆盖在水浸传感器720表面的情况下，水浸传感720的检测结果可能显示水浸传感器720被浸没。但是此时排污装置可能并未出现明显的堵塞情况，导致基于水浸传感器720的检测结果对排污装置是否堵塞的判断结果不准确。
水浸传感器720可以设置在排污槽远离排污口的一端，从而使得根据水浸传感器720的检测结果确定的排污装置是否堵塞的判断结果更加准确。
在水浸传感器720的光维突出于排污槽的底部的情况下，将水浸传感器720设置在排污槽远离排污口的一端，可以降低污水中的固体垃圾被水浸传感器阻挡的可能性。
水浸传感器720可以远离排污槽的侧壁。排污槽的侧壁上可能残留有水，为了避免排污槽侧壁的残留水影响判断结果，可以将水浸传感器720在远离排污槽侧壁的位置设置水浸传感器720。也就是说，水浸传感器720与排污槽侧壁有一定间隙。
图27所示的堵塞检测方法400包括S401至S407。
在S401，持续获取水浸传感器的检测结果。
水浸传感器可以周期性或非周期性进行检测，并发送检测结果。从而，执行方法400的装置可以持续接收水浸传感器的检测结果。
水浸传感器的检测结果可以表示为电压值。在电压值小于或等于预设电压的情况下，可以确定液体浸没水浸传感器。在电压值大于预设电压的情况下，可以确定水浸传感器未被液体浸没。
因此，检测结果可以指示水浸传感器是否被液体浸没。在当前检测结果指示水浸传感器未被液体浸没的情况下，判断下一时刻获取的检测结果可以指示水浸传感器是否被液体浸没。
在检测结果指示水浸传感器被液体浸没的情况下，可以进行S402。
在S402，开启计时器，开始记录浸没时长。
示例性地，在检测结果指示水浸传感器被液体浸没的情况下，开启计时器，以记录浸没时长。
在检测结果继续指示水浸传感器被液体浸没，则保持计时器的开启状态。
在S402之后，如果检测结果指示水浸传感器未被液体浸没，则可以进行S403。
在S403，关闭计时器，停止记录浸没时长。
示例性地，在检测结果指示水浸传感器未被液体浸没的情况下，关闭计时器，以停止记录浸没时长。
在S404，当前时刻的检测结果再次指示水浸传感器被液体浸没的情况下，判断当前时刻与上一次检测结果指示水浸传感器被液体浸没的时刻之间的时间间隔是否小于预设时间间隔。
预设时间间隔可以是预设的第一目标阂值，例如可以是100毫秒(ms)。
在该时间间隔小于预设时间间隔的情况下，进行S405。
在S405，再次开启计时器，继续记录浸没时长。
在该时间间隔大于或等于预设时间间隔的情况下，进行S406。
在S406，重启计时器，重新记录浸没时长。
在排水装置排出液体的过程中，流过水浸传感器，从而检测结果指示水浸传感器被水浸传感器浸没。但是，由于流过水浸传感器的液体流量不稳定等因素的影响，液体流过水浸传感器的过程中，可能存在某个或某些时刻水浸传感器的检测结果指示水浸传感器未被液体浸没。
在检测结果指示水浸传感器被液体浸没的两段目标时间段之间的时间间隔小于预设时间间隔的情况下，在两段目标时间段内累计计算浸没时长，能够有效滤除水浸传感器检测结果中的毛刺，消除误差，使得得到的浸没时长更为准确。
在进行S402、S405或S406的过程中，可以对浸没时长与预设时长进行大小比较，并进行S407。
在S407，在浸没时长大于或等于预设时长的情况下，输出异常指示信息。
排污装置的进水口处可以设置后进水阀。异常指示信息可以用于控制所述排污装置的进水 阀关闭，以停止所述污水箱中的液体向所述排污装置的流动。
或者，清洁部件的污水箱排水口处可以设置有排水阀。异常指示信息可以用于控制污水箱的排水阀关闭，以停止所述污水箱中的液体向所述排污装置的流动。
预设时长可以是预设的第二目标阂值。预设时长可以根据与排水相关的处理过程所需的时间长度确定。与排水相关的处理过程包括污水箱排水、排污装置自清洁等。预设时长可以大于与排水相关的处理过程所需的时长。示例性地，清洁部件放置在基站上，清洁部件的污水箱中的液体通过排污装置排出清洁设备，所需的时间最多为8秒(s)。即污水箱排水的时长最大值为8s。基站储水箱中的水冲洗排污装置，实现排污装置自清洁所需的时长为12s。预设时长应当大于污水箱排水所需的时长，且大于排污装置自清洁所需的时长。因此，预设时长应当大于12s。例如，预设时长可以为15s。从而，在浸没时长小于或等于15s的情况下，可以确定排污装置未出现堵塞的状况；而在浸没时长大于15s的情况下，可以确定排污装置出现了堵塞的状况。
通过S401至S407，对于时间间隔小于预设时间间隔的相邻两次水浸传感器输出电压值小于预设电压的时间段，累计计算浸没时长，在浸没时长超过预设时长的情况下，确定排污装置堵塞，输出异常指示信息。
示例性地，预设电压为0.8V，预设时间间隔为100ms，则水浸传感器的检测结果指示传感器持续被浸没的各个目标时间段中水浸传感器输出电压值均小于0.8V，相邻两个目标时间段之间的时间间隔均小于100ms。
清洁设备进行与排水相关的两个不同处理，在该两个处理过程之间可以存在时间间隔，该时间间隔可以大于或等于预设时间间隔。例如，清洁设备的污水箱排水结束的时间点与排污装置自清洁开始的时间点之间的时间间隔可以大于或等于预设时间间隔。
清洁设备进行第一个与排水相关处理的过程之后，经过大于或等于预设时间间隔的时长之后，进行第二个与排水相关处理的过程。在排水装置未堵塞的情况下，先后进行的两个与排水相关处理之间的时间间隔大于预设时间间隔，则排水装置中设置的水浸传感器在第一个与排水相关处理之后测到未被水浸没的时间长度大于预设时间间隔，从而可以重启计时器，重新记录浸没时长。因此，在第二个与排水相关处理开始之后，可以重新记录浸没时长。在两个与排水相关处理之间设置大于或等于预设时间间隔的时间间隔，使得记录的浸没时长更加准确。
在另一些实施例中，在S404判断当前时刻与上一次检测结果指示水浸传感器被液体浸没的时刻之间的时间间隔小于预设时间间隔的情况下，可以对计时器进行调整，调整为计时器记录的浸没时长与该时间间隔之和。也就是说，可以将计时器记录的浸没时长与该时间间隔之和作为新的浸没时长，继续对浸没时长进行记录。
图33是本申请实施例提供的一种堵塞检测方法的示意性流程图。图33所示的堵塞检测方 法具体可以应用于具有堵塞检测功能的电子设备。
在S1001，获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在预测结束时间点之后，所述预测结束时间点为所述清洁设备完成与排水相关处理的时间点的预计结果。
预测结束时间点，可以理解为在污水桶未出现堵塞的情况下清洁设备能够完成与排水相关处理的时间点。清洁设备预计在预测结束时间点完成与排水相关处理。
在进行S1001之前，可以获取排水处理指示信息，所述排水处理指示信息用于指示清洁设备开始进行与排水相关处理的开始时间点。根据所述与排水相关处理的预测处理时长和所述开始时间点，确定所述预测结束时间点。
正常情况下清洁设备进行不同种类的与排水相关处理所需的处理时长可以相同或不同。预测处理时长可以是各个种类的与排水相关处理所需的处理时长的最大值。
或者，与排水相关处理的种类与处理时长具有对应关系。排水处理指示信息还可以指示与排水相关处理的种类，以及该种类的与排水相关处理的开始时间点。根据该对应关系可以确定预测处理时长为排水处理指示信息指示的与排水相关处理的种类对应的处理时长。
从而，在排水处理指示信息指示的开始时间点之后，经过预测处理时长的时间点，即为预测结束时间点。
根据预测结束时间点，可以确定检测时间点，检测时间点在预测结束时间点之后。示例性地，预测结束时间点与检测时间点之间的时间间隔的长度可以是预设值。在预测处理时长为排水处理指示信息指示的与排水相关处理的种类对应的处理时长的情况下，预测结束时间点与检测时间点之间的时间间隔的长度也可以与排水处理指示信息指示的与排水相关处理的种类对应的处理时长正相关。例如，对于某个种类的与排水相关处理，预测结束时间点与检测时间点之间的时间间隔的长度可以是该种类的处理时间的预设比例。
在确定检测时间点之后，执行图33所述方法的装置可以控制传感器在检测时间点进行检测，从而获取传感器在检测时间点的检测结果。或者，传感器可以周期性或非周期性进行检测，并向执行图33所述方法的装置发送检测结果。执行图33所述方法的装置可以在传感器各个时间点的检测结果中确定检测时间点的检测结果。
在S1002，在所述检测结果指示所述传感器被浸没的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。
异常指示信息可以用于指示正在进行的与排水相关处理停止。异常指示信息还可以用于提醒用户污水桶堵塞。
污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污 装置，所述排污装置用于排出所述污水箱中的液体。
传感器可以位于排污装置，也可以位于污水箱。传感器可以是水浸传感器。在污水桶中的位置，可以参见图26和图30的说明。传感器的工作原理和外围电路如图28和图29所示。
通过S1001至S1002，在与排水相关处理结束的预测结束时间点之后的检测时间点，如果污水桶中的传感器的检测结果指示传感器被浸没，可以确定污水桶存在堵塞，使得堵塞检测更加及时和准确。
图34是本申请实施例提供的一种清洁设备的示意性结构图。
清洁设备1000(也即上述洗地机10)包括污水桶1101(即上述污水桶12)、传感器1102和堵塞检测装置1103。堵塞检测装置1103可以用于执行图26、图27或图33所述的方法。
传感器1102设置在污水桶1101中，传感器1102用于检测传感器1102是否被液体浸没。
堵塞检测装置1103用于，根据传感器1102的检测结果，对污水桶1101进行堵塞检测。
可选地，污水桶1101的底部沿水平方向设置有排污槽，传感器1102位于所述排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
可选地，污水桶1101的底部沿水平方向设置有排污槽，传感器1102位于所述排污槽与排污口相对的一端，所述排污口用于排出污水桶1101中的液体。
可选地，堵塞检测装置1103具体用于，根据传感器1102的检测结果，确定浸没时间段的浸没时长，其中，所述浸没时间段包括目标时间段，在所述目标时间段中，传感器1102的检测结果指示传感器1102被浸没。
堵塞检测装置1103还用于，在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示污水桶1101堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阂值。
可选地，在所述目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阂值，在所述时间间隔中，传感器1102的检测结果指示传感器1102未被浸没。
可选地，所述浸没时长是对所述至少一个目标时间段的时长的累计。
可选地，堵塞检测装置1103具体用于，获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在预测结束时间点之后，所述预测结束时间点为所述清洁设备完成与排水相关处理的时间点的预计结果。
堵塞检测装置1103还用于，在所述检测结果指示所述传感器被浸没的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。
可选地，污水桶1101包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体；
所述方法应用于所述基站，传感器1102位于所述排污装置。
可选地，所述异常指示信息用于指示正在进行的与排水相关处理停止。
上文结合图24至图34描述了本申请实施例提供的堵塞检测方法和清洁设备，下面结合图35至图37，描述本申请实施例的堵塞检测装置。应理解，堵塞检测方法的描述与堵塞检测装置的描述相互对应，因此，未详细描述的部分可以参见上文的描述。
图35是本申请实施例提供的一种堵塞检测装置的示意性结构图。图35所示的堵塞检测装置可以用于图26或图27的堵塞检测方法。
如图35所示，堵塞检测装置包括:处理单元1201和输出单元1202。
处理单元1201用于，根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没。
处理单元1202用于，在所述浸没时长大于或等于第二目标阂值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清设备进行与排水相关处理所需的时长小于所述第二目标阂值。
可选地，在所述浸没时间段中所述目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阂值，在所述时间间隔中，所述传感器的检测结果指示所述传感器未被浸没。
可选地，所述污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体；
所述堵塞检测装置位于所述基站，所述传感器位于所述排污装置。
可选地，所述污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
可选地，所示污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽与排污相对的一端，所述排污口用于排出所述污水桶中的液体。
可选地，所述浸没时长是对所述至少一个目标时间段的时长的累计。
可选地，所述异常指示信息用于指示正在进行的与排水相关处理停止。
图36是本申请实施例提供的一种堵塞检测装置的示意性结构图。图36所示的堵塞检测装置包括:获取单元1301和输出单元1302。
获取单元1301用于，获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所 述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在预测结束时间点之后，所述预测结束时间点为所述清洁设备完成与排水相关处理的时间点的预计结果。
输出单元1302用于，在所述检测结果指示所述传感器被浸没的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。
可选地，获取单元1301还用于，获取排水处理指示信息，所述排水处理指示信息用于指示所述清洁设备开始进行所述与排水相关处理的开始时间点。
堵塞检测装置还可以包括处理单元，用于根据所述与排水相关处理的预测处理时长和所述开始时间点，确定所述预测结束时间点。
可选地，所述污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体；
堵塞检测装置位于所述基站，所述传感器位于所述排污装置。
可选地，所述污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
可选地，所示污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽与排污口相对的一端，所述排污口用于排出所述污水桶中的液体。
图37是本申请实施例提供的一种堵塞检测装置的示意性结构图。堵塞检测装置用于实现图26、图27或图34所示的堵塞检测方法。
如图37所示，堵塞检测装置包括:包括:包括存储器1401、处理器1402、通信接口1403以及通信总线1404。其中，存储器1401、处理器1402、通信接口1403通过通信总线1404实现彼此之间的通信连接。
本申请实施例还提供一种存储介质，所述存储介质存储有程序，所述程序被处理器执行，用于实现上述堵塞检测方法。
本申请实施例还提供一种清洁设备，所述清洁设备包括传感器和前文所述的堵塞检测装置。
需要说明的是，尽管在上文详细描述中提及了用于动作执行的若干模块或者单元，但是这种划分并非强制性的。实际上，根据本申请的具体实施方式，上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之，上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。
结合具体的应用场景对本申请实施例提供的技术方案进行说明。
应用场景一
在清洁部件位于基站上的情况下，设置在基站中排污装置进水端的进水阀打开。清洁部件中的污水流向排污装置，并通过排污装置的排污口流出。排污装置的底部设置有排污槽，排污 槽的一端为排污口，另一端远离排污槽侧壁的位置处设置有传感器，传感器用于检测该传感器是否被液体浸没。
基站中还设置有堵塞检测装置。堵塞检测装置获取传感器的检测结果，在检测结果指示传感器被浸没情况下进行计时。在计时过程中检测结果指示传感器未被浸没，堵塞检测装置停止计时。在停止计时之后的第一目标阂值内，检测结果指示传感器被浸没，堵塞检测装置继续计时。在停止计时之后的第一目标阂值内，检测结果未指示所述传感器被浸没，堵塞检测装置在检测结果指示传感器被浸没时重新开始计时。如果计时结果超过第二目标阂值，则堵塞检测装置输出异常指示信息，指示排污装置的进水阀关闭，使得污水箱中的液体停止向排污装置的流动。
应用场景二
在清洁设备中清洁部件位于清洁设备中基站上的情况下，清洁部件中污水箱盛装的污水经排污装置流出清洁设备。排污装置的底部设置有排污槽，排污槽的一端为排污口，另一端远离排污槽侧壁的位置处设置有传感器，传感器用于检测该传感器是否被液体浸没。
清洁部件中污水箱盛装的污水全部排出清洁设备后，清洁部件可以进行自清洁。自清洁的过程中，清洁部件可以对冲洗污水箱。冲洗污水箱的过程中向污水箱中喷出的水经排污装置流出清洁设备。
基站中还设置有堵塞检测装置。堵塞检测装置获取传感器在检测时间点的检测结果。检测时间点在冲洗污水箱的预测结束时间点之后。在该检测结果指示传感器被浸没的情况下，输出异常指示信息，异常指示信息用于指示所述污水桶堵塞。
另外，现有技术中，清洁部件110(即上述洗地机10)的手柄顶端设置有自清洁按键，当清洁部件110对接在基站11上时，用户按下自清洁按键，清洁部件110开始自清洁。现有技术需要用户手动开启自清洁，且自清洁模式单一，不能根据清洁部件110的清洁任务情况进行调整。
为了解决上述问题，本申请实施例提供一种用于清洁设备的清洁方法以及一种清洁设备的基站。
在清洁部件110放置在基站11的底座22上的情况下，清洁设备可以自动开启自清洁，且能根据被清洁对象的运行时长和/或待清洁面的脏污程度，自动匹配不同清洁力度的自清洁模式，对洗地机和基站进行清洁。或者，在另一种可选的实施例中，基站11/清洁部件110可以推送至少一个自清洁模式供用户选择，用户可以选择不同清洁力度的自清洁模式，对洗地机和基站进行清洁。
各个自清洁模式可以依次包括污水箱12注水(至水满)、污水箱12排水、污水箱12冲洗、 清洁部件110自清洁、污水箱12再次排水、污水箱12再次冲洗、冲洗排污装置234、烘干和/或紫外线灭菌等步骤，其中，各个自清洁模式中清洁部件110自清洁中的清洁方式可以不同。
下面结合图38，对本申请实施例提供用于清洁设备的清洁方法进行说明。
图38是本申请实施例提供的一种用于清洁设备的自清洁方法的示意性流程图。本实施例提供的用于清洁设备的清洁方法具体可以应用于具有数据处理功能的电子设备。该电子设备可以位于清洁设备中。本实施例提供的用于清洁设备的清洁方法的执行主体可以是基站11，也可以是清洁部件110，还可以是基站11和清洁部件110共同协作执行。图38所示的方法包括S301至S302。
在S301，获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁。
清洁设备包括清洁部件。清洁部件可以是手持式吸尘器、手持式清洗机、扫地机器人、洗地机或表面清洁设备等。被清洁对象可以是地面等。
运行参数信息用于表示与清洁部件进行清洁相关的信息，例如清洁部件的运行时间、运行环境的脏污情况等。
在S302，根据所述运行参数信息，在多个用于对所述清洁设备进行清洁的自清洁模式中确定目标自清洁模式。该多个自清洁模式可以是预设的。
对清洁设备的清洁包括对清洁部件的清洁。
通过S301至S302，根据与清洁部件的运行参数信息，在多个自清洁模式中确定目标自清洁模式。因为目标自清洁模式是根据清洁部件的运行情况确定的，所以利用目标自清洁模式对清洁设备进行清洁，提高清洁效率。
根据清洁部件的运行情况确定目标自清洁模式对清洁设备进行清洁，可以避免清洁设备较为干净的情况下采用清洁力度较强的自清洁模式进行清洁，提高了清洁效率。同时，也可以避免清洁设备较为脏污的情况下采用清洁力度较弱的自清洁模式进行清洁导致完成自清洁后的清洁设备中仍有污渍残留，提高清洁效果。
清洁部件运行的时间越长，清洁部件需要进行清洁的力度越强。
运行参数信息可以包括清洁部件对被清洁对象进行清洁的清洁运行时长。在S302可以在清洁运行时长大于或等于预设的第一阅值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
在清洁部件运行时间很长，清洁运行时长超过第一阅值的情况下，利用预设的多个自清洁模式中清洁力度最强的第一自清洁模式对清洁设备进行清洁，清洁效果较好，清洁后的清洁设备较为干净。
运行参数信息可以包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长。在S302可以根据该至少一个程度时长，确定目标自清洁模式。
清洁部件在某个预设脏污程度下运行，可以理解为被清洁对象的脏污程度为该某个预设脏污程度。
清洁部件运行的时间长度、被清洁对象的脏污程度，都会对清洁部件所需的清洁力度产生影响。清洁部件运行环境脏污程度越高，清洁部件需要进行清洁的力度越强。
根据清洁部件分别在各个预设脏污程度下运行的程度时长，确定目标自清洁模式，清洁效果较好，能够提高清洁效率。
根据所述至少一个程度时长，可以确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长。
在所述目标环境运行时长大于或等于预设的第二阅值的情况下，可以确定所述目标自清洁模式为所述第一自清洁模式；
在所述目标环境运行时长小于所述第二阅值的情况下，可以确定所述目标自清洁模式为所述第二自清洁模式。
目标脏污程度可以包括一个或多个预设脏污程度。示例性地，不同的脏污程度可以表示清洁部件运行环境的脏污情况，目标脏污程度可以包括清洁部件运行环境达到或超过预设脏污状况。脏污程度可以由清洁部件中设置的脏污传感器检测，脏污传感器可以为光学传感器，设置在吸污管道中，根据脏污的透光率来检测脏污程度。或者，不同脏污程度表示不同的脏污吸入速率的范围，目标脏污程度中预设脏污程度的数量为多个的情况下，该多个预设脏污程度可以用于表示的脏污吸入速率范围可以是脏污吸入速率大于或等于预设值。应当理解，第一阅值大于第二阅值。
在又一些实施例中，根据清洁部件在各个预设脏污程度下运行的程度时长，计算脏污参数。脏污参数用于表示清洁部件中污水箱的脏污情况。不同的脏污程度可以对应于不同的权重，脏污参数可以表示为清洁部件在各个脏污程度下运行的程度时长与该脏污程度对应的权重的乘积的叠加。在脏污参数大于或等于预设参数值的情况下，目标自清洁模式可以为第一自清洁模式；反之，在脏污参数小于预设参数值的情况下，目标自清洁模式可以为第二自清洁模式。
示例性地，最轻的预设脏污程度下的程度时长为第一阅值，且其他脏污程度下的程度时长为0的情况下，计算得到的脏污参数可以等于预设参数值。最轻的预设脏污程度，可以理解为脏污吸入速率的取值最小。
可以在清洁运行时长大于或等于预设的第三阅值的情况下，进行S302。第三阅值可以小于 第一阅值，且小于第二阅值。
清洁部件的运行时间很短，清洁运行时长小于第三阅值的情况下，清洁部件吸入的脏污量很少，可以不对清洁设备进行清洁，从而提高清洁效率。
也就是说，在根据目标环境运行时长或脏污参数确定目标自清洁模式的情况下，进行目标环境运行时长、脏污参数确定的步骤，可以在清洁运行时长超过第三阅值，且不超过第一阅值的情况下进行。清洁设备还可以包括基站。图3所示的方法可以应用于清洁部件，也可以应用于基站。
清洁部件可以记录脏污程度随时间的变化情况，并根据该变化情况确定运行参数信息，之后执行S301至S302。清洁部件可以向基站发送通过S302确定的目标自清洁模式。基站可以在清洁部件位于基站预设区域的情况下，按照目标自清洁模式对清洁设备进行自清洁。
清洁部件也可以向基站发送脏污程度随时间的变化情况，基站根据该变化情况确定运行参数信息。或者，清洁部件以向基站发送运行参数信息。之后，基站可以执行S301至S302，并在清洁部件位于基站预设区域的情况下按照目标自清洁模式对清洁设备进行自清洁。
清洁部件与基站之间可以通过有线或无线的方式进行通信。清洁部件位于基站预设区域的情况下，基站可以与清洁部件建立有线通信。清洁部件位于无线通信的通信距离范围内的情况下，基站与清洁部件可以建立无线通信。
下面结合图39，以基站确定目标自清洁模式为例，对用于清洁设备的自清洁方法进行说明。
图39是本申请实施例提供的一种用于清洁设备的自清洁方法的示意性流程图。本实施例提供的用于清洁设备的清洁方法具体可以应用于具有数据处理功能的电子设备。该电子设备可以位于清洁设备的基站中。该电子设备例如可以是基站中的处理装置。清洁设备可以包括清洁部件和基站。
清洁部件用于对被清洁对象进行清洁。在清洁部件放置在基站上的情况下，基站用于对清洁设备进行自清洁。
图39所示的用于清洁设备的自清洁方法400包括S410至S460。
在S410，清洁部件记录清洁运行信息。
清洁运行信息可以包括清洁部件运行过程中在各个时间点被清洁对象的脏污程度。或者，清洁运行信息包括清洁部件运行过程中在各个时间点的清洁部件中污水箱的脏污吸入速率。
被清洁对象的脏污程度，也可以理解为清洁部件在某种脏污程度运行，可以由清洁部件中设置的脏污传感器检测，脏污传感器可以为光学传感器，设置在吸污管道中，根据脏污的透光率来检测脏污程度；也可以根据清洁部件的脏污吸入速率确定。脏污吸入速率可以表示为污水箱在单位时间内吸入的脏污量。
根据清洁部件在某一时间段内的喷水量和预设的水回收率，可以计算得到水回收量。清洁部件的喷水量即清洁部件喷出的清水的总重量。清洁部件的污水箱在该时间段的重量变化量减去水回收量，可以得到污水箱在该时间段吸入的脏污量。该脏污量除以该时间段的时间长度，可以得到污水箱的脏污吸入速率。
脏污吸入速率越大，被清洁对象的脏污程度越高。示例性地，脏污吸入速率小于第一预设速率可以定义为第一脏污程度，脏污吸入速率大于或等于第一预设速率且小于第二预设速率可以定义为第二脏污程度，脏污吸入速率大于或等于第二预设速率可以定义为第三脏污程度。第一预设速率小于第二预设速率。
清洁部件上可以设置有显示器，显示器可以在清洁部件清洁待清洁面的过程中显示脏污吸入速率或被清洁对象的脏污程度。如图5所示，显示器可以为圆形，圆形内部设置有脏污显示区域。脏污显示区域可以是圆环，某种颜色区域在圆环面积中的不同比例可以用于表示不同的脏污程度或脏污吸入速率。某种颜色区域在圆环面积中的比例可以随脏污程度/脏污吸入速率的增加而增大。该某种颜色可以是红色或橙色等。在一种示例中，可以用红色表示重污，橙色表示中污，绿色表示轻污。
示例性地，该某种颜色区域占圆环面积的第一预设比例对应的脏污程度/脏污吸入速率可以设置为第一脏污程度/第一预设速率，某种颜色区域占圆环面积的第二预设比例对应的脏污程度/脏污吸入速率可以理解为第二脏污程度/第二预设速率。第一预设比例小于第二预设比例。第一预设比例例如可以是1/4或1/3，第二预设比例例如可以是1/2或3/4。也就是说，在该某种颜色区域占圆环面积不超过第一预设比例的情况下清洁部件运行在第一脏污程度，在该某种颜色区域占圆环面积大于第一预设比例且不超过第二预设比例的情况下清洁部件运行在第二脏污程度，在该某种颜色区域占圆环面积大于或等于第二预设比例的情况下清洁部件运行在第三脏污程度。例如在一种示例中，脏污显示区域用红蓝环表示待清洁面的脏污程度。当脏污显示区域全部显示为绿色，表示待清洁面较为干净；当红/橙色的显示面积不超过脏污显示区域面积的1/4或1/3时，表示待清洁面为第一脏污程度；当红/橙色的显示面积大于脏污显示区域面积的1/4或1/3而不超过脏污显示区域面积的1/2或3/4，表示待清洁面为第二脏污程度；当红/橙色的显示面积大于脏污显示区域面积的1/2或3/4，表示待清洁面为第三脏污程度。
显示器中脏污显示区域的不同亮度或色度等也可以用于表示污水箱的不同脏污吸入速率或被清洁对象的脏污程度。
在S420，清洁部件向基站发送清洁运行信息。
基站与清洁部件之间存在通信连接，该通信连接可以是有线或无线的方式。无线通信方式可以为但不限于蓝牙、紫蜂(ZigBee)、无线保真技术(wirc1css2fidelity，Wi-Fi)等。
基站与清洁部件之间的通信连接为蓝牙连接为例，在清洁部件与基站之间的距离满足蓝牙连接的通信距离范围的情况下，清洁部件与基站之间可以建立蓝牙通信。蓝牙连接的通信距离范围例如可以是小于或等于10米(m)。
在蓝牙连接建立后，清洁部件可以通过蓝牙连接向基站发送清洁运行信息。
当清洁部件执行清洁待清洁面的任务后与基站对接时，清洁部件将清洁运行信息发送给基站，基站根据清洁运行信息，按照与清洁运行信息对应的目标自清洁模式自动开始执行清洁设备的自清洁。清洁部件与基站对接，指清洁设备正确放置在基站的预设区域，且与基站通信连接。
在另一示例中，清洁部件可以周期性或非周期性向基站发送的清洁运行信息。清洁部件每次发送的清洁运行信息可以包括当前与上一次进行清洁运行信息发送的时刻之间的各个时间点被清洁对象的脏污程度。例如，清洁部件可以在每个周期向基站发送清洁运行信息，清洁运行信息包括该周期各个时间点被清洁对象的脏污程度。
在S430，基站判断清洁部件是否位于基站的预设区域。
在一个示例中，基站的预设区域可以设置有霍尔开关。霍尔开关具有无触点、低功耗、长使用寿命、响应频率高等特点。
当一块通有电流的金属或半导体薄片垂直地放在磁场中时，薄片的两端就会产生电位差，这种现象就称为霍尔效应。霍尔开关是一种霍尔效应有源磁电转换器件，将磁输入信号转换成开关量电信号输出。
清洁部件位于基站的预设区域情况下霍尔开关输出的电信号与清洁部件不处于基站的预设区域情况下霍尔开关输出的电信号不同。基站根据霍尔开关输出的电信号，可以确定清洁部件是否位于基站的预设区域，也即清洁部件与基站对接。
在清洁部件不处于基站的预设区域的情况下，可以再次进行S430。示例性地，S430可以周期性或非周期性进行。
在清洁部件位于基站的预设区域的情况下，可以进行S440。
在S440，基站根据清洁运行信息，确定清洁部件的运行参数信息。
运行参数信息用于指示清洁部件对被清洁对象进行清洁的清洁运行时长，和/或清洁部件在至少一个脏污程度下运行的程度时长。
清洁运行时长可以是清洁设备在上一次进行自清洁后清洁部件对被清洁对象进行清洁的时间长度。每个脏污程度对应的程度时长可以是清洁设备在上一次进行自清洁后清洁部件运行在该脏污程度的时间长度。
根据接收的各个清洁运行信息可以确定上一次进行自清洁后的时间段内各个时间点被清洁 对象的脏污程度，从而可以确定该段时间内清洁部件的清洁运行时长，以及各个脏污程度对应的程度时长，得到运行参数信息。
需要注意的是:各个脏污程度对应的程度时长可以是一次待清洁面清洁过程中的累积时长。这里，一次待清洁面清洁过程指的是清洁部件开机开始清洁待清洁面到关机的持续过程；或者，指的是清洁部件开机开始清洁待清洁面到清洁后将清洁部件对接到基站的持续过程(该过程中没有发生关机事件)。例如，清洁部件开机，开始清洁待清洁面，脏污显示区域为绿色并持续1min，而后遇到较脏的待清洁面，脏污显示区域红色面积超过1/2并持续10s，待清洁面清理干净，脏污显示区域变为全部绿色并持续1min，之后，脏污显示区域红色面积占1/5并持续20s，接下来，脏污显示区域红色面积超过3/4并持续15s，紧接着，脏污显示区域红色面积占1/6并持续10s，最后，脏污显示区域变为全部绿色并持续2min，待清洁面清洁完成，清洁部件关机。在上述一次清洁过程中，脏污显示区域为绿色的脏污程度对应的程度时长为4min(1min+1min+2min)，脏污显示区域红色超过1/2的脏污程度对应的程度时长为25s(10s+15s)，脏污显示区域红色不超过1/4的脏污程度对应的程度时长为30s(20s+10s)。
在S450，基站根据运行参数信息，确定目标自清洁模式，并按照目标自清洁模式进行自清洁。
基站预设置有多个自清洁模式。根据运行参数信息，可以在多个预设的自清洁模式中确定目标自清洁模式。该多个预设的自清洁模式可以具有不同的清洁力度。
该多个预设的自清洁模式至少可以包括强力自清洁模式和快速自清洁模式。
每个预设的自清洁模式可以包括以下多个清洁步骤中的全部或部分:清洁部件的污水箱注水、污水箱排空、污水箱冲洗、清洁部件的清洁、污水箱再次排空、污水箱再次冲洗、基站的排污装置冲洗、烘干和/或紫外线灭菌等。该多个预设的自清洁模式中的步骤可以相同或不同。例如，强力自清洁模式可以包括烘干和/或紫外线灭菌，快速自清洁模式可以不包括烘干和/或紫外线灭菌。或者，该多个预设的自清洁模式中的各个步骤执行的时间长度可以相同或不同。
例如，强力自清洁模式与快速自清洁模式中，除清洁部件的清洁之外的步骤可以相同。对于清洁部件的清洁，强力自清洁模式下清洁部件的清洁所需的时长可以大于快速自清洁模式下清洁部件的清洁所需的时长。
也即，上述每个自清洁模式均包括上述多个清洁步骤中的全部或部分，每个清洁步骤包括清洁参数，不同的自清洁模式是清洁步骤、清洁参数中至少有一个不同。例如，不同的自清洁模式，可以是自清洁模式的清洁步骤不同；也可以是自清洁模式的清洁步骤相同，但每个步骤内的清洁参数不同；还可以是自清洁模式的清洁步骤不同，且每个步骤内的清洁参数不同。在一个示例中，例如，在上述"清洁部件的清洁"这一清洁步骤中，清洁参数可以是清洁时长，也 可以是清洁重复次数等。
清洁部件的污水箱中可以设置喷头。喷头用于喷水，从而实现冲洗。清洁部件的清洁可以包括对滚刷、吸污管道、污水箱的清洁等。与快速自清洁模式相比，在强力自清洁模式中进行清洁部件的清洁步骤时对滚刷、吸污管道、污水箱进行清洁的时间长度可以更长。
在自清洁模式包括烘干和/或紫外线灭菌的情况下，清洁部件的清洁还可以包括对滚刷、吸污管道、污水箱等的干燥。在紫外线灭菌中可以利用紫外线对清洁部件的滚刷、吸污管道、污水箱进行紫外线灭菌。在干燥环境下，紫外线灭菌的效果更好。与快速自清洁模式相比，在强力自清洁模式中进行清洁部件的清洁步骤时对滚刷、吸污管道、污水箱等进行干燥的时间长度可以更长。
具体地，可以进行S451至S456，如图40所示。
在S451，基站判断清洁运行时长是否大于或等于第一预设时长。
在清洁运行时长小于第一预设时长的情况下，基站开启充电模式。在充电模式下，基站为清洁部件充电。
在清洁运行时长小于第一预设时长的情况下，进行S460。
第一预设时长例如可以是5秒(s)、8s或10s等。
清洁运行时长小于第一预设时长的情况下，清洁部件运行时间较短，不需要进行清洁。因此，在清洁运行时长小于第一预设时长的情况下，可以进行S460。
在清洁运行时长大于或等于第一预设时长的情况下，进行S452。
在S452，基站判断清洁运行时长是否大于或等于第二预设时长。
第二预设时长大于第一预设时长。第二预设时长例如可以是5min、8min或10min等。
在清洁运行时长大于或等于第二预设时长的情况下，基站进行S455。
在S455，基站将预设的强力自清洁模式作为目标自清洁模式。
基站可以开启强力自清洁模式或快速自清洁模式对清洁设备进行自清洁。强力自清洁模式的清洁力度大于快速自清洁模式的清洁力度。但是，与快速自清洁模式相比，在强力自清洁模式下需要较长的时间完成对清洁设备的自清洁。
清洁运行时长大于或等于第二预设时长，清洁部件运行时间较长，需要进行深度清洁，基站可以采用强力自清洁模式对清洁设备进行自清洁。
在清洁运行时长小于第二预设时长的情况下，进行S453。
在S453，基站判断第三脏污程度对应的程序时长是否大于或等于第三预设时长。
第三预设时长大于第一预设时长且小于第二预设时长。
在第三脏污程度对应的程序时长大于或等于第三预设时长的情况下，进行S455。
第三预设时长可以是22s、25s或38s等，示例性地，可以在20s至30s的范围内设置第三预设时长。第三脏污程度对应的程序时长大于或等于第三预设时长，清洁部件在脏污程度很重的第三脏污程度下运行的时间较长，需要进行深度清洁，基站可以采用强力自清洁模式对清洁设备进行自清洁。
在第三脏污程度对应的程序时长小于第三预设时长的情况下，进行S454。
在S454，基站判断第二脏污程度对应的程序时长是否大于或等于第四预设时长。
第四预设时长大于第三预设时长且小于第二预设时长。第四预设时长可以是45s、50s或60s等，示例性地，可以在40s至60s的范围内设置第四预设时长。
在第二脏污程度对应的程序时长大于或等于第四预设时长的情况下，进行S455。
第二脏污程度小于第三脏污程度，或者，第二脏污程度对应脏污吸入速率小于第三脏污程度对应的对应脏污吸入速率，但被清洁对象仍然较脏。第二脏污程度对应的程序时长大于或等于第四预设时长，清洁部件在较脏的第二脏污程度下运行的时间较长，需要进行深度清洁，基站可以采用强力自清洁模式对清洁设备进行自清洁。
在第二脏污程度对应的程序时长小于第四预设时长的情况下，进行S456。
在S456，基站将预设的快速自清洁模式作为目标自清洁模式。
或者，在S454基站也可以判断第三脏污程度对应的程序时长与第二脏污程度对应的程度时长之和是否大于或等于第四预设时长。判断结果为是则可以进行S455，判断结果为否则可以进行S456。
在基站进行S455或进行S456对清洁设备进行自清洁的过程中，或者完成对清洁设备的自清洁之后，基站可以进行S460。
在S460，基站为清洁部件进行充电。
目标自清洁模式可以包括烘干和/或紫外线灭菌。紫外线灭菌利用适当波长的紫外线能够破坏微生物机体细胞中的脱氧核糖核酸(deoxyribonucleicacid，DNA)或核糖核酸(ribonucleicacid，RNA)的分子结构，造成生长性细胞死亡和/或再生性细胞死亡，达到杀菌消毒的效果。
紫外线灭菌的杀菌效果是由微生物所接受的照射剂量决定的。因此，在光强一定的情况下，进行较长时间的紫外线灭菌能够达到较好的杀菌效果。进行紫外线灭菌的时间长度例如可以是35min。用于烘干和/或灭菌的时长较长，明显大于其他清洁步骤，因此，烘干和/或灭菌步骤在所有其他清洁步骤之后。
在目标自清洁模式包括烘干和/或紫外线灭菌的情况下，在进行烘干和/或紫外线灭菌的同时，可以进行S460。也就是说，基站连接的电源可以同时给烘干和/或紫外线灭菌单元和清洁部件的电池供电。在本公开的另一种实施例中，用户可以触发清洁部件手柄顶部的自清洁按键，进入 快速自清洁模式。这里的触发可以是单次短按、长按、连续两次短按，自清洁按键可以设置在清洁部件上任意方便用户操作的位置。
上文结合图24、图25、图38、图39描述了本申请实施例提供的用于清洁设备的清洁方法，下面结合图40至图41，描述本申请实施例的清洁设备和用于清洁设备的清洁装置。应理解，清洁设备和用于清洁设备的清洁装置的描述与用于清洁设备的清洁方法的描述相互对应，因此，未详细描述的部分可以参见上文的描述。
图41是本申请实施例提供的一种清洁设备的示意性结构图。
图41所示的清洁设备包括清洁部件610和处理装置620。
清洁部件610用于，对被清洁对象进行清洁。
处理装置620用于，获取所述清洁设备中清洁部件的运行参数信息，并根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
可选地，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长。
处理装置620具体用于，在所述清洁运行时长大于或等于预设的第一阅值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
可选地，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长。
处理装置620具体用于，根据所述至少一个程度时长，确定所述目标自清洁模式。
可选地，所述多个自清洁模式还包括第二自清洁模式。
处理装置620具体用于，根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长；在所述目标环境运行时长大于或等于预设的第二阅值的情况下，所述目标自清洁模式为所述第一自清洁模式；在所述目标环境运行时长小于所述第二阅值的情况下，所述目标自清洁模式为所述第二自清洁模式。
可选地，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
可选地，处理装置620具体用于，在所述清洁运行时长大于或等于预设的第三阅值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
可选地，所述清洁设备包括基站，处理装置620位于所述基站。
处理装置620用于，在所述清洁部件位于所述基站预设区域的情况下，按照所述目标自清 洁模式对所述清洁部件进行自清洁。
图42是本申请实施例提供的一种用于清洁设备的清洁装置的示意性结构图。图42所示的用于清洁设备的清洁装置可以用于执行图38或图39的用于清洁设备的清洁方法。图42所示的用于清洁设备的清洁装置可以是图41所示的处理装置。
如图42所示，用于清洁设备的清洁装置包括:获取单元701和处理单元702。
获取单元701用于，获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁。
处理单元702用于，根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
可选地，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长。
处理单元702具体用于，在所述清洁运行时长大于或等于预设的第一阅值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
可选地，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长。
处理单元702具体用于，根据所述至少一个程度时长，确定所述目标自清洁模式。
可选地，第一自清洁模式和第二自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
处理单元702具体用于，根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长；
在所述目标环境运行时长大于或等于预设的第二阅值的情况下，所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强；
在所述目标环境运行时长小于所述第二阅值的情况下，所述目标自清洁模式为所述第二自清洁模式。
可选地，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
可选地，处理单元702具体用于，在所述清洁运行时长大于或等于预设的第三阅值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
可选地，所述清洁装置位于所述清洁设备中的基站。
处理单元702还用于，在所述清洁部件位于所述基站的预设区域的情况下，按照所述目标 自清洁模式对所述清洁设备进行自清洁。
图43是本申请实施例提供的一种用于清洁设备的清洁装置的示意性结构图。用于清洁设备的清洁装置用于实现图38或图39所示的用于清洁设备的清洁处理方法。
如图43所示，用于清洁设备的清洁装置包括:包括:包括存储器801、处理器802、通信接口803以及通信总线804。其中，存储器801、处理器802、通信接口803通过通信总线804实现彼此之间的通信连接。
本申请实施例还提供一种存储介质，所述存储介质存储有程序，所述程序被处理器执行，用于实现上述用于清洁设备的清洁方法。
需要说明的是，尽管在上文详细描述中提及了用于动作执行的若干模块或者单元，但是这种划分并非强制性的。实际上，根据本申请的具体实施方式，上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之，上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。
结合具体的应用场景对本申请实施例提供的技术方案进行说明。
应用场景
清洁设备包括清洁部件和基站。清洁部件放置在基站的预设区域的情况下，基站接收清洁部件发送的运行参数信息，运行参数信息包括清洁部件对被清洁对象进行清洁的清洁运行时长，以及第二脏污程度对应的第二程度时长、第三脏污程度对应的第三程度时长。脏污程度对应的程度时长用于表示清洁部件在该脏污程度下运行的时长。第三脏污程度下的被清洁对象比第二脏污程度下的被清洁对象更加脏污。
在清洁运行时长小于8s的情况下，基站对清洁部件进行充电。在清洁运行时长大于或等于50s的情况下，基站按照强力自清洁模式对清洁设备进行自清洁。在清洁运行时长大于或等于8s且小于50s的情况下，如果第三程度时长大于或等于25s，或第二程度时长大于或等于50s，则基站按照强力自清洁模式对清洁设备进行自清洁；反之，基站按照快速自清洁模式对清洁设备进行自清洁。强力自清洁模式的清洁力度大于快速自清洁模式的清洁力度。
上述实施例中的通信组件被配置为便于通信组件所在设备和其他设备之间有线或无线方式的通信。通信组件所在设备可以接入基于通信标准的无线网络，如WiFi，2G、3G、4G/LTE、5G等移动通信网络，或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
上述实施例中的显示器包括屏幕，其屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。
上述实施例中的电源组件，为电源组件所在设备的各种组件提供电力。电源组件可以包括电源管理系统，一个或多个电源，及其他与为电源组件所在设备形成、管理和分配电力相关联的组件。
上述实施例中的音频组件，可被配置为输出和/或输入音频信号。例如，音频组件包括一个麦克风(MIC)，当音频组件所在设备处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器或经由通信组件发送。在一些实施例中，音频组件还包括一个扬声器，用于输出音频信号。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接 口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flashRAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitorymedia)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (118)

  1. 一种清洁设备自清洁方法，其特征在于，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶和地刷；所述方法包括：
    在所述清洁设备与所述基站对接的情况下，依次执行以下自清洁操作：
    对所述污水桶进行首次自清洁；
    对所述地刷进行自清洁；
    对所述污水桶进行二次自清洁。
  2. 根据权利要求1所述的方法，其特征在于，对所述污水桶进行首次自清洁，包括：
    在污水桶处于水满状态时，依次执行污水桶排空和污水桶冲洗步骤；在污水桶未处于水满状态时，依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；
    或者
    在污水桶处于水满状态时，执行污水桶排空步骤；在污水桶未处于水满状态时，依次执行污水桶注水和污水桶排空步骤。
  3. 根据权利要求1所述的方法，其特征在于，对所述污水桶进行二次自清洁，包括：
    依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；
    或者
    依次执行污水桶排空和污水桶冲洗步骤。
  4. 根据权利要求2或3所述的方法，其特征在于，所述清洁设备的地刷位于所述基站底座上的容纳槽内，则执行污水桶注水步骤包括：
    向所述清洁设备发送注水指令，以指示所述清洁设备控制其清水桶经第一送水管路向容纳槽注水并经抽吸通道向所述污水桶注水，直至所述污水桶处于水满状态，所述容纳槽与所述第一送水管路和抽吸通道连通；
    或者
    所述基站控制其储水箱经第二送水管路向容纳槽内注水，并向所述清洁设备发送抽吸指令，以指示所述清洁设备经抽吸通道向所述污水桶注入，直至所述污水桶处于水满状态，所述容纳槽与所述第二送水管路和抽吸通道连通。
  5. 根据权利要求2或3所述的方法，其特征在于，所述基站上设置有开启关闭污水桶的运动机构，所述运动机构与所述污水桶的排污口对接；
    执行污水桶排空的步骤，包括：控制所述运动机构朝向所述污水桶的排污口运行，直至与所述排污口抵接且顶开所述排污口的盖板，以使所述污水桶中的污水经所述排污 口流入所述基站上对接的排污槽实现排污。
  6. 根据权利要求5所述的方法，其特征在于，还包括：
    检测对所述污水桶进行排污的排污时间，并在所述排污时间达到设定的排污时间阈值时，确定污水桶排空操作结束。
  7. 根据权利要求2或3所述的方法，其特征在于，所述基站上设置有冲洗污水桶的冲洗装置，所述冲洗装置与所述污水桶的排污口对应设置；则执行污水桶清洗的步骤，包括：
    控制所述冲洗装置开始朝向所述排污口运动，直至伸入所述污水桶内且到达指定位置，所述冲洗装置开始往复运动，在往复运动过程中喷出液体冲洗所述污水桶，所述液体经所述排污口流入所述基站上对接的排污槽；
    或者
    所述基站上设置有储水箱，且所述储水箱与所述污水桶的注水口连通；则执行污水桶清洗的步骤，包括：
    控制所述储水箱经所述污水桶的注水口向所述污水桶内注入液体，所述液体经所述排污口流入所述基站上对接的排污槽。
  8. 根据权利要求7所述的方法，其特征在于，还包括：
    检测对所述污水桶的冲洗次数或冲洗时间，在所述冲洗次数或冲洗时间达到设定的次数阈值或时间阈值时，确定污水桶冲洗操作结束；
    或者
    检测所述冲洗装置是否重新回到原始位置，当检测到所述冲洗装置重新回到原始位置时，确定污水桶冲洗操作结束。
  9. 根据权利要求7所述的方法，其特征在于，还包括：
    在所述污水桶的二次自清洁完成后，对所述排污槽进行自清洁。
  10. 根据权利要求1-4任一项所述的方法，其特征在于，对所述地刷进行自清洁，包括：
    控制所述清洁设备上的清水桶在首次出水操作中向所述容纳槽输出指定量的液体，并在等待第三时长后，控制主电机以第四时长对所述容纳槽进行首次抽水操作；
    控制所述清水桶与所述主电机按照各自对应的第一时长和第二时长交替进行出水和抽水操作，直至满足地刷自清洁结束条件。
  11. 根据权利要求1-3任一项所述的方法，其特征在于，所述基站还包括储水箱，且所述储水箱与所述清洁设备上清水桶的注水口连通；
    所述方法还包括：获取所述清水桶是否处于水满状态的指示信息；在所清水桶未处于水满状态时，对所述清水桶进行注水处理。
  12. 根据权利要求1-3任一项所述的方法，其特征在于，在对所述污水桶进行二次自清洁之后，还包括：
    对所述地刷进行离心甩干。
  13. 根据权利要求12所述的方法，其特征在于，在对所述地刷进行离心甩干之后，还包括：
    对所述地刷进行烘干和/或除菌处理。
  14. 一种清洁设备，其特征在于，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和处理系统，所述清洁组件至少包括地刷；所述处理器系统用于：
    在所述清洁设备与基站对接的情况下，确定所述污水桶是否处于水满状态；
    向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述信息对污水桶进行首次自清洁；以及
    在接收到所述基站发送的清洁指令时，对所述地刷进行自清洁，所述清洁指令是所述基站确定对所述污水桶的首次自清洁完成的情况下发送的；
    向所述基站发送地刷自清洁完成的通知消息，以使所述基站继续对所述污水桶进行二次自清洁。
  15. 根据权利要求14所述的清洁设备，其特征在于，所述机身上还设置有清水桶，所述处理系统还用于：
    在所述地刷位于所述基站底座上的容纳槽内的情况下，接收所述基站发送的注水指令，控制所述清水桶经第一送水管路向容纳槽内注水并经抽吸通道向所述污水桶注水，直至所述污水桶处于水满状态，所述容纳槽与所述第一送水管路和抽吸通道连通。
  16. 根据权利要求15所述的清洁设备，其特征在于，所述处理系统在对所述地刷进行自清洁时，具体用于：
    控制所述清水桶在首次出水操作中向所述容纳槽输出指定量的液体，并在等待第三时长后，控制主电机以第四时长对所述容纳槽进行首次抽水操作；
    控制所述清水桶与所述主电机按照各自对应的第一时长和第二时长交替进行出水和抽水操作，直至满足地刷自清洁结束条件。
  17. 根据权利要求15所述的清洁设备，其特征在于，所述处理系统还用于：
    检测所述清水桶是否处于水满状态，并向所述基站发送所述清水桶是否处于水满状态的指示信息，以供所述基站对所述清水桶进行注水处理。
  18. 一种清洁过程中断调整方法，其特征在于，应用于与清洁设备通信连接的基站，所述清洁设备上设置有污水桶；所述方法包括：
    在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；
    若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
  19. 根据权利要求18所述的方法，其特征在于，所述污水桶上设置有排污口，所述基站上设置有可伸缩的触发件，所述触发件用于在处于第一状态下打开所述排污口，在处于第二状态下关闭所述排污口；所述第二步骤还包括：
    将所述触发件复位至与所述污水桶无接触的收缩状态。
  20. 根据权利要求18所述的方法，其特征在于，所述污水桶上设置有排污口，所述基站上设置有触发件，所述触发件用于在处于第一状态下打开所述排污口，在处于第二状态下关闭所述排污口；所述继续执行完表示所述污水桶已被清理完成的第二步骤之后，所述方法还包括：
    将所述触发件复位至与所述污水桶无接触的收缩状态。
  21. 根据权利要求19或20所述的方法，其特征在于，所述将所述触发件复位至与所述污水桶无接触的收缩状态之后，所述方法还包括：
    若在设定时间内检测到所述中断并未恢复，则保持停止所述自清洁过程的状态。
  22. 根据权利要求21所述的方法，其特征在于，所述方法还包括：
    若在设定时间内检测到所述中断已经恢复，则继续执行所述第二步骤之后的步骤。
  23. 根据权利要求19或20所述的方法，其特征在于，所述将所述触发件复位至与所述污水桶无接触的收缩状态之后，所述方法还包括：
    控制所述清洁设备输出或本地输出用于提示用户可以取走所述清洁设备的第一提示信息。
  24. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    若执行至所述第一步骤时所述污水桶未被清理完成，则控制所述清洁设备输出或本地输出用于提示发生所述中断的第二提示信息。
  25. 根据权利要求18所述的方法，其特征在于，所述方法还包括：
    若执行至所述第一步骤时所述污水桶已被清理完成，则控制所述清洁设备输出或本地输出用于提示用户可以取走所述清洁设备的第三提示信息。
  26. 根据权利要求18所述的方法，其特征在于，所述多个步骤包括如下依次执行的 三个步骤：
    对所述污水桶进行注水处理，对所述污水桶进行排污处理，对所述污水桶进行清洁处理；
    若所述第一步骤为所述三个步骤中任一个，则所述第二步骤为：对所述污水桶进行清洁处理。
  27. 根据权利要求18所述的方法，其特征在于，所述设定类型的中断至少包括如下任一种：
    用户的中断操作；
    所述清洁设备和所述基站的通信连接中断；
    所述清洁设备断电；
    所述基站断电。
  28. 一种清洁排污系统，其特征在于，包括：通信连接的清洁设备和基站，所述清洁设备上设置有污水桶；
    所述基站，用于在自清洁过程需要执行的多个步骤中，确定发生设定类型的中断时执行到的第一步骤；
    若执行至所述第一步骤时所述污水桶未被清理完成，则继续执行完表示所述污水桶已被清理完成的第二步骤，并停止所述自清洁过程。
  29. 一种清洁排污系统，其特征在于，包括：洗地机和基站，所述洗地机上设有污水桶；
    所述洗地机，可移取地设置在所述基站上，用于对目标场地进行清洁处理；
    所述污水桶，用于容纳所述清洁处理产生的污水，所述污水桶上设置有用于控制排污口开关的开关结构；
    所述基站，设置有可伸缩的触发件，用于在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态，在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
    其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
  30. 根据权利要求29所述的系统，其特征在于，所述基站设置有容纳腔，所述容纳腔用于容纳所述触发件，以及在所述触发件处于所述第一伸展状态时遮挡所述触发件。
  31. 根据权利要求30所述的系统，其特征在于，所述触发件包括：第一推杆和第二推杆；
    所述第一推杆用于在所述第二伸展状态下打开所述开关结构，以使所述排污口打开；
    所述第二推杆用于在所述第三伸展状态下关闭所述开关结构，以使所述排污口关闭。
  32. 根据权利要求31所述的系统，其特征在于，所述第一推杆和所述第二推杆通过齿轮连接，所述第一推杆和所述第二推杆在伸缩的过程中反向运动。
  33. 根据权利要求31所述的系统，其特征在于，所述容纳腔内设置有分别与所述基站内的驱动机构电连接的第一行程开关和第二行程开关，所述驱动机构用于驱动所述第一推杆和所述第二推杆运动；
    所述第一行程开关用于在所述第一推杆处于所述第二伸展状态时，控制所述驱动机构驱动所述第一推杆停止运动；
    所述第二行程开关用于在所述第二推杆处于第三伸展状态时，控制所述驱动机构驱动所述第二推杆停止运动。
  34. 根据权利要求31所述的系统，其特征在于，所述第一推杆和所述第二推杆为同一推杆。
  35. 根据权利要求32或34所述的系统，其特征在于，所述开关结构包括：密封件，以及与所述密封件相适配的锁扣；
    所述密封件可开合地设置在所述排污口，用于在所述触发件伸展至所述第三伸展状态时与所述锁扣配合密封所述排污口，在所述触发件伸展至所述第二伸展状态时与所述锁扣分离，打开所述排污口。
  36. 根据权利要求29所述的系统，其特征在于，所述触发件，还用于在处于所述第一伸展状态时运动到第一位置，在处于所述第二伸展状态时运动到第二位置，处于所述第三伸展状态时运动到第三位置；
    其中，所述第二位置和所述第三位置对应的触发件伸展长度大于所述第一位置对应的触发件伸展长度。
  37. 根据权利要求36所述的系统，其特征在于，所述触发件，还用于在进行所述排污作业时，由所述第一伸展状态运动到所述第二伸展状态。
  38. 根据权利要求37所述的系统，其特征在于，所述触发件，还用于在由所述第一伸展状态运动到所述第二伸展状态之前，由所述第一伸展状态运动到所述第三伸展状态，并由所述第三伸展状态运动到所述第二伸展状态。
  39. 根据权利要求37或38所述的系统，其特征在于，所述触发件，还用于在所述 排污作业结束后，由所述第二伸展状态运动到所述第三伸展状态，并由所述第三伸展状态运动到所述第一伸展状态。
  40. 一种洗地机的基站，其特征在于，包括：控制器和可伸缩的触发件；其中，所述洗地机上设有污水桶，所述污水桶上设置有用于控制排污口开关的开关结构；
    所述控制器，用于在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态，在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
    其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
  41. 一种触发件控制方法，其特征在于，应用于与洗地机对应的基站，所述洗地机上设有污水桶，所述污水桶上设置有用于控制排污口开关的开关结构；所述方法包括：
    在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态；
    在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构；
    其中，所述第一伸展状态下所述触发件对应于第一移动行程，所述第二伸展状态和所述第三伸展状态下所述触发件对应于第二移动行程，所述第一移动行程小于所述第二移动行程。
  42. 根据权利要求41所述的方法，其特征在于，还包括：
    控制所述触发件在处于所述第一伸展状态时运动到第一位置，在处于所述第二伸展状态时运动到第二位置，处于所述第三伸展状态时运动到第三位置；其中，所述第二位置和所述第三位置对应的触发件伸展长度大于所述第一位置对应的触发件伸展长度。
  43. 根据权利要求42所述的方法，其特征在于，还包括：
    在进行所述排污作业时，控制所述触发件由所述第一伸展状态运动到所述第二伸展状态。
  44. 根据权利要求43所述的方法，其特征在于，所述控制所述触发件由所述第一伸展状态运动到所述第二伸展状态之前，所述方法还包括：
    控制所述触发件由所述第一伸展状态运动到所述第三伸展状态，并由所述第三伸展状态运动到所述第二伸展状态。
  45. 根据权利要求43或44所述的方法，其特征在于，还包括：
    在所述排污作业结束后，控制所述触发件由所述第二伸展状态运动到所述第三伸展状态，并由所述第三伸展状态运动到所述第一伸展状态。
  46. 根据权利要求45所述的方法，其特征在于，所述触发件包括：第一推杆和第二推杆；
    所述在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述触发件处于与所述污水桶无接触的第一伸展状态，包括：在对所述污水桶内的污水进行排污作业后或在进行所述排污作业前，控制所述第一推杆和所述第二推杆处于与所述污水桶无接触的第一伸展状态；
    所述在进行所述排污作业时，控制所述触发件在第二伸展状态下打开所述开关结构，在第三伸展状态下关闭所述开关结构，包括：在进行所述排污作业时，控制所述第一推杆在第二伸展状态下打开所述开关结构，控制所述第二推杆在第三伸展状态下关闭所述开关结构。
  47. 根据权利要求46所述的方法，其特征在于，所述第一推杆和所述第二推杆通过齿轮连接，所述第一推杆和所述第二推杆在伸缩的过程中反向运动。
  48. 根据权利要求46所述的方法，其特征在于，所述第一推杆和所述第二推杆为同一推杆。
  49. 一种污水桶的自清洁方法，其特征在于，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶，所述基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在清洁设备与基站对接的情况下，所述污水桶的排污口至少与所述排污槽对接；所述方法包括：
    在清洁设备与基站对接的情况下，响应污水桶的清洁触发事件，依次执行污水桶排空和污水桶冲洗操作，以实现污水桶的自清洁。
  50. 根据权利要求49所述的方法，其特征在于，所述基站上设置有开启关闭污水桶的运动机构，所述运动机构与所述污水桶的排污口对接；
    响应污水桶的清洁触发事件，执行污水桶排空操作，包括：响应污水桶的清洁触发事件，控制所述运动机构朝向所述污水桶的排污口运行，直至与所述排污口抵接且顶开所述排污口的盖板，以使所述污水桶中的污水经所述排污口流入所述排污槽实现排污。
  51. 根据权利要求50所述的方法，其特征在于，还包括：
    检测所述污水桶的排污时长，并在所述排污时长达到设定的排污时长阈值时，确定污水桶排空操作结束。
  52. 根据权利要求51所述的方法，其特征在于，所述冲洗系统包括设置于所述基站上的用于冲洗污水桶的冲洗装置，所述冲洗装置与所述排污口对应设置；
    响应污水桶的清洁触发事件，执行污水桶冲洗操作，包括：在污水桶排空操作结束后，控制所述冲洗装置开始朝向所述排污口运动，直至伸入所述污水桶内且到达指定位置，所述冲洗装置开始往复运动，在往复运动过程中喷出液体冲洗所述污水桶，所述液体经所述排污口流入所述基站上对接的排污槽。
  53. 根据权利要求52所述的方法，其特征在于，还包括：
    检测对所述污水桶的冲洗次数或冲洗时间，在所述冲洗次数或冲洗时间达到设定的次数阈值或时长阈值时，确定污水桶冲洗操作结束；
    或者
    检测所述冲洗装置是否重新回到原始位置，当检测到所述冲洗装置重新回到原始位置时，确定污水桶冲洗操作结束。
  54. 根据权利要求50所述的方法，其特征在于，所述冲洗系统包括设置在所述基站上的储水箱，且所述储水箱与所述污水桶的注水口连通；
    响应污水桶的清洁触发事件，执行污水桶冲洗操作，包括：在污水桶排空操作结束后，控制所述储水箱经所述污水桶的注水口向所述污水桶内注入液体，所述液体经所述排污口流入所述基站上对接的排污槽，以实现对所述污水桶的冲洗。
  55. 根据权利要求54所述的方法，其特征在于，还包括：
    检测对所述污水桶的注水时长，在所述注水时长达到设定的注水时长阈值时，确定污水桶冲洗操作结束。
  56. 根据权利要求49所述的方法，其特征在于，在执行污水桶排空操作之前，还包括：
    获取所述污水桶是否处于水满状态的指示信息或所述污水桶的水位信息；
    在根据所述指示信息或水位信息确定所述污水桶未处于水满状态的情况下，执行污水桶注水操作，以使所述污水桶处于水满状态。
  57. 根据权利要求56所述的方法，其特征在于，所述清洁设备的地刷位于所述基站底座上的容纳槽内，所述容纳槽经第一送水管路和抽吸通道分别与所述清洁设备的清水桶和污水桶连通，则执行污水桶注水操作，以使所述污水桶处于水满状态，包括：
    向所述清洁设备发送注水指令，以指示所述清洁设备控制所述清水桶经第一送水管路向容纳槽注水并经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；
    或者
    所述基站控制所述基站上的储水箱经第二送水管路向容纳槽内注水，并向所述清洁设备发送抽吸指令，以指示所述清洁设备经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态。
  58. 根据权利要求49所述的方法，其特征在于，污水桶的清洁触发事件包括以下至少一种：
    检测到清洁设备与基站对接的事件；
    接收到用户发出的用于指示清洁污水桶的语音指令；
    接收到显示屏上污水桶清洁控件被触发的事件；
    接收到清洁设备发送的污水桶清洁指令；
    获取到清洁顺序在污水桶之前的其它组件清洁完成的信息。
  59. 根据权利要求49-58任一项所述的方法，其特征在于，还包括：
    在污水桶的本次自清洁完成后，再次按序执行污水桶注水、污水桶排空和污水桶冲洗操作，以实现所述污水桶的下一次自清洁。
  60. 根据权利要求49-58任一项所述的方法，其特征在于，还包括：
    在所述污水桶的自清洁完成后，对所述排污槽进行自清洁。
  61. 根据权利要求60所述的方法，其特征在于，所述基站上设置有储水箱，所述储水箱与所述排污槽通过第三送水管路联通，且所述第三送水管路上设置有开关阀门；
    对所述排污槽进行自清洁，包括：打开所述开关阀门，以使所述储水箱经所述第三送水管路向所述排污槽送入液体，以对所述排污槽进行自清洁。
  62. 根据权利要求61所述的方法，其特征在于，所述储水箱与所述清水桶的注水口连通；所述方法还包括：
    获取所述清洁设备的清水桶是否处于水满状态的指示信息或所述清水桶的水位信息；
    在根据所述指示信息或水位信息确定所清水桶未处于水满状态时，通过所述储水箱对所述清水桶进行注水处理。
  63. 一种清洁设备，其特征在于，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶、清水桶和处理系统；所述处理器系统用于：
    在所述清洁设备与基站对接的情况下，检测所述污水桶是否处于水满状态；
    向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述指示信息判断是否需要对所述污水桶注水；以及
    在接收到所述基站发送的注水指令时，控制所述清水桶经第一送水管路向所述基站 上用于容纳所述清洁组件的容纳槽注水并经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；
    其中，所述容纳槽经所述第一送水管路和所述抽吸通道分别与所述清水桶和污水桶连通。
  64. 一种污水桶的注水方法，其特征在于，应用于清洁设备，所述清洁设备包括污水桶、清水桶和清洁组件，所述方法包括：
    在清洁设备与基站对接的情况下，检测所述污水桶是否处于水满状态；
    向所述基站发送所述污水桶是否处于水满状态的指示信息，以使基站根据所述指示信息判断是否需要对所述污水桶注水；以及
    在接收到所述基站发送的注水指令时，控制所述清水桶经第一送水管路向所述基站上用于容纳所述清洁组件的容纳槽注水，并经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；
    其中，所述容纳槽经所述第一送水管路和所述抽吸通道分别与所述清水桶和所述污水桶连通。
  65. 一种污水桶的自清洁方法，其特征在于，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶，所述基站上设置有排污槽和用于冲洗污水桶的冲洗系统，在所述清洁设备与基站对接的情况下，所述污水桶的排污口至少与所述排污槽对接，所述清洁设备的清洁组件位于所述基站底座上的容纳槽内；所述方法包括：
    确定所述清洁设备与所述基站对接；
    所述清洁设备检测到所述污水桶未满；
    所述基站向所述容纳槽注水，所述清洁设备的主电机开启以经抽吸通道将所述容纳槽内的液体抽吸到所述污水桶内，直至所述污水桶处于水满状态；
    所述基站将所述污水桶的排污口打开，以排空所述污水桶；
    所述基站的冲洗系统对所述污水桶进行冲洗；
    确认所述污水桶冲洗完成，所述基站将所述污水桶的排污口关闭。
  66. 一种清洁设备自清洁方法，其特征在于，应用于自清洁系统，包括：清洁设备和基站，所述清洁设备至少包括污水桶和地刷；所述方法包括：
    在所述清洁设备与所述基站对接的情况下，获取所述污水桶的当前水位状态；
    从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程；
    按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，每个目标整机清 洁流程包括所述污水箱的自清洁和所述地刷的自清洁。
  67. 根据权利要求66所述的方法，其特征在于，从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程，包括：
    在当前水位状态为第一水位状态时，确定与所述第一水位状态对应的目标整机清洁流程作为第一目标整机清洁流程，所述第一水位状态为水满状态或者为水位大于设定水位阈值的状态；
    在当前水位状态为第二水位状态时，确定与所述第二水位状态对应的目标整机清洁流程作为第一目标整机清洁流程，所述第二水位状态为水未满状态或者为水位小于等于设定水位阈值的状态。
  68. 根据权利要求67所述的方法，其特征在于，每个目标整机清洁流程依次包括：所述污水桶的首次自清洁，所述地刷的自清洁，所述污水桶的二次自清洁；
    且对于不同目标整机清洁流程，所述污水桶的首次自清洁，所述地刷的自清洁以及所述污水桶的二次自清洁中至少存在一个自清洁过程不同。
  69. 根据权利要求67所述的方法，其特征在于，与第一水位状态对应的目标整机清洁流程依次包括：所述污水桶的首次自清洁，所述地刷的自清洁，所述污水桶的二次自清洁；
    与第二水位状态对应的目标整机清洁流程依次包括：所述地刷的自清洁，所述污水桶的自清洁。
  70. 根据权利要求67-69任一项所述的方法，其特征在于，还包括：
    从与所述第一水位状态对应的多个候选整机清洁流程，确定与所述第一水位状态对应的目标整机清洁流程；
    其中，每个候选整机清洁流程依次包括：所述污水桶的首次自清洁，所述地刷的自清洁，所述污水桶的二次自清洁；
    对于不同候选整机清洁流程，所述污水桶的首次自清洁，所述地刷的自清洁以及所述污水桶的二次自清洁中至少存在一个自清洁过程不同。
  71. 根据权利要求70所述的方法，其特征在于，每个候选整机清洁流程中所述污水桶的首次自清洁，包括：执行污水桶排空步骤；或者，依次执行污水桶排空和污水桶冲洗步骤；
    相应地，每个候选整机清洁流程中所述污水桶的二次自清洁，包括：依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；或者，依次执行污水桶排空和污水桶冲洗步骤。
  72. 根据权利要求70所述的方法，其特征在于，从与所述第一水位状态对应的多个 候选整机清洁流程，确定与所述第一水位状态对应的目标整机清洁流程，包括：
    展示第一设置页面，所述第一设置页面上包括与所述第一水位状态对应的多个候选整机清洁流程的详情信息；响应于所述第一设置页面上的选择操作，确定被选择的候选整机清洁流程作为与所述第一水位状态对应的目标整机清洁流程；
    或者
    根据当前水位状态对应的水位值，确定目标清洁力度；从与所述第一水位状态对应的多个候选整机清洁流程，确定与所述目标清洁力度适配的候选整机清洁流程，作为与所述第一水位状态对应的目标整机清洁流程；其中，不同候选整机清洁流程对应的清洁力度不同。
  73. 根据权利要求69所述的方法，其特征在于，还包括：
    从与所述第二水位状态对应的多个候选整机清洁流程，确定与所述第二水位状态对应的目标整机清洁流程；
    其中，每个候选整机清洁流程依次包括：所述地刷的自清洁，所述污水桶的自清洁；
    对于不同候选整机清洁流程，所述地刷的自清洁和所述污水桶的自清洁中至少存在一个自清洁过程不同。
  74. 根据权利要求73所述的方法，其特征在于，每个候选整机清洁流程中所述污水桶的自清洁，包括：
    依次执行污水桶排空和污水桶冲洗步骤；或者，
    依次执行污水桶注水、污水桶排空和污水桶冲洗步骤；或者，
    在污水桶处于水满状态时，依次执行污水桶排空和污水桶冲洗步骤；在污水桶未处于水满状态时，依次执行污水桶注水、污水桶排空和污水桶冲洗步骤。
  75. 根据权利要求66所述的方法，其特征在于，从对应不同水位状态的目标整机清洁流程中，确定与当前水位状态适配的第一目标整机清洁流程，包括：
    展示第二设置页面，所述第二设置页面上包括不同水位状态以及对应的目标整机清洁流程的详情信息；
    响应于所述第二设置页面上的选择操作，确定被选择的目标整机清洁流程作为与当前水位状态适配的第一目标整机流程。
  76. 根据权利要求72所述的方法，其特征在于，按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，包括：
    依次执行污水桶排空、所述地刷的自清洁、污水桶注水、污水桶排空和污水桶冲洗步骤；
    或者
    依次执行污水桶排空、污水桶冲洗、所述地刷的自清洁、污水桶注水、污水桶排空和污水桶冲洗步骤；
    或者
    依次执行污水桶排空、所述地刷的自清洁、污水桶排空和污水桶冲洗步骤；
    或者
    依次执行污水桶排空、污水桶冲洗、所述地刷的自清洁、污水桶排空和污水桶冲洗步骤。
  77. 根据权利要求74所述的方法，其特征在于，按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，包括：
    依次执行所述地刷的自清洁、污水桶排空和污水桶冲洗步骤；
    或者
    依次执行所述地刷的自清洁、污水桶注水、污水桶排空和污水桶冲洗步骤。
  78. 根据权利要求76所述的方法，其特征在于，在与所述第一水位状态对应的目标整机清洁流程中的作业步骤和与所述第二水位状态对应的目标整机清洁流程中的作业步骤相同的情况下，与所述第一水位状态对应的目标整机清洁流程中的作业参数，至少部分不同于与所述第二水位状态对应的目标整机清洁流程中的作业参数。
  79. 根据权利要求76或77所述的方法，其特征在于，所述清洁设备的地刷位于所述基站底座上的容纳槽内，则执行污水桶注水步骤包括：
    向所述清洁设备发送注水指令，以指示所述清洁设备控制所述清洁设备的清水桶经第一送水管路向容纳槽注水并经抽吸通道向所述污水桶注水，直至所述污水桶处于水满状态，所述容纳槽与所述第一送水管路和抽吸通道连通；
    或者
    所述基站控制其储水箱经第二送水管路向容纳槽内注水，并向所述清洁设备发送抽吸指令，以指示所述清洁设备经抽吸通道向所述污水桶注入，直至所述污水桶处于水满状态，所述容纳槽与所述第二送水管路和抽吸通道连通。
  80. 根据权利要求76或77所述的方法，其特征在于，所述基站上设置有开启关闭污水桶的运动机构，所述运动机构与所述污水桶的排污口对接；
    执行污水桶排空的步骤，包括：控制所述运动机构朝向所述污水桶的排污口运行，直至与所述排污口抵接且顶开所述排污口的盖板，以使所述污水桶中的污水经所述排污口流入所述基站上对接的排污槽实现排污。
  81. 根据权利要求76或77所述的方法，其特征在于，所述基站上设置有冲洗污水桶的冲洗装置，所述冲洗装置与所述污水桶的排污口对应设置；则执行污水桶冲洗的步骤，包括：控制所述冲洗装置开始朝向所述排污口运动，直至伸入所述污水桶内且到达指定位置，所述冲洗装置开始往复运动，在往复运动过程中喷出液体冲洗所述污水桶，所述液体经所述排污口流入所述基站上对接的排污槽；
    或者，
    所述基站上设置有储水箱，且所述储水箱与所述污水桶的注水口连通；则执行污水桶冲洗的步骤，包括：控制所述储水箱经所述污水桶的注水口向所述污水桶内注入液体，所述液体经所述排污口流入所述基站上对接的排污槽。
  82. 根据权利要求81所述的方法，其特征在于，还包括：
    在最后一次污水桶冲洗操作结束后，对所述排污槽进行自清洁。
  83. 根据权利要求66-69、71-78任一项所述的方法，其特征在于，所述地刷的自清洁，包括：
    控制所述清洁设备上的清水桶在首次出水操作中向所述基站上的容纳槽输出指定量的液体，并在等待第三时长后，控制主电机以第四时长对所述容纳槽进行首次抽水操作；
    控制所述清水桶与所述主电机按照各自对应的第一时长和第二时长交替进行出水和抽水操作，直至满足地刷自清洁结束条件。
  84. 根据权利要求66-69、71-78任一项所述的方法，其特征在于，所述基站还包括储水箱，且所述储水箱与所述清洁设备的清水桶的注水口连通；
    所述方法还包括：获取所述清水桶是否处于水满状态的信息；在所清水桶未处于水满状态时，对所述清水桶进行注水处理。
  85. 一种清洁设备，其特征在于，包括：手柄、机身和清洁组件，所述机身上至少设置有污水桶和处理系统，所述清洁组件至少包括地刷；所述处理器系统用于：
    在所述清洁设备与基站对接的情况下，检测所述污水桶的当前水位状态；
    向所述基站发送所述污水桶的当前水位状态，以使所述基站从对应不同水位状态的目标整机清洁流程中确定与当前水位状态适配的第一目标整机清洁流程；以及
    配合所述基站按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，每个目标整机清洁流程包括所述污水箱的自清洁和所述地刷的自清洁。
  86. 根据权利要求85所述的清洁设备，其特征在于，配合所述基站按照所述第一目标整机清洁流程对所述清洁设备进行整机自清洁，包括：
    在接收到所述基站发送的清洁指令时，对所述地刷进行自清洁，所述清洁指令是所 述基站在确定所述第一目标整机清洁流程后直接发送的或者是在确定对所述污水桶的首次自清洁完成的情况下发送的；
    向所述基站发送地刷自清洁完成的通知消息，以使所述基站继续根据所述第一目标整机清洁流程对所述污水桶进行自清洁。
  87. 一种堵塞检测方法，其特征在于，包括:
    根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没；
    在所述浸没时长大于或等于第二目标阈值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阈值。
  88. 根据权利要求87所述的方法，其特征在于，在所述浸没时间段中所述目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阈值，在所述时间间隔中，所述传感器的检测结果指示所述传感器未被浸没。
  89. 根据权利要求87或88所述的方法，其特征在于，所述污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体；
    所述方法应用于所述基站，所述传感器位于所述排污装置。
  90. 根据权利要求87或88所述的方法，其特征在于，所述污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
  91. 根据权利要求87或88所述的方法，其特征在于，所示污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽与排污口相对的一端，所述排污口用于排出所述污水桶中的液体。
  92. 根据权利要求87或88所述的方法，其特征在于，所述浸没时长是对所述至少一个目标时间段的时长的累计。
  93. 根据权利要求87或88所述的方法，其特征在于，所述异常指示信息用于指示正在进行的与排水相关处理停止。
  94. 一种清洁设备，其特征在于，包括:污水桶、传感器和堵塞检测装置；
    所述传感器设置在所述污水桶中，所述传感器用于检测所述传感器是否被液体浸没；
    所述堵塞检测装置用于，根据所述传感器的检测结果，确定浸没时间段的浸没时长， 其中，所述浸没时间段包括目标时间段，在所述目标时间段中所述传感器的检测结果指示该传感器被浸没；
    所述堵塞检测装置还用于，在所述浸没时长大于或等于第二目标阈值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阈值。
  95. 根据权利要求94所述的清洁设备，其特征在于，在所述至少一个目标时间段的数量为多个的情况下，相邻两个所述目标时间段之间的时间间隔的长度小于第一目标阈值，在所述时间间隔中，所述传感器的检测结果指示所述传感器未被浸没。
  96. 根据权利要求94或95所述的清洁设备，其特征在于，所述污水桶包括位于所述清洁设备的清洁部件中的污水箱和位于所述清洁设备的基站中的排污装置，所述排污装置用于排出所述污水箱中的液体；所述堵塞检测装置位于所述基站，所述传感器位于所述排污装置。
  97. 根据权利要求94或95所述的清洁设备，其特征在于，所述污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽的底部，且距离所述排污槽的侧壁具有预定距离。
  98. 根据权利要求94或95所述的清洁设备，其特征在于，所示污水桶的底部沿水平方向设置有排污槽，所述传感器位于所述排污槽与排污口相对的一端，所述排污口用于排出所述污水桶中的液体。
  99. 根据权利要求94或95所述的清洁设备，其特征在于，所述浸没时长是对所述至少一个目标时间段的时长的累计。
  100. 根据权利要求94或95所述的清洁设备，其特征在于，所述异常指示信息用于指示正在进行的与排水相关处理停止。
  101. 一种堵塞检测方法，其特征在于，所述方法包括:
    获取清洁设备的污水桶中设置的传感器在检测时间点的检测结果，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述检测时间点在预测结束时间点之后，所述预测结束时间点为所述清洁设备完成与排水相关处理的时间点的预计结果；
    在所述检测结果指示所述传感器被浸没的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞。
  102. 根据权利要求101所述的方法，其特征在于，所述方法还包括:
    获取排水处理指示信息，所述排水处理指示信息用于指示所述清洁设备开始进行所述与排水相关处理的开始时间点；
    根据所述与排水相关处理的预测处理时长和所述开始时间点，确定所述预测结束时间点。
  103. 一种堵塞检测装置，其特征在于，包括处理单元和输出单元；
    所述处理单元用于，根据清洁设备的污水桶中设置的传感器的检测结果，确定浸没时间段的浸没时长，其中，所述传感器的检测结果用于指示所述传感器是否被液体浸没，所述浸没时间段包括目标时间段，在所述目标时间段中，所述传感器的检测结果指示该传感器被浸没；
    所述输出单元用于，在所述浸没时长大于或等于第二目标阈值的情况下，输出异常指示信息，所述异常指示信息用于指示所述污水桶堵塞，所述清洁设备进行与排水相关处理所需的时长小于所述第二目标阈值。
  104. 一种用于清洁设备的清洁方法，其特征在于，包括:
    获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁；
    根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
  105. 根据权利要求104所述的方法，其特征在于，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长:所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:
    在所述清洁运行时长大于或等于预设的第一阈值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
  106. 根据权利要求104或105所述的方法，其特征在于，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长:
    所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:根据所述至少一个程度时长，确定所述目标自清洁模式。
  107. 根据权利要求106所述的方法，其特征在于，所述多个自清洁模式包括第一自清洁模式和第二自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强:所述根据所述至少一个程度时长，确定所述目标自清洁模式，包括:
    根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长:
    在所述目标环境运行时长大于或等于预设的第二阈值的情况下，所述目标自清洁模 式为所述第一自清洁模式:
    在所述目标环境运行时长小于所述第二阈值的情况下，所述目标自清洁模式为所述第二自清洁模式。
  108. 根据权利要求107所述的方法，其特征在于，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
  109. 根据权利要求104或105所述的方法，其特征在于，所述根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式，包括:
    在所述清洁运行时长大于或等于预设的第三阈值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
  110. 根据权利要求104或105所述的方法，其特征在于，所述方法应用于所述清洁设备中的基站；
    所述方法还包括：在所述清洁部件位于所述基站的预设区域的情况下，按照所述目标自清洁模式对所述清洁设备进行自清洁。
  111. 一种清洁设备，其特征在于，包括:清洁部件和处理装置；
    所述清洁部件用于对被清洁对象进行清洁；
    所述处理装置用于，根据所述清洁设备中清洁部件的运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
  112. 根据权利要求111所述的清洁设备，其特征在于，所述运行参数信息包括所述清洁部件对所述被清洁对象进行清洁的清洁运行时长；
    所述处理装置具体用于，在所述清洁运行时长大于或等于预设的第一阈值的情况下，确定所述目标自清洁模式为第一自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强。
  113. 根据权利要求111或112所述的清洁设备，其特征在于，所述运行参数信息包括至少一个预设脏污程度中每个预设脏污程度对应的程度时长，每个预设脏污程度对应的程度时长用于表示所述清洁部件在所述预设脏污程度下运行的时长；
    所述处理装置具体用于，根据所述至少一个程度时长，确定所述目标自清洁模式。
  114. 根据权利要求113所述的清洁设备，其特征在于，所述多个自清洁模式包括第一自清洁模式和第二自清洁模式，所述多个自清洁模式中所述第一自清洁模式的清洁力度最强；
    所述处理装置具体用于，根据所述至少一个程度时长，确定所述清洁部件在所述至少一个预设脏污程度中目标脏污程度下运行的目标环境运行时长；
    在所述目标环境运行时长大于或等于预设的第二阈值的情况下，所述目标自清洁模式为所述第一自清洁模式；
    在所述目标环境运行时长小于所述第二阈值的情况下，所述目标自清洁模式为所述第二自清洁模式。
  115. 根据权利要求114所述的清洁设备，其特征在于，所述第一自清洁模式与所述第二自清洁模式均包括对所述清洁部件中的滚刷依次进行冲洗、干燥和紫外线消毒，所述第一自清洁模式中对所述滚刷进行干燥的第一干燥时长大于所述第二自清洁模式中对所述滚刷进行干燥的第二干燥时长。
  116. 根据权利要求111或112所述的清洁设备，其特征在于，所述处理装置具体用于，在所述清洁运行时长大于或等于预设的第三阈值的情况下，根据所述运行参数信息，确定所述目标自清洁模式。
  117. 根据权利要求111或112所述的清洁设备，其特征在于，所述处理装置位于所述清洁设备中的基站；
    所述处理装置还用于，在所述清洁部件位于所述基站的预设区域的情况下，按照所述目标自清洁模式对所述清洁设备进行自清洁。
  118. 一种用于清洁设备的清洁装置，其特征在于，包括获取单元和处理单元:
    所述获取单元用于，获取所述清洁设备中清洁部件的运行参数信息，所述清洁部件用于对被清洁对象进行清洁；
    所述处理单元用于，根据所述运行参数信息，在多个用于对所述清洁设备进行自清洁的自清洁模式中确定目标自清洁模式。
PCT/CN2023/117774 2022-09-09 2023-09-08 清洁过程中断调整方法、基站、清洁排污系统及存储介质 WO2024051829A1 (zh)

Applications Claiming Priority (18)

Application Number Priority Date Filing Date Title
CN202211105234.3A CN115486756B (zh) 2022-09-09 2022-09-09 清洁设备自清洁方法、清洁设备及基站
CN202211106244.9 2022-09-09
CN202211106247 2022-09-09
CN202211106247.2 2022-09-09
CN202211103290.3A CN115381343A (zh) 2022-09-09 2022-09-09 堵塞检测方法和装置、清洁设备
CN202211105466.9 2022-09-09
CN202211103290.3 2022-09-09
CN202211105249.X 2022-09-09
CN202211105235.8 2022-09-09
CN202211106244.9A CN116076959A (zh) 2022-09-09 2022-09-09 清洁过程中断调整方法、基站、清洁排污系统及存储介质
CN202211105466.9A CN116269087A (zh) 2022-09-09 2022-09-09 设备自清洁启动方法、清洁系统、基站及清洁设备
CN202211105249.XA CN116115127A (zh) 2022-09-09 2022-09-09 用于清洁设备的清洁方法和装置、清洁设备
CN202211105234.3 2022-09-09
CN202211105365.1A CN115486764B (zh) 2022-09-09 2022-09-09 清洁排污系统、触发件控制方法及洗地机的基站
CN202211105365.1 2022-09-09
CN202211105235.8A CN115500750B (zh) 2022-09-09 2022-09-09 污水桶的自清洁与注水方法、清洁设备及基站
CN202211287907.1A CN115624300A (zh) 2022-09-09 2022-10-20 清洁设备自清洁方法、清洁设备及基站
CN202211287907.1 2022-10-20

Publications (1)

Publication Number Publication Date
WO2024051829A1 true WO2024051829A1 (zh) 2024-03-14

Family

ID=90192081

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/117774 WO2024051829A1 (zh) 2022-09-09 2023-09-08 清洁过程中断调整方法、基站、清洁排污系统及存储介质

Country Status (1)

Country Link
WO (1) WO2024051829A1 (zh)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN210990028U (zh) * 2019-11-01 2020-07-14 金日清洁设备(苏州)有限公司 自动化机器人洗地系统
JP2021104341A (ja) * 2018-06-22 2021-07-26 ビッセル インク． 表面掃除機及びトレー
CN114568998A (zh) * 2020-02-17 2022-06-03 添可智能科技有限公司 清洁设备的自清洁控制方法及清洁设备
CN217162002U (zh) * 2021-10-22 2022-08-12 追觅创新科技(苏州)有限公司 一种清洁设备及清洁系统
CN114983286A (zh) * 2022-06-01 2022-09-02 深圳市倍思科技有限公司 一种排污方法、系统和基站
CN115381343A (zh) * 2022-09-09 2022-11-25 添可智能科技有限公司 堵塞检测方法和装置、清洁设备
CN115486756A (zh) * 2022-09-09 2022-12-20 添可智能科技有限公司 清洁设备自清洁方法、清洁设备及基站
CN115486764A (zh) * 2022-09-09 2022-12-20 添可智能科技有限公司 清洁排污系统、触发件控制方法及洗地机的基站
CN115500750A (zh) * 2022-09-09 2022-12-23 添可智能科技有限公司 污水桶的自清洁与注水方法、清洁设备及基站
CN115624300A (zh) * 2022-09-09 2023-01-20 添可智能科技有限公司 清洁设备自清洁方法、清洁设备及基站
CN116076959A (zh) * 2022-09-09 2023-05-09 添可智能科技有限公司 清洁过程中断调整方法、基站、清洁排污系统及存储介质
CN116115127A (zh) * 2022-09-09 2023-05-16 添可智能科技有限公司 用于清洁设备的清洁方法和装置、清洁设备
CN116269087A (zh) * 2022-09-09 2023-06-23 添可智能科技有限公司 设备自清洁启动方法、清洁系统、基站及清洁设备

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021104341A (ja) * 2018-06-22 2021-07-26 ビッセル インク． 表面掃除機及びトレー
CN210990028U (zh) * 2019-11-01 2020-07-14 金日清洁设备(苏州)有限公司 自动化机器人洗地系统
CN114568998A (zh) * 2020-02-17 2022-06-03 添可智能科技有限公司 清洁设备的自清洁控制方法及清洁设备
CN217162002U (zh) * 2021-10-22 2022-08-12 追觅创新科技(苏州)有限公司 一种清洁设备及清洁系统
CN114983286A (zh) * 2022-06-01 2022-09-02 深圳市倍思科技有限公司 一种排污方法、系统和基站
CN115486756A (zh) * 2022-09-09 2022-12-20 添可智能科技有限公司 清洁设备自清洁方法、清洁设备及基站
CN115381343A (zh) * 2022-09-09 2022-11-25 添可智能科技有限公司 堵塞检测方法和装置、清洁设备
CN115486764A (zh) * 2022-09-09 2022-12-20 添可智能科技有限公司 清洁排污系统、触发件控制方法及洗地机的基站
CN115500750A (zh) * 2022-09-09 2022-12-23 添可智能科技有限公司 污水桶的自清洁与注水方法、清洁设备及基站
CN115624300A (zh) * 2022-09-09 2023-01-20 添可智能科技有限公司 清洁设备自清洁方法、清洁设备及基站
CN116076959A (zh) * 2022-09-09 2023-05-09 添可智能科技有限公司 清洁过程中断调整方法、基站、清洁排污系统及存储介质
CN116115127A (zh) * 2022-09-09 2023-05-16 添可智能科技有限公司 用于清洁设备的清洁方法和装置、清洁设备
CN116269087A (zh) * 2022-09-09 2023-06-23 添可智能科技有限公司 设备自清洁启动方法、清洁系统、基站及清洁设备

Similar Documents

Publication Publication Date Title
CN110946524B (zh) 表面清洗机和表面清洗机自清洁方法
WO2021164524A1 (zh) 清洁设备的自清洁控制方法、清洁设备及存储介质
CN110960151B (zh) 清洗机及其清洗方法
CN115486756B (zh) 清洁设备自清洁方法、清洁设备及基站
CN115500750B (zh) 污水桶的自清洁与注水方法、清洁设备及基站
CN113729582A (zh) 用于自主式地板清洁器的供应和/或处理系统
CN112656320A (zh) 表面清洁设备的自清洁方法及湿式表面清洁系统
WO2022199115A1 (zh) 清洁机器人的拖布清洁方法及维护站
CN113729579B (zh) 工作站及其工作方法
CN113425208A (zh) 机器人基站及机器人系统
WO2024051829A1 (zh) 清洁过程中断调整方法、基站、清洁排污系统及存储介质
CN116269087A (zh) 设备自清洁启动方法、清洁系统、基站及清洁设备
JP2023552483A (ja) 洗浄制御方法および装置、コンピュータ可読記憶媒体、ならびに電子機器
CN115624300A (zh) 清洁设备自清洁方法、清洁设备及基站
CN116687299A (zh) 清洁设备用基站的控制方法
CN116115127A (zh) 用于清洁设备的清洁方法和装置、清洁设备
CN217610880U (zh) 基座
CN113925407A (zh) 一种湿式表面清洁系统的集成站和表面清洁系统
US20240081599A1 (en) Controlling method and apparatus of cleaning robot, cleaning method and apparatus, system, and storage medium
CN220192919U (zh) 清洁设备与清洁系统
CN218338383U (zh) 清洁系统控制装置及清洁系统
US20240216956A1 (en) Surface cleaning system, surface cleaning device and control method thereof
CN218773825U (zh) 基站系统和清洁系统
CN217885934U (zh) 基站和智能机器人系统
CN217310123U (zh) 一种湿式表面清洁系统的集成站和表面清洁系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23862523

Country of ref document: EP

Kind code of ref document: A1