Cleaning method, device, storage medium and cleaning machine

Abstract

The application relates to a cleaning method, a cleaning device, a storage medium and a cleaning machine, wherein the cleaning method comprises the following steps: obtaining a cleaning mode determined according to the material of a to-be-cleaned object; controlling the cleaning machine to clean the to-be-cleaned object according to a cleaning program corresponding to the cleaning mode; detecting the dirt degree of sewage generated during cleaning, determining whether the cleaning task is completed according to the dirt degree, avoiding over-cleaning while ensuring the cleaning effect, determining whether the cleaning task is completed according to the dirt degree, the cleaning machine can automatically identify the dirt degree, and automatic cleaning is completed according to the identified dirt degree, thereby improving the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning machines, in particular to a cleaning method, device, storage medium and cleaning machine. BACKGROUND

[0002] With the improvement of people's living standards, intelligent small household appliance cleaning machines have gradually been popularized in families, which have replaced people's tedious household chores and saved more time.

[0003] At present, there are various types of cleaning machines on the market, but their functions are similar, and the cleaning intensity for different materials of the to-be-cleaned objects is the same. This may cause excessive wear on the surface of the to-be-cleaned object for some materials, and may cause the to-be-cleaned object to be still not clean after a long time of cleaning for some materials. SUMMARY

[0004] The cleaning method, device, storage medium and cleaning machine in the present application can clean different materials of the to-be-cleaned objects according to different cleaning modes, which can ensure the cleaning effect and avoid excessive cleaning. The specific solutions are as follows:

[0005] In a first aspect, a cleaning method is provided, which is applied to a controller of a cleaning machine, and the method comprises:

[0006] obtaining a cleaning mode determined according to the material of a to-be-cleaned object;

[0007] controlling the cleaning machine to clean the to-be-cleaned object according to a cleaning program corresponding to the cleaning mode;

[0008] detecting the dirt degree of sewage generated during cleaning in the cleaning process, and determining whether the cleaning task is completed according to the dirt degree.

[0009] In a second aspect, a cleaning device is provided, which is applied to a controller of a cleaning machine, and the device comprises:

[0010] an obtaining module configured to obtain a cleaning mode determined according to the material of a to-be-cleaned object;

[0011] a control module configured to control the cleaning machine to clean the to-be-cleaned object according to a cleaning program corresponding to the cleaning mode;

[0012] a judgment module configured to detect the dirt degree of sewage generated during cleaning in the cleaning process, and determine whether the cleaning task is completed according to the dirt degree.

[0013] In a third aspect, a storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the cleaning method as described above.

[0014] In a fourth aspect, a cleaning machine is provided, comprising a main machine and a controller arranged on the main machine;

[0015] The controller is configured to execute the cleaning method as described above.

[0016] In the present application, the corresponding cleaning program is different under different cleaning modes, which is more in line with the cleaning needs of the corresponding material, so that the cleaning machine is more intelligent. The degree of dirt of the sewage generated during the cleaning process is detected, and it is determined whether the cleaning task is completed according to the degree of dirt. The cleaning machine can automatically identify the degree of dirt and complete automatic cleaning according to the identified degree of dirt, thereby improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the technical scheme of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the technical scheme of the present application, and do not constitute a limitation on the technical scheme of the present application.

[0018] FIG. 1A FIG. 1 is a perspective view of a cleaning machine in an embodiment of the present application;

[0019] FIG. 1B FIG. 3 is an assembly view of a brush head assembly in an embodiment of the present application;

[0020] FIG. 1C FIG. 4 is a schematic view of the brush head assembly after being split in an embodiment of the present application;

[0021] FIG. 1D FIG. 5 is a structural schematic view of a first sensor in an embodiment of the present application;

[0022] FIG. 2 FIG. 6 is a flowchart of a cleaning method in an embodiment of the present application;

[0023] FIG. 3 FIG. 7 is a flowchart of the cleaning machine cleaning the object to be cleaned in a cloth mode in an embodiment one of the present application;

[0024] FIG. 4 FIG. 8 is a logic diagram for determining whether the cleaning task is completed in a cloth mode in an embodiment one of the present application;

[0025] FIG. 5 FIG. 9 is a flowchart of the cleaning machine cleaning the object to be cleaned in a carpet mode in an embodiment two of the present application;

[0026] FIG. 6 FIG. 10 is a logic diagram for determining whether the cleaning task is completed in a carpet mode in an embodiment two of the present application;

[0027] FIG. 7 FIG. 11 is a schematic view of a cleaning device in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application describes a plurality of embodiments, but the description is exemplary rather than limiting, and it will be apparent to those of ordinary skill in the art that many more embodiments and implementations are possible within the scope of the embodiments described in the present application. Although a number of possible combinations of features have been set forth in the accompanying figures and discussed above, many other combinations of the disclosed features are possible. Unless specifically intended otherwise, any feature or element of any embodiment can be used in combination with any other feature or element of any other embodiment, or in replacement of any other feature or element in any other embodiment.

[0029] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in the present application can also be combined with any conventional features or elements to form unique inventive solutions that are defined by the claims. Any feature or element of any embodiment can also be combined with features or elements from other inventive solutions to form another unique inventive solution that is defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application can be implemented alone or in any appropriate combination. Accordingly, the embodiments are not to be restricted, except as by the appended claims and their equivalents. Furthermore, various modifications and changes can be made within the scope of the appended claims.

[0030] Before the cleaning method in the present application is described, the basic structure of the cleaning machine is described first, combined with the drawings FIGS. 1A-1C A cleaning machine 100 includes a brush head assembly 10, a main machine 20, and a pipeline assembly 30, wherein one end of the pipeline assembly 30 is connected with the brush head assembly 10, and the other end is connected with the main machine 20. The brush head assembly 10 includes a handle 15 connected with the pipeline assembly 30 and a roller brush assembly 17 connected with the handle 15, and the roller brush assembly 17 is provided with an interface corresponding to the pipeline assembly 30. During cleaning, the user can hold the handle 15 to clean the object to be cleaned. The handle 15 is provided with a brush head motor, and the roller brush assembly 17 is provided with a brush. The brush head motor can drive the brush to rotate to achieve the purpose of cleaning. Further, the handle 15 and the roller brush assembly 17 are detachably connected, so that the handle 15 can be connected with different types of roller brush assemblies 17. In order to place the brush head assembly 10 and avoid contamination of the brush head assembly 10, the cleaning machine 100 in the present application is further provided with a roller brush assembly 17 protective cover 16.

[0031] The main machine 20 is provided with a dirty water tank 21 and a clean water tank 22, and the pipeline assembly 30 includes a dirty water pipe, a clean water pipe, and power supply and communication lines; further, the pipeline assembly 30 can also include a sheath for wrapping the dirty water pipe, the clean water pipe, and the power supply and communication lines to play a role of aesthetics and protection. The water spraying assembly includes a water pump arranged on the main machine 20 and a water spraying port arranged on the brush head assembly 10, the first end of the dirty water pipe is connected with the brush head assembly 10, the second end is connected with the dirty water tank 21, one end of the clean water pipe is connected with the clean water tank 22, and the other end is connected with the brush head assembly 10; the suction assembly can be a suction motor, for example, during cleaning, the water pump pumps clean water in the clean water tank 22 into the clean water pipe and then to the brush head assembly 10, through the water spraying port on the brush head assembly 10, to the surface of the object to be cleaned, the roller brush assembly 17 in the brush head assembly 10 starts to clean the object to be cleaned under the driving of the brush head motor, and dirty water is generated during the cleaning process, the collecting device for collecting dirty water is arranged on the brush head assembly 10, at this time, the suction motor generates a certain suction force to suck the dirty water from the collecting device into the dirty water pipe and then into the dirty water tank 21.

[0032] In the present application, the main machine 20 is further provided with a controller, and the cleaning machine 100 is provided with a dirt sensor, the position of the dirt sensor can be arranged in the main machine 20 or in the brush head assembly 10, and the main machine 20 is further provided with a first control element, wherein the data transmission between the dirt sensor and the controller can be realized through wireless communication, and further, a communication line can be arranged in the pipeline assembly 30, as shown in FIG. 1C The brush head assembly 10 is provided with a dirty water pipe interface 12, a clean water pipe interface 13, and a wire interface 14, wherein the wire interface 14 includes three interfaces which can be used for connecting power lines or communication lines, etc., the data transmission between the dirt sensor and the controller can be realized through wireless communication, which is not limited in the present embodiment. For example, in some embodiments, the dirt sensor is arranged in the brush head assembly 10, close to the position of the first end of the dirty water pipe, wherein the dirt sensor can detect the dirty water flowing through the first end, as shown in FIG. 1DAs shown, the dirt sensor is used to analyze the contamination degree of the dirty water flowing through the first end of the sewage pipe 19 according to the light transmittance of the dirty water. The dirt sensor includes: a light irradiation unit 11a for irradiating a predetermined constant amount of light onto the transparent part of the first end of the sewage pipe 19; a light detection unit 11b for detecting the amount of light irradiated by the light irradiation unit 11a and transmitted through the dirty water flowing in the transparent part to generate detection data, and then sending the detection data to the controller, or periodically acquiring the detection data by the controller, and the controller calculates the light transmittance representing the transparency of the dirty water of the first end of the sewage pipe 19 according to the detection data, and judges the dirt degree of the dirty water. Exemplarily, in some embodiments of the present application, the dirt sensor is arranged at a position close to the second end of the sewage pipe in the main machine 20, wherein the dirt sensor detects the dirt degree of the dirty water flowing through the second end.

[0033] Further, the controller can include: a processor, such as a CPU, a communication bus, a user interface, a network interface, a memory. The communication bus is used to realize the connection communication between these components. The user interface can include a display, an input unit such as a keyboard, a key, and the optional user interface can also include a standard wired interface, a wireless interface. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory can also be an independent storage device from the aforementioned processor.

[0034] In a first aspect, as FIG. 2 As shown, the present application discloses a cleaning method applied to the controller of the cleaning machine 100, and the method comprises:

[0035] S201, acquiring a cleaning mode determined according to the material of the to-be-cleaned object;

[0036] S202, controlling the cleaning machine to clean the to-be-cleaned object according to the cleaning program corresponding to the cleaning mode;

[0037] S203, detecting the dirt degree of the dirty water generated during the cleaning process, and determining whether the cleaning task is completed according to the dirt degree.

[0038] In the present application, the cleaning mode determined according to the material of the different to-be-cleaned objects is different, and the cleaning mode can be named according to the material. Exemplarily, if the to-be-cleaned object is a cloth sofa, the cleaning mode is cloth mode, and if the to-be-cleaned object is a carpet, the cleaning mode is carpet mode.

[0039] The application does not limit the way in which the controller obtains the cleaning mode in S201. Illustratively, a man-machine interaction unit is arranged on the cleaning machine 100, the user determines the material of the object to be cleaned, and then the controller obtains the cleaning mode through man-machine interaction. The form of the man-machine interaction unit is various, for example, it can be in the form of physical buttons, different physical buttons for different cleaning modes are arranged on the cleaning machine 100, the user selects and presses the corresponding physical button according to the material of the object to be cleaned, or selects the corresponding physical button and then presses the confirmation button, and the controller obtains the corresponding cleaning mode after receiving the corresponding signal. It can also be in the form of a screen, an LED screen is arranged on the cleaning machine 100, virtual buttons are arranged on the LED screen, the user selects and presses the corresponding virtual button according to the material of the object to be cleaned, or selects the corresponding virtual button and then presses the confirmation button, and the controller obtains the corresponding cleaning mode after receiving the corresponding signal. It can also be in the form of voice interaction, a voice collecting element is arranged on the cleaning machine 100, and after the user confirms that the material of the object to be cleaned is cloth, the user can issue the voice “select cloth mode” to the cleaning machine 100. Illustratively, the cleaning mode can also be determined by the controller without the form of man-machine interaction. An image collecting device is arranged on the cleaning machine 100 to collect images of the object to be cleaned, and then the collected image information is transmitted to the controller. The controller determines the corresponding material and further determines the cleaning mode after analyzing the image information. This way greatly reduces the requirements on the user and is more intelligent. Illustratively, the cleaning mode can also be determined by the controller in combination with man-machine interaction, for example, after the controller determines the corresponding material and the cleaning mode according to the image information, the controller issues interaction information to the user to prompt whether the cleaning mode is correct.

[0040] In the present application, the man-machine interaction unit can be arranged on the main machine 20 or on the brush head assembly 10.

[0041] In S202, the corresponding cleaning program is different under different cleaning modes, which is more in line with the cleaning requirements of the corresponding material, so that the cleaning machine 100 is more intelligent.

[0042] In S203, the degree of dirt of the sewage generated during cleaning is detected during the cleaning process, and it is determined whether the cleaning task is completed according to the degree of dirt. The cleaning machine 100 can automatically identify the degree of dirt and complete automatic cleaning according to the identified degree of dirt, thereby improving the user experience.

[0043] The cleaning method of the present application will be described in detail below in combination with specific embodiments.

[0044] Embodiment one

[0045] The cleaning mode is a cloth mode, and the cleaning program includes a cloth cleaning process and a cloth sewage detection process, as follows:FIG. 3 As shown, S202, controlling the washing machine to wash the to-be-cleaned object according to the washing program corresponding to the washing mode includes:

[0046] S2021, in the cloth washing process, controlling the washing machine to perform the first cloth washing step to wash the to-be-cleaned object;

[0047] S2022, in the cloth sewage detection process, controlling the washing machine to perform the second cloth washing step to wash the to-be-cleaned object and measure the dirtiness of the sewage in the process, so as to determine whether the cleaning task is completed, if the cleaning task is not completed, controlling the washing machine to repeat the cloth sewage detection process until the cleaning task is completed.

[0048] In this embodiment, the controller obtains the cloth mode in S201, and the cleaning characteristics of the to-be-cleaned object with cloth material are: ① the water amount should not be too large, otherwise water diffusion and other problems may be caused; ② the suction force needs to be large to prevent water from spreading on the cloth; ③ the rotating speed of the roller brush in the roller brush assembly 17 cannot be too fast on the cloth surface, otherwise the cloth may be raised, etc. Considering these aspects, in S202, the first cloth washing step and the second cloth washing step are set for the cloth material, and in the cloth washing process and the cloth sewage detection process, the controller controls the working states of the water spraying assembly, the roller brush assembly and the suction assembly to complete the first cloth washing step and the second cloth washing step. The control of the working states of the water spraying assembly, the roller brush assembly and the suction assembly includes the control of their on-off states and the control of their working powers, and the control of the working powers can be realized by controlling the voltage or by controlling the current, which is not limited in the present application.

[0049] In this embodiment, the cleaning of the to-be-cleaned object is mainly realized through the cloth washing process, and the to-be-cleaned object is continuously cleaned in the cloth sewage detection process, mainly to measure the dirtiness of the sewage, so as to know whether the current cleaning of the to-be-cleaned object has reached the expected cleaning effect. If the expected cleaning effect is reached, it is determined that the cleaning task is completed, so as to avoid resource waste and surface wear of the to-be-cleaned object caused by excessive cleaning. If the expected cleaning effect is not reached, the cloth sewage detection process needs to be repeated. Since this process has the second cloth washing step, the to-be-cleaned object can be continuously cleaned and the sewage can be detected. In the present application, whether it is the cloth washing process of S2021 or the cloth sewage detection process of S2022, the dirt sensor is continuously working, and the sewage detected by the dirt sensor is different according to the different positions of the dirt sensor.

[0050] Exemplarily, when the dirtiness sensor is placed in the brush head assembly 10 close to the first end of the sewage pipe, the detection of the sewage is relatively timely, so that the presence of dirt can be detected at the beginning of the fabric cleaning process, and at this time, in S2022, the control of the washing machine performs the second fabric cleaning step to clean the object to be cleaned and measures the dirtiness of the sewage in the process, which refers to the dirtiness of the sewage flowing through the first end of the sewage pipe.

[0051] Exemplarily, when the dirtiness sensor is placed in the main machine close to the second end of the sewage pipe, since the generated sewage needs a certain time to pass through the first end to the second end of the sewage pipe, the dirtiness sensor cannot detect the presence of sewage at the beginning of the fabric cleaning process, and a period of time is needed to detect the presence of dirt, and there is a certain lag in the detection of the sewage, and at this time, in S2022, the control of the washing machine performs the second fabric cleaning step to clean the object to be cleaned and measures the dirtiness of the sewage in the process, which refers to the dirtiness of the sewage flowing through the second end of the sewage pipe.

[0052] Further, in the embodiment, the method further comprises:

[0053] controlling the washing machine to perform a first cycle for a first preset number of times to complete a first fabric cleaning step;

[0054] controlling the washing machine to perform a first cycle once to complete a second fabric cleaning step.

[0055] In the embodiment, the fabric cleaning process is realized by performing a first cycle for a first preset number of times, and the first preset number can be set according to actual conditions, and exemplarily, it can be set to 4 times, and the second fabric cleaning step is realized by performing a first cycle once.

[0056] Further, the first cycle comprises a first basic step and a second basic step;

[0057] In the first basic step, the water spraying assembly of the washing machine 100 is controlled to spray water, the roller brush assembly is controlled to rotate, and the suction assembly is controlled to suck dirt;

[0058] In the second basic step, the suction assembly is controlled to suck dirt, and the water spraying assembly and the roller brush assembly are both controlled to be closed.

[0059] Further, in the first basic step, the rotation speed of the roller brush assembly is adjusted according to the dirtiness of the sewage.

[0060] Specifically, in the first basic step, the controller controls the water pump of the water spraying assembly to a first preset water pumping amount, controls the rolling brush of the rolling brush assembly to rotate at a rotating speed of a different gear, the selection of the gear of the rolling brush by the controller is based on the dirt level, if the dirt level is smaller, the rolling brush is controlled to rotate at a smaller rotating speed gear, if the dirt level is larger, the rolling brush is controlled to rotate at a larger rotating speed gear, and the suction motor of the suction assembly is controlled to work at a first preset power, so as to realize spraying (water spraying), rotating (rotation) and suction (dirt suction).

[0061] In the second basic step, the controller controls the water pump of the water spraying assembly to be closed, controls the rolling brush of the rolling brush assembly to be closed, and controls the suction motor to work at a first preset power, so as to realize suction.

[0062] In the first basic step and the second basic step, the controller controls the water spraying assembly of the cleaning machine 100 to spray water, mainly controls the working power of the water pump to control the flow of the water pump and the opening and closing state of the water spraying port, the control of the working power of the water pump can be realized by controlling the voltage across the water pump, and can be realized by controlling the current of the water pump, which is not limited in the embodiment. The controller controls the rotation of the rolling brush assembly mainly controls the rotating speed of the rolling brush assembly, further, it can be realized by controlling the working power of the brush head motor corresponding to the rolling brush assembly in the brush head assembly 10, specifically, it can be realized by controlling the voltage of the brush head motor, or it can be realized by controlling the current of the brush head motor, which is not limited in the embodiment. The control of the suction assembly by the controller is mainly realized by controlling the suction motor in the suction assembly, specifically, it can be realized by controlling the voltage of the suction motor, or it can be realized by controlling the current of the suction motor, which is not limited in the embodiment.

[0063] In the embodiment, the duration of the first basic step is t1, and the duration of the second basic step is t2, the specific size of t1 and t2 can be set according to actual needs, and in general cases, t2 is less than t1, and exemplarily, t1 is 10 seconds and t2 is 3 seconds.

[0064] Taking 3 first cycles as a fabric cleaning process as an example, the specific process of the fabric cleaning process is as follows:

[0065] (1) 0-10 seconds, the water pumping amount of the water pump is 70 ml / min, the working power of the suction motor is 120 W, and the rotating speed of the rolling brush is adjusted according to the dirt level, if the dirt level is larger, the rotating speed is 90 rpm, otherwise 50 rpm (this process corresponds to the first basic step);

[0066] (2) 10-13 seconds, the water pump is closed, the rolling brush is closed, and the working power of the suction motor is 120 W (this process corresponds to the second basic step);

[0067] (3) 13-23 seconds, repeat the step of 0-10 seconds;

[0068] (4) 23-26 seconds, repeat the step of 10-13 seconds;

[0069] (5) 26-36 seconds, repeat the step of 0-10 seconds;

[0070] (6) 36-39 seconds, repeat the step of 10-13 seconds;

[0071] Wherein, (1)-(2) is the first cycle, (3)-(4) is the second cycle, (5)-(6) is the third cycle.

[0072] In this embodiment, for the washing machine 100 with the dirt sensor arranged in the main body 20 close to the second end of the sewage pipe, the number of the first cycle in the fabric cleaning process is related to the length of the sewage pipe and the working power of the suction motor. Through actual test, it is found that the time for the sewage sucked by the suction assembly to reach the dirt sensor on the surface of the fabric is 30-48 seconds (the fabric has certain sealing property, so the airflow runs slowly, and thus the water flow also runs slowly). Therefore, in this application, the fabric sewage detection process is entered after 3 first cycles.

[0073] Further, S2022, in the fabric sewage detection process, the controller controls the washing machine to perform the second fabric cleaning step to clean the object to be cleaned and measure the dirt degree of the sewage in this process, so as to determine whether the cleaning task is completed. If the cleaning task is not completed, the controller controls the washing machine 100 to repeat the fabric sewage detection process until the cleaning task is completed, including:

[0074] measuring a first dirt degree of the sewage in the first fabric sewage detection process;

[0075] if the first dirt degree is less than a first threshold, determining that the cleaning task is completed;

[0076] if the first dirt degree is greater than or equal to the first threshold, repeating the fabric sewage detection process until the cleaning task is completed.

[0077] In this embodiment, in the first fabric sewage detection process, the controller controls the washing machine 100 to perform the second fabric cleaning step once, that is, the first cycle. The first threshold can be set according to actual conditions. Exemplarily, the range of the dirt degree is 0-100, and the first threshold can be 19. If the first dirt degree of the sewage in the first fabric sewage detection process is less than the first threshold, the controller determines that the expected cleaning effect is achieved, and thus determines that the cleaning task is completed. If the first dirt degree is greater than or equal to the first threshold, the controller determines that the expected cleaning effect is not achieved, and controls the water spraying assembly, the suction assembly and the roller brush assembly 17 to repeat the fabric sewage detection process.

[0078] Further, the method further comprises:

[0079] measuring a second dirtiness of the sewage in a second fabric sewage detection process;

[0080] if the second dirtiness is less than the first threshold, determining that the cleaning task is completed;

[0081] if the second dirtiness is greater than or equal to the first threshold and a sum of the first dirtiness and the second dirtiness is less than a second threshold, determining that the cleaning task is completed;

[0082] if the sum of the first dirtiness and the second dirtiness is greater than or equal to the second threshold and less than a third threshold, repeating the fabric sewage detection process and increasing a light dirt flag by 1;

[0083] if the sum of the first dirtiness and the second dirtiness is greater than or equal to the third threshold, repeating the fabric sewage detection process.

[0084] Further, the method further comprises:

[0085] measuring a third dirtiness of the sewage in a third fabric sewage detection process;

[0086] if the third dirtiness is less than the first threshold, determining that the cleaning task is completed;

[0087] if the third dirtiness is greater than or equal to the first threshold and a sum of the third dirtiness and the second dirtiness is less than the second threshold, determining that the cleaning task is completed;

[0088] if the sum of the third dirtiness and the second dirtiness is greater than or equal to the second threshold and less than the third threshold, repeating the fabric sewage detection process and increasing the light dirt flag by 1, determining whether a number of the light dirt flags reaches a preset value, if yes, determining that the cleaning task is completed, and if no, repeating the fabric sewage detection process;

[0089] if the sum of the third dirtiness and the second dirtiness is greater than or equal to the third threshold, repeating the fabric sewage detection process and clearing the number of the light dirt flags;

[0090] and so on, until it is determined that the cleaning task is completed.

[0091] In the embodiment, in any one cloth sewage detection process, whether the cleaning task is completed needs to be determined by first determining whether the dirtiness is less than the first threshold value. If the dirtiness is less than the first threshold value, it is directly determined that the cleaning task is completed. If the dirtiness is greater than or equal to the first threshold value, whether the cleaning task is completed needs to be determined according to the dirtiness of the present time and the dirtiness of the previous time. For the case that the sum of the dirtiness of the present time and the dirtiness of the previous time is greater than or equal to the second threshold value and less than the third threshold value, the controller needs to determine that the cloth sewage detection process needs to be performed once again, and the light dirtiness flag bit is incremented by 1. If the sum of the first dirtiness and the second dirtiness is greater than or equal to the third threshold value, the cloth sewage detection process is repeated, and the light dirtiness flag bit does not need to be incremented by 1. From the third cloth sewage detection process, when the sum of the dirtiness of the present time and the dirtiness of the previous time is greater than or equal to the second threshold value and less than the third threshold value, it further needs to be determined whether the light dirtiness flag bit is equal to 2. If the light dirtiness flag bit is equal to 2, it is determined that the cleaning task is completed. When the sum of the dirtiness of the present time and the dirtiness of the previous time is greater than or equal to the second threshold value and less than the third threshold value, the number of the light dirtiness flag bit is cleared.

[0092] Further, the method further comprises:

[0093] If the number of repetitions of the cloth sewage detection process reaches the second preset number of times, the cleaning program is ended, and the cleaning machine 100 is controlled to issue the first interaction information to prompt the user whether to continue cleaning.

[0094] In the embodiment, in order to avoid the cloth sewage detection process being repeated for too many times, causing too much wear on the surface of the object to be cleaned, when the number of repetitions of the cloth sewage detection process reaches the second preset number of times, the cleaning task is ended by default, and the cleaning machine 100 is controlled to issue the first interaction information to prompt the user whether to continue cleaning. At this time, the user can choose whether to continue cleaning according to the actual situation.

[0095] The controller controls the cleaning machine 100 to issue the first interaction information in various ways. For example, the first interaction information can be in the form of an alarm sound + screen prompt, that is, the cleaning machine 100 issues an alarm sound and displays prompt information on the screen, “This cleaning has been completed, do you want to continue cleaning?” The first interaction information can be in the form of a voice prompt, that is, the cleaning machine 100 issues a voice “This cleaning has been completed, do you want to continue cleaning?” The embodiment does not limit the way in which the cleaning machine 100 issues the first interaction information.

[0096] In the embodiment, the second preset number of times can be set according to actual needs. For example, the second preset number of times can be 12.

[0097] Further, during the cleaning process, the cleaning machine is controlled to send second interaction information to inform the user of the dirtiness of the sewage, the cleaning progress, and the working state of the cleaning machine.

[0098] In the present embodiment, the second interaction information can have various forms and can be interacted through a screen or through sound, or a combination of the screen and sound. For example, for the second interaction information including the dirtiness, a red and blue ring can be set on the display screen. When the red and blue ring is displayed more than one third of the red ring, it indicates that the current dirtiness is greater than the first threshold. At this time, the controller controls the roller brush in the roller brush assembly to rotate at a high gear, such as 90 rpm. At this time, the user can determine the current dirtiness by the color and the proportion of the color in the red and blue ring, and can hear the voice prompt “dirtiness detection in progress”.

[0099] The second interaction information of the cleaning progress in the present embodiment can be sent in each first cycle. For example, for the first cycle, the main function of the first basic step is to soak and beat. Therefore, when the first basic step is performed, the cleaning machine 100 can be controlled to send the voice prompt “soaking and beating in progress”.

[0100] The second interaction information of the working state of the cleaning machine in the present embodiment can be the WIFI state, the self-cleaning state, the clean water tank water shortage state, the sewage tank full state, the brush head installation state, the roller brush blockage state, the power state, and the water spraying state. For each component, the corresponding indicator light can be set on the screen, and a text label can be provided for each indicator light, so that the user can understand the working state of each component. When the working state of a component is abnormal, the user can be prompted to check in time by an alarm sound.

[0101] As shown in Table 1, 12 first cycles are performed in the cloth mode.

[0102] Table 1

[0103]

[0104] In Table 1, “spray” means to control the water spraying assembly, “rotate” means to control the rotation of the roller brush assembly, and “suck” means to control the suction of the suction assembly. Cycle 1 to cycle 3 are the cloth cleaning process, cycle 4 is the first cloth sewage detection process, and the first dirtiness of the sewage is detected and measured continuously from the 39th to 52nd second. At the end of the 52nd second, it is judged whether the cleaning task is completed. In the present embodiment, cycles 1 to 4 are basic steps, and whether subsequent cycles are needed needs specific logical judgment. The specific logical judgment process is as follows. FIG. 4As shown, first, the size of the first dirtiness E1 corresponding to cycle 4 and the first threshold value is judged, if less than, then the cleaning task is determined to be completed, if not less than, then the controller controls the washing machine to enter cycle 5; measure the second dirtiness E2 corresponding to cycle 5, judge whether the second dirtiness E2 is less than the first threshold value, if less than, then the cleaning task is determined to be completed, if not less than, then judge whether the sum of the first dirtiness E1 and the second dirtiness E2 is less than the second threshold value, if less than, then the cleaning task is determined to be completed, if not less than, then judge whether the sum of the first dirtiness E1 and the second dirtiness E2 is less than the third threshold value, if yes, then the light pollution flag is added by 1, and the controller controls the washing machine 100 to enter cycle 6, if not, then the controller controls the washing machine 100 to enter cycle 6; measure the third dirtiness E3 corresponding to cycle 6, judge whether the third dirtiness E3 is less than the first threshold value, if less than, then the cleaning task is determined to be completed, if not less than, then judge whether the sum of the third dirtiness E3 and the second dirtiness E2 is less than the second threshold value, if less than, then the cleaning task is determined to be completed, if not less than, then judge whether the sum of the third dirtiness E3 and the second dirtiness E2 is less than the third threshold value, if yes, then the light pollution flag is added by 1, if not, then the light pollution flag is cleared, judge whether the light pollution flag is equal to 2, if yes, then the cleaning task is determined to be completed, if not, then control the washing machine 100 to enter cycle 7, repeat the above steps until the cleaning task is completed, if after entering cycle 12, the cleaning task has not been determined to be completed, then end the cleaning program, and control the washing machine to issue the first interaction information.

[0105] Further, in the fabric sewage detection process, the washing machine is controlled to perform the second fabric cleaning step to clean the object to be cleaned, and the dirtiness of the sewage in this process is measured, including:

[0106] The dirtiness in the preset time period is integrated to obtain the dirtiness corresponding to the preset time period;

[0107] The dirtiness corresponding to all time periods in the cleaning time corresponding to the second fabric cleaning step is averaged to obtain the dirtiness of the sewage when the second fabric cleaning step is performed.

[0108] In this embodiment, the preset time period can be set according to actual conditions. For example, the preset time period is 1 ms, the dirtiness in 1 ms is integrated to obtain the dirtiness corresponding to each ms, and the dirtiness of each ms in the cleaning time corresponding to the second fabric cleaning step is added and averaged to obtain the dirtiness of the sewage when the second fabric cleaning step is performed. For example, as shown in Table 1, in cycle 4, the dirtiness of each ms from 39 to 52 seconds is integrated and calculated, and then averaged to obtain the first dirtiness corresponding to cycle 4.

[0109] In the embodiment, the dirtiness degree in the preset time period is integrated to obtain the dirtiness degree corresponding to the time period. On the one hand, the integrated value can better represent the dirtiness level of the preset time period, and the sampling value jump of the dirt sensor at the moment can be avoided. On the other hand, the dirtiness degrees of all time periods in the cleaning time corresponding to the second cloth cleaning step are calculated in segments, so that the dirtiness degrees that are less different can be confirmed again. Since the dirt sensor is not very sensitive to clean water and dirty water, the method of secondary confirmation ensures that the current dirtiness degree of the machine is small, so that the cycle is ended.

[0110] Embodiment two

[0111] The cleaning mode is a carpet mode, and the cleaning program includes a carpet cleaning process and a carpet sewage detection process. As shown in FIG. 5 S202, controlling the cleaning machine 100 to clean the object to be cleaned according to the cleaning program corresponding to the cleaning mode includes:

[0112] S2023, in the carpet cleaning process, controlling the cleaning machine to perform the first carpet cleaning step to clean the object to be cleaned;

[0113] S2024, in the carpet sewage detection process, controlling the cleaning machine to perform the second carpet cleaning step to clean the object to be cleaned and measure the dirtiness degree of the sewage in this process, so as to judge whether the cleaning task is completed. If the cleaning task is not completed, the cleaning machine is controlled to repeat the carpet sewage detection process until the cleaning task is completed.

[0114] In the embodiment, the controller obtains the carpet mode in S201. The cleaning characteristics of the object to be cleaned with carpet material are: ① a large amount of water needs to be considered to meet the characteristics of the carpet itself absorbing water; ② the carpet does not have the problem of water diffusion, and the carpet has strong dirt adhesion, so the speed of the roller brush needs to be considered to disperse dirt. Therefore, in S202, the first carpet cleaning step and the second carpet cleaning step are set for the carpet material. In the carpet cleaning process and the carpet sewage detection process, the controller controls the working state of the water spraying assembly, the roller brush assembly and the suction assembly to complete the first carpet cleaning step and the second carpet cleaning step. The control of the working state of the water spraying assembly, the roller brush assembly and the suction assembly includes the control of the on-off state and the control of the working power. The control of the working power can be realized by controlling the voltage or by controlling the current, which is not limited in the application.

[0115] In the embodiment, the cleaning of the object to be cleaned is mainly achieved through the carpet cleaning process, and the object to be cleaned is continuously cleaned in the carpet sewage detection process, mainly for measuring the dirtiness of the sewage, so as to know whether the current cleaning of the object to be cleaned has reached the expected cleaning effect. If the expected cleaning effect is reached, it is determined that the cleaning task is completed, thereby avoiding the waste of resources and the wear of the surface of the object to be cleaned caused by over-cleaning. If the expected cleaning effect is not reached, the carpet sewage detection process needs to be repeated. Since the process has a second carpet cleaning step, the continuous cleaning of the object to be cleaned and the detection of the sewage can be achieved. In the present application, whether it is the carpet cleaning process of S2023 or the carpet sewage detection process of S2024, the dirt sensor is continuously working. According to the different positions of the dirt sensor, the sewage detected by the dirt sensor is different.

[0116] Exemplarily, when the dirt sensor is placed in the brush head assembly 10 close to the first end of the sewage pipe, the detection of the sewage is relatively timely, so that the presence of dirt can be detected at the beginning of the carpet cleaning process. At this time, in S2022, the cleaning machine is controlled to perform the second carpet cleaning step to clean the object to be cleaned and measure the dirtiness of the sewage in the process. At this time, the measurement of the dirtiness of the sewage refers to the dirtiness of the sewage flowing through the first end of the sewage pipe.

[0117] Exemplarily, when the dirt sensor is placed in the main machine close to the second end of the sewage pipe, since the generated sewage needs a certain time to pass through the first end of the sewage pipe to reach the second end, the dirt sensor cannot detect the presence of sewage at the beginning of the carpet cleaning process. A certain time is needed to detect the presence of dirt. There is a certain lag in the detection of the sewage, so that the presence of dirt can be detected at the beginning of the carpet cleaning process. At this time, in S2022, the cleaning machine 100 is controlled to perform the second carpet cleaning step to clean the object to be cleaned and measure the dirtiness of the sewage in the process. At this time, the measurement of the dirtiness of the sewage refers to the dirtiness of the sewage flowing through the second end of the sewage pipe.

[0118] Further, the first carpet cleaning step includes a first step, a second step and a third step;

[0119] In the first step, the water spraying assembly of the cleaning machine is controlled to spray water, the roller brush assembly is controlled to rotate, and the suction assembly is controlled to suck sewage;

[0120] In the second step, the roller brush assembly is controlled to rotate, the water spraying assembly is controlled to spray water, and the suction assembly is controlled to be closed;

[0121] In the third step, the suction assembly is controlled to suck sewage, and the water spraying assembly and the roller brush assembly are both controlled to be closed.

[0122] Further, in the second carpet cleaning step, the water spraying assembly of the cleaning machine is controlled to spray water, the rotating brush assembly is controlled to rotate, and the suction assembly is controlled to suck dirt.

[0123] Further, in the first carpet cleaning step and the second carpet cleaning step, the rotating speed of the rotating brush assembly is adjusted according to the dirtiness of the sewage.

[0124] Further, in the second step, the water spraying amount of the water spraying assembly is adjusted according to the dirtiness of the sewage.

[0125] Specifically, in the first step, the controller controls the water pump of the water spraying assembly to spray water at a second preset water pumping amount, controls the rotating brush of the rotating brush assembly to rotate at a rotating speed of a different gear, the controller selects the gear of the rotating brush according to the dirtiness, if the dirtiness is small, the rotating brush is controlled to rotate at a small rotating speed gear, if the dirtiness is large, the rotating brush is controlled to rotate at a large rotating speed gear, and the suction motor of the suction assembly is controlled to work at a second preset power, so as to realize spraying (water spraying), rotating (rotating), and sucking (sucking dirt). In the first step, the water amount is large, and the water is quickly spread on the carpet, which is convenient for subsequent cleaning and dirt detection.

[0126] In the second step, the controller controls the suction motor of the suction assembly to be closed, controls the water spraying assembly and the rotating brush assembly 17 to be closed, so as to realize spraying and rotating, controls the rotating brush of the rotating brush assembly to rotate at a rotating speed of a different gear, the controller selects the gear of the rotating brush according to the dirtiness, if the dirtiness is small, the rotating brush is controlled to rotate at a small rotating speed gear, if the dirtiness is large, the rotating brush is controlled to rotate at a large rotating speed gear, controls the water spraying assembly to spray water at a water spraying amount of a different gear, and the controller selects the water spraying amount of the water spraying assembly according to the dirtiness, if the dirtiness is small, the water spraying assembly is controlled to spray water at a small gear water spraying amount, if the dirtiness is large, the water spraying assembly is controlled to spray water at a large gear water spraying amount. In the second step, the dirt is further wetted, and the dirt is beaten in the process of water spraying.

[0127] In the third step, the water pump of the water spraying assembly is controlled to be closed, the rotating brush of the rotating brush assembly is controlled to be closed, and the suction motor is controlled to work at a second preset power, so as to realize sucking. In the third step, the sewage is sucked out in time.

[0128] In the second carpet cleaning step, the controller controls the water pump of the water spraying assembly to spray water at a second preset water pumping amount, controls the rotating brush of the rotating brush assembly to rotate at a rotating speed of a different gear, the controller selects the gear of the rotating brush according to the dirtiness, if the dirtiness is small, the rotating brush is controlled to rotate at a small rotating speed gear, if the dirtiness is large, the rotating brush is controlled to rotate at a large rotating speed gear, and the suction motor of the suction assembly is controlled to work at a second preset power, so as to realize spraying (water spraying), rotating (rotating), and sucking (sucking dirt).

[0129] In the first carpet cleaning step and the second carpet cleaning step, the controller controls the water spraying assembly of the cleaning machine 100 to spray water, mainly controls the working power of the water pump to control the flow of the water pump and the opening and closing state of the water spraying port. The control of the working power of the water pump is mainly realized by adjusting the working power of the water pump. In the second step, the adjustment of the water spraying amount of the water spraying assembly is mainly realized by adjusting the working power of the water pump. When the working power of the water pump is large, the water pumping amount of the water pump is large, and the water spraying amount of the water spraying assembly is large. If the working power of the water pump is small, the water pumping amount of the water pump is small, and the water spraying amount of the water spraying assembly is small. In the embodiment, the control and adjustment of the working power of the water pump can be realized by controlling the voltage across the water pump, or by controlling the current of the water pump. The embodiment does not limit this. The controller controls the rotation of the roller brush assembly mainly by controlling the rotating speed of the roller brush assembly. Further, the rotating speed of the roller brush assembly can be realized by controlling the working power of the brush motor corresponding to the roller brush assembly 17 in the brush head assembly 10. Specifically, the rotating speed of the roller brush assembly can be realized by controlling the voltage of the brush motor, or by controlling the current of the brush motor. The embodiment does not limit this. The control of the suction of the suction assembly by the controller is mainly realized by controlling the suction motor in the suction assembly. Specifically, the control of the suction of the suction assembly can be realized by controlling the voltage of the suction motor, or by controlling the current of the suction motor. The embodiment does not limit this.

[0130] In the embodiment, the duration of the first step in the first carpet cleaning step is t3, the duration of the second step is t4, and the duration of the third step is t5. The specific sizes of t3, t4 and t5 can be set according to actual needs. The duration of the second carpet cleaning step is t6. In general, t5 is less than t3, t4 and t6. Exemplarily, t3, t4 and t6 are 8 seconds, and t5 is 5 seconds.

[0131] Exemplarily, the specific process of the carpet cleaning process is as follows:

[0132] (1) 0-8 seconds, the water pumping amount of the water pump is 240 ml / min, the working power of the suction motor is 120 W, and the rotating speed of the roller brush is adjusted according to the dirt degree. If the dirt degree is large, the rotating speed is 360 rpm, otherwise it is 180 rpm (this process corresponds to the first step);

[0133] (2) 8-16 seconds, the suction motor is turned off, the water pumping amount of the water pump and the rotating speed of the roller brush are adjusted according to the dirt degree. If the dirt degree is large, the water pumping amount of the water pump is 360 ml / min, and the rotating speed of the roller brush is 360 rpm. If the dirt degree is small, the water pumping amount of the water pump is 240 ml / min, and the rotating speed of the roller brush is 180 rpm (this process corresponds to the second step, which is mainly to further wet the dirt);

[0134] (3) 16-21 seconds, the water pump is closed, the rolling brush is closed, and the suction motor works at a power of 120 W (corresponding to the third step).

[0135] In this embodiment, the carpet has a certain sealing property, the airflow runs fast, and thus the water flow also runs fast. In addition, the rolling brush rotates at a high speed and the water spraying amount is large in the carpet mode, and thus the first step to the third step can basically complete the cleaning of the carpet. Therefore, unlike the fabric mode in the first embodiment, the carpet cleaning process in this embodiment does not need to be performed multiple times.

[0136] Specifically, the specific process of the carpet cleaning process is as follows:

[0137] (4) 21-29 seconds, the water pump has a water pumping amount of 240 ml / min, the suction motor works at a power of 120 W, and the rotating speed of the rolling brush is adjusted according to the dirt degree. If the dirt degree is large, the rotating speed is 360 rpm, otherwise, the rotating speed is 180 rpm (this process corresponds to the second carpet cleaning step).

[0138] Further, S2024, in the carpet sewage detection process, the cleaning machine 100 is controlled to perform the second carpet cleaning step to clean the object to be cleaned and measure the dirt degree of the sewage in this process, so as to determine whether the cleaning task is completed. If the cleaning task is not completed, the cleaning machine 100 is controlled to repeat the carpet sewage detection process until the cleaning task is completed, including:

[0139] determining whether the dirt degree of the sewage detected when the second carpet cleaning step is performed is less than the threshold value corresponding to the current carpet sewage detection process. If yes, it is determined that the cleaning task is completed. If no, the cleaning machine is controlled to repeat the carpet sewage detection process until the cleaning task is completed.

[0140] The threshold value corresponding to the first carpet sewage detection process is an initial threshold value, and the threshold value corresponding to each subsequent carpet sewage detection process is increased by a preset value based on the initial threshold value.

[0141] In this embodiment, the carpet sewage detection process corresponds to the second cycle. Unlike the first embodiment, the number of cycles of the carpet sewage detection process is not limited in this embodiment. In this embodiment, the threshold value in each carpet sewage detection process is changed. The threshold value corresponding to the first carpet sewage detection process is an initial threshold value, and the threshold value corresponding to each subsequent carpet sewage detection process is increased by a preset value based on the initial threshold value. The size of the initial threshold value and the preset value can be selected according to actual needs. For example, the initial threshold value is 30 and the preset value is 4.

[0142] For example, as FIG. 6As shown, in the carpet cleaning mode, during the carpet cleaning process, a first carpet sewage detection process is performed, it is judged whether the dirt degree of the first carpet sewage detection process is less than the initial threshold value, if yes, it is determined that the cleaning task is completed, if not, the cleaning machine 100 is controlled to perform a second carpet sewage detection process, it is judged whether the dirt degree of the second carpet sewage detection process is less than the initial threshold value + preset value, if yes, it is determined that the cleaning task is completed, if not, the cleaning machine 100 is controlled to perform a third carpet sewage detection process, it is judged whether the dirt degree of the third carpet sewage detection process is less than the initial threshold value + preset value * 2, if yes, it is determined that the cleaning task is completed, if not, the cleaning machine 100 is controlled to perform a fourth carpet sewage detection process, and so on until the cleaning task is completed.

[0143] Further, during the cleaning process, the cleaning machine is controlled to issue second interaction information to inform the user of the dirt degree of the sewage, the cleaning progress and the working state of the cleaning machine.

[0144] In the embodiment, the second interaction information can have various forms, and can be interacted through a screen or through sound, or a combination of the screen and the sound. For example, for the second interaction information including the dirt degree, a red-blue ring can be set on the display screen, when the red-blue ring is displayed more than one third of the red ring, it indicates that the current dirt degree is greater than the first threshold value, at this time the controller controls the roller brush in the roller brush assembly to rotate at a high gear, for example, 360 rpm, and at the second step, the water spraying assembly is controlled to spray water at a large water spraying amount, at this time the user can determine the current dirt degree through the color and the color proportion in the red-blue ring.

[0145] The second interaction information of the cleaning progress type in the embodiment can be issued during the carpet cleaning process and the carpet sewage detection process. For example, in the first step, the voice broadcast can be "dirt degree detection", in the second step, the voice broadcast can be "wet and beat", in the third step, the voice broadcast can be "sewage recycling", and in the second carpet cleaning step, the voice broadcast can be "cyclic cleaning".

[0146] The second interaction information of the working state of the cleaning machine in the embodiment can be the WIFI state, the self-cleaning state, the clean water tank water shortage state, the sewage cylinder full state, the brush head installation state, the roller brush blockage state, the power state and the water spraying state, etc. For each of the above working states of each component, a corresponding indicator light can be set on the screen, and a text label can be provided for each indicator light, so that the user can understand the working state of each component, and when the working state of a component is abnormal, an alarm sound can also be issued to prompt the user to check in time.

[0147] Further, in the carpet sewage detection process, the control washing machine performs the second carpet cleaning step to clean the to-be-cleaned object and measure the dirtiness of the sewage in the process, comprising:

[0148] Integrating the dirtiness in the preset time period to obtain the dirtiness corresponding to the time period;

[0149] Averaging the dirtiness corresponding to all time periods in the cleaning time corresponding to the second carpet cleaning step to obtain the dirtiness of the sewage when the second carpet cleaning step is performed.

[0150] In this embodiment, the preset time period can be set according to actual conditions. For example, the preset time period is 1 ms, the dirtiness in 1 ms is integrated to obtain the dirtiness corresponding to each ms, and the dirtiness of each ms in the cleaning time corresponding to the second carpet cleaning step is added and averaged to obtain the dirtiness of the sewage when the second carpet cleaning step is performed.

[0151] In this embodiment, the dirtiness in the preset time period is integrated to obtain the dirtiness corresponding to the time period. On the one hand, the integrated value can better represent the dirtiness level of the preset time period, which can avoid the instantaneous sampling value fluctuation of the dirtiness sensor. On the other hand, the dirtiness of all time periods in the cleaning time corresponding to the second carpet cleaning step is calculated in segments, which can confirm the relatively small dirtiness again. Since the dirtiness sensor cannot distinguish between clean water and dirty water, the double confirmation method ensures that the current dirtiness of the machine is small, thereby ending the cycle.

[0152] In a second aspect, as shown in FIG. 7 The present application discloses a cleaning device, which is a virtual device applied to a controller of a washing machine, comprising:

[0153] The acquisition module is configured to acquire a cleaning mode determined according to the material of the to-be-cleaned object;

[0154] The control module is configured to control the washing machine to clean the to-be-cleaned object according to the cleaning program corresponding to the cleaning mode;

[0155] The judgment module is configured to detect the dirtiness of the sewage generated during the cleaning process, and determine whether the cleaning task is completed according to the dirtiness.

[0156] Further, the cleaning mode is a cloth cleaning mode, the cleaning program includes a cloth cleaning process and a cloth sewage detection process, and the control module is further configured to control the washing machine to perform the first cloth cleaning step to clean the to-be-cleaned object in the cloth cleaning process;

[0157] In the fabric sewage detection process, the control washing machine executes the second fabric cleaning step to clean the object to be cleaned and measures the dirtiness of the sewage in the process, so as to determine whether the cleaning task is completed, if the cleaning task is not completed, the control washing machine repeats the fabric sewage detection process until the cleaning task is completed.

[0158] Further, in the fabric sewage detection process, the determination module is further used to:

[0159] measure the first dirtiness of the sewage in the first fabric sewage detection process;

[0160] if the first dirtiness is less than the first threshold, it is determined that the cleaning task is completed;

[0161] if the first dirtiness is greater than or equal to the first threshold, the control washing machine repeats the fabric sewage detection process until the cleaning task is completed.

[0162] Further, the determination module is further used to:

[0163] measure the second dirtiness of the sewage in the second fabric sewage detection process;

[0164] if the second dirtiness is less than the first threshold, it is determined that the cleaning task is completed;

[0165] if the second dirtiness is greater than or equal to the first threshold and the sum of the first dirtiness and the second dirtiness is less than the second threshold, it is determined that the cleaning task is completed;

[0166] if the sum of the first dirtiness and the second dirtiness is greater than or equal to the second threshold and less than the third threshold, the control washing machine repeats the fabric sewage detection process, and the light pollution flag bit is incremented by 1;

[0167] if the sum of the first dirtiness and the second dirtiness is greater than or equal to the third threshold, the control washing machine repeats the fabric sewage detection process.

[0168] Further, the determination module is further used to include:

[0169] measure the third dirtiness of the sewage in the third fabric sewage detection process;

[0170] if the third dirtiness is less than the first threshold, it is determined that the cleaning task is completed;

[0171] if the third dirtiness is greater than or equal to the first threshold and the sum of the third dirtiness and the second dirtiness is less than the second threshold, it is determined that the cleaning task is completed;

[0172] If the sum of the third dirtiness degree and the second dirtiness degree is greater than or equal to the second threshold value and less than the third threshold value, the fabric sewage detection process is repeated, and the light pollution flag bit is incremented by 1. It is determined whether the number of light pollution flag bits reaches a preset value. If yes, it is determined that the cleaning task is completed. If no, the fabric sewage detection process is repeated.

[0173] If the sum of the third dirtiness degree and the second dirtiness degree is greater than or equal to the third threshold value, the fabric sewage detection process is repeated, and the number of light pollution flag bits is cleared.

[0174] In this way, until it is determined that the cleaning task is completed.

[0175] Further, the control module is further configured to include:

[0176] The control module controls the cleaning machine to perform the first cycle for the first preset number of times to complete the first fabric cleaning step.

[0177] The control module controls the cleaning machine to perform the first cycle once to complete the second fabric cleaning step.

[0178] Further, the first cycle includes a first basic step and a second basic step.

[0179] In the first basic step, the control module further controls the water spraying assembly of the cleaning machine to spray water, the rotating brush assembly to rotate, and the suction assembly to suck sewage.

[0180] In the second basic step, the control module further controls the suction assembly to suck sewage, and controls the water spraying assembly and the rotating brush assembly to be both closed.

[0181] Further, in the first basic step, the control module further adjusts the rotating speed of the rotating brush assembly according to the dirtiness degree of the sewage.

[0182] Further, the control module is further configured to end the cleaning program if the number of times of repeating the fabric sewage detection process reaches a second preset number of times, and control the cleaning machine to issue first interaction information to prompt the user whether to continue cleaning.

[0183] Further, in the fabric sewage detection process, the determination module is further configured to:

[0184] The dirtiness degree in the preset time period is integrated to obtain the corresponding dirtiness degree of the time period;

[0185] The dirtiness degrees corresponding to all time periods in the cleaning time corresponding to the second fabric cleaning step are averaged to obtain the dirtiness degree of the sewage when the second fabric cleaning step is performed.

[0186] Further, the cleaning mode is a carpet cleaning mode, and the cleaning program includes a carpet cleaning process and a carpet sewage detection process.

[0187] In the carpet cleaning process, the control module is further configured to control the cleaning machine to perform the first carpet cleaning step to clean the object to be cleaned.

[0188] In the carpet sewage detection process, the control module is further configured to control the cleaning machine to perform the second carpet cleaning step to clean the object to be cleaned and measure the dirtiness of the sewage in the process, so as to determine whether the cleaning task is completed, and if not, control the cleaning machine to repeat the carpet sewage detection process until the cleaning task is completed.

[0189] Further, in the carpet sewage detection process, the determination module is further configured to:

[0190] determine whether the dirtiness of the sewage detected when performing the second carpet cleaning step is less than the threshold value corresponding to the current carpet sewage detection process, and if so, determine that the cleaning task is completed, and if not, control the cleaning machine to repeat the carpet sewage detection process until the cleaning task is completed.

[0191] Wherein, the threshold value corresponding to the first carpet sewage detection process is an initial threshold value, and for each subsequent carpet sewage detection process, the threshold value corresponding to the carpet sewage detection process is increased by a preset value based on the initial threshold value.

[0192] Further, the first carpet cleaning step includes a first step, a second step and a third step.

[0193] In the first step, the control module is further configured to control the water spraying assembly of the cleaning machine to spray water, the rotating brush assembly to rotate, and the suction assembly to suck sewage.

[0194] In the second step, the control module is further configured to control the rotating brush assembly to rotate, the water spraying assembly to spray water, and control the suction assembly to be closed.

[0195] In the third step, the control module is further configured to control the suction assembly to suck sewage, and control the water spraying assembly and the rotating brush assembly to be closed.

[0196] Further, in the second carpet cleaning step, the control module is further configured to control the water spraying assembly of the cleaning machine to spray water, the rotating brush assembly to rotate, and the suction assembly to suck sewage.

[0197] Further, in the first carpet cleaning step and the second carpet cleaning step, the control module is further configured to adjust the rotating speed of the rotating brush assembly according to the dirtiness of the sewage.

[0198] Further, in the second step, the control module is further configured to adjust the water spraying amount of the water spraying assembly according to the dirtiness of the sewage.

[0199] Further, in the carpet sewage detection process, the determination module is further configured to:

[0200] The degree of dirtiness within a preset time period is obtained by integrating the degree of dirtiness for that time period.

[0201] The dirt level of the wastewater during the second carpet cleaning step is obtained by averaging the dirt levels across all time periods within the cleaning time corresponding to the second carpet cleaning step.

[0202] Furthermore, during the cleaning process, the control module is also used to control the cleaning machine to send out second interactive information to inform the user of the degree of dirtiness of the wastewater, the cleaning progress, and the working status of the cleaning machine.

[0203] Thirdly, this application discloses a storage medium on which a computer program is stored, which, when executed by a processor, implements the cleaning method of this application.

[0204] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments.

[0205] Fourthly, such as FIGS. 1A-1C This application discloses a cleaning machine 100, which includes a main unit 20 and a controller disposed on the main unit 20;

[0206] The controller is used to execute the cleaning method in this application.

[0207] The cleaning machine 100 in this application also includes a roller brush assembly, a suction assembly, and a water spray assembly. The specific control method of the controller in this application and the specific structure of the cleaning machine 100 have been described in detail above and will not be repeated here.

[0208] Furthermore, in describing representative embodiments, the specification can have presented the method and / or process as a particular sequence of steps. However, to the extent that the method or process depends on the performance of certain steps, the method or process is not limited to the performance of the steps in the order described. One of ordinary skill in the art would recognize that steps of the method and / or process can be performed in other orders than the order described. Thus, the specific order of steps is not a limitation of the method and / or process. Furthermore, the claims direct the scope of the method and / or process in accordance with their language irrespective of the order described in the specification. The specification provides exemplary embodiments only and does not limit the scope of the claims.

[0209] The above has carried on the detailed introduction to the scheme provided by the embodiments of the present application, the principle and implementation mode of the present application are set forth by applying specific examples in this paper, the above embodiment explanation is only for helping understanding the method of the present application and its core thought; simultaneously, for the general technical personnel of the field, according to the thought of the present application, there will be changes in specific implementation mode and application range, and the above is summarized, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A cleaning method applied to a controller of a cleaning machine, characterized by, The method comprises: acquiring a cleaning mode determined according to the material of the object to be cleaned; controlling the cleaning machine to clean the object to be cleaned according to the cleaning program corresponding to the cleaning mode; detecting the dirtiness of sewage generated during cleaning, and determining whether the cleaning task is completed according to the dirtiness; wherein the cleaning mode is a cloth mode, the cleaning program comprises a cloth cleaning process and a cloth sewage detection process, and controlling the cleaning machine to clean the object to be cleaned according to the cleaning program corresponding to the cleaning mode comprises: in the cloth cleaning process, controlling the cleaning machine to perform a first cloth cleaning step to clean the object to be cleaned; in the cloth sewage detection process, controlling the cleaning machine to perform a second cloth cleaning step to clean the object to be cleaned and measure the dirtiness of sewage in this process, so as to determine whether the cleaning task is completed, and if the cleaning task is not completed, controlling the cleaning machine to repeat the cloth sewage detection process until the cleaning task is completed; in the cloth sewage detection process, controlling the cleaning machine to perform a second cloth cleaning step to clean the object to be cleaned and measure the dirtiness of sewage in this process, so as to determine whether the cleaning task is completed, comprising: measuring a first dirtiness of the sewage in the first cloth sewage detection process; if the first dirtiness is less than a first threshold, determining that the cleaning task is completed; if the first dirtiness is greater than or equal to the first threshold, controlling the cleaning machine to repeat the cloth sewage detection process until the cleaning task is completed; the method further comprises: measuring a second dirtiness of the sewage in the second cloth sewage detection process; if the second dirtiness is less than the first threshold, determining that the cleaning task is completed; if the second dirtiness is greater than or equal to the first threshold and the sum of the first dirtiness and the second dirtiness is less than a second threshold, determining that the cleaning task is completed; if the sum of the first dirtiness and the second dirtiness is greater than or equal to the second threshold and less than a third threshold, controlling the cleaning machine to repeat the cloth sewage detection process, and increasing a light dirt flag by 1; if the sum of the first dirtiness and the second dirtiness is greater than or equal to the third threshold, controlling the cleaning machine to repeat the cloth sewage detection process.

2. The method of claim 1, wherein, the method further comprises: measuring a third dirtiness of the sewage in the third cloth sewage detection process; if the third dirtiness is less than the first threshold, determining that the cleaning task is completed; if the third dirtiness is greater than or equal to the first threshold and the sum of the third dirtiness and the second dirtiness is less than a second threshold, determining that the cleaning task is completed; If the sum of the third dirtiness degree and the second dirtiness degree is greater than or equal to the second threshold value and less than the third threshold value, the cloth sewage detection process is repeated, and a light pollution flag bit is incremented by 1. It is determined whether the number of the light pollution flag bit reaches a preset value. If yes, it is determined that the cleaning task is completed. If no, the cloth sewage detection process is repeated. If the sum of the third dirtiness degree and the second dirtiness degree is greater than or equal to the third threshold value, the cloth sewage detection process is repeated, and the number of the light pollution flag bit is cleared. By analogy, until it is determined that the cleaning task is completed.

3. The method of claim 1, wherein, The method further comprises: controlling the cleaning machine to perform a first cycle for a first preset number of times to complete the first cloth cleaning step; controlling the cleaning machine to perform the first cycle once to complete the second cloth cleaning step.

4. The method of claim 3, wherein, The first cycle comprises a first basic step and a second basic step; in the first basic step, the water spraying assembly of the cleaning machine is controlled to spray water, the rotating brush assembly is controlled to rotate, and the suction assembly is controlled to suck sewage; in the second basic step, the suction assembly is controlled to suck sewage, and the water spraying assembly and the rotating brush assembly are both controlled to be turned off.

5. The method of claim 4, wherein, The method further comprises: in the first basic step, the rotating speed of the rotating brush assembly is adjusted according to the dirtiness degree of the sewage.

6. The method of claim 1, wherein, In the cloth sewage detection process, controlling the cleaning machine to perform a second cloth cleaning step to clean the object to be cleaned and measure the dirtiness degree of the sewage in the process comprises: integrating the dirtiness degrees in a preset time period to obtain the dirtiness degree corresponding to the time period; averaging the dirtiness degrees of all time periods in the cleaning time corresponding to the second cloth cleaning step to obtain the dirtiness degree of the sewage when the second cloth cleaning step is performed.

7. A cleaning device applied to a controller of a cleaning machine, characterized by, The device comprises: an acquisition module configured to acquire a cleaning mode determined according to the material of the object to be cleaned; a control module configured to control the cleaning machine to clean the object to be cleaned according to a cleaning program corresponding to the cleaning mode; a judgment module configured to detect the dirtiness degree of sewage generated during cleaning in the cleaning process, and determine whether the cleaning task is completed according to the dirtiness degree; wherein the cleaning mode is a cloth mode, and the cleaning program comprises a cloth cleaning process and a cloth sewage detection process. Controlling the cleaning machine to clean the object to be cleaned according to the cleaning program corresponding to the cleaning mode comprises: in the cloth cleaning process, controlling the cleaning machine to perform a first cloth cleaning step to clean the object to be cleaned; in the cloth sewage detection process, controlling the cleaning machine to perform a second cloth cleaning step to clean the object to be cleaned and measure the dirtiness degree of the sewage in the process, thereby determining whether the cleaning task is completed. If the cleaning task is not completed, controlling the cleaning machine to repeat the cloth sewage detection process until the cleaning task is completed; in the cloth sewage detection process, controlling the cleaning machine to perform a second cloth cleaning step to clean the object to be cleaned and measure the dirtiness degree of the sewage in the process, thereby determining whether the cleaning task is completed comprises: measuring a first dirtiness of the wastewater in a first time of the fabric wastewater detection process; if the first dirtiness is less than a first threshold, determining that the cleaning task is completed; if the first dirtiness is greater than or equal to the first threshold, controlling the cleaning machine to repeat the fabric wastewater detection process until the cleaning task is completed; measuring a second dirtiness of the wastewater in a second time of the fabric wastewater detection process; if the second dirtiness is less than the first threshold, determining that the cleaning task is completed; if the second dirtiness is greater than or equal to the first threshold and a sum of the first dirtiness and the second dirtiness is less than a second threshold, determining that the cleaning task is completed; if the sum of the first dirtiness and the second dirtiness is greater than or equal to the second threshold and less than a third threshold, controlling the cleaning machine to repeat the fabric wastewater detection process and adding 1 to a light dirt flag; if the sum of the first dirtiness and the second dirtiness is greater than or equal to the third threshold, controlling the cleaning machine to repeat the fabric wastewater detection process.

8. A storage medium having stored thereon a computer program, characterized in that The computer program, when executed by a processor, implements the cleaning method of any one of claims 1 to 6.

9. A cleaning machine characterized by, A system comprising a host and a controller disposed on the host; the controller is configured to execute the cleaning method of any one of claims 1 to 6.

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