Equipment self-cleaning startup method, cleaning system, base station and cleaning equipment

Abstract

This application provides a device self-cleaning startup method, a cleaning system, a base station, and a cleaning device. One method includes: detecting whether the cleaning device is located at a predetermined position on the base station; detecting a communication link with the cleaning device; if the cleaning device is detected to be at the predetermined position and the communication link meets communication requirements, then determining that the base station and the cleaning device have successfully connected; sending a command to the cleaning device to start a self-cleaning function via the communication link; and activating a cleaning function to assist the cleaning device in self-cleaning. The technical solution provided by this application provides that the base station (or cleaning device) has the function of identifying whether the connection between the base station and the cleaning device is successful, and on this basis, enables the device (such as the base station) to automatically start a cleaning function, which simplifies the cleaning operation and improves the user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a device self-cleaning start-up method, a cleaning system, a base station, and a cleaning device. Background Technology

[0002] As people's demands for convenience increase, various portable cleaning devices have entered people's lives. Taking cleaning machines as an example, most cleaning machines are equipped with a solution tank and a wastewater tank. During cleaning operations, the solution is sprayed onto the ground through the solution tank to clean the ground, and the wastewater generated during the cleaning process is collected in the wastewater tank.

[0003] Most cleaning machines require manual removal and emptying of the wastewater tank after use. Currently, another solution exists where users can move the cleaning machine to a designated base station and connect it for automatic wastewater tank emptying and cleaning. However, the existing solution lacks the base station's ability to recognize the connection between the cleaning machine and the base station, preventing automatic wastewater tank emptying and resulting in a poor user experience. Summary of the Invention

[0004] This application provides a device self-cleaning start method, a cleaning system, a base station, and a cleaning device, which enable the base station (or cleaning device) to automatically start self-cleaning upon successful identification of a connection between the base station and the cleaning device, thereby simplifying cleaning operations and improving user experience.

[0005] In one embodiment of this application, a device self-cleaning startup method is provided, applicable to a base station, the method comprising:

[0006] Detect whether the cleaning equipment is located at a predetermined position at the base station;

[0007] Detect the communication link between the device and the cleaning equipment;

[0008] If the cleaning equipment is detected to be located at the set position and the communication link meets the communication requirements, then it is determined that the base station and the cleaning equipment have successfully connected.

[0009] A command to activate the self-cleaning function is sent to the cleaning device via the communication link;

[0010] Activate the cleaning function that assists the cleaning equipment in self-cleaning.

[0011] In another embodiment of this application, a device self-cleaning start-up method is also provided, applicable to cleaning devices, the method comprising:

[0012] Detect the communication link between the base station;

[0013] Determine if it is located at the designated location of the base station;

[0014] If the communication link meets the communication requirements and it is determined that it is in the set position, then the self-cleaning function is activated;

[0015] A start command is sent to the base station via the communication link to enable the base station to activate the cleaning function that assists the cleaning equipment in self-cleaning.

[0016] In yet another embodiment of this application, a cleaning system is also provided, the system comprising:

[0017] The base station is used to detect whether the cleaning equipment is located at a set location; detect the communication link between the base station and the cleaning equipment; if the cleaning equipment is detected to be located at the set location and the communication link meets the communication requirements, it is determined that the base station and the cleaning equipment are successfully connected; send a command to the cleaning equipment to start the self-cleaning function through the communication link; and start the cleaning function to assist the cleaning equipment in self-cleaning.

[0018] A cleaning device for activating a self-cleaning function in response to a command sent by the cleaning device.

[0019] In yet another embodiment of this application, a cleaning system is also provided, the system comprising:

[0020] A cleaning device is used to detect the communication link with the base station; determine whether it is located at a set position at the base station; if the communication link meets the communication requirements and it is determined that it is located at the set position, then activate the self-cleaning function; and send an activation command to the base station through the communication link.

[0021] A base station is used to activate a cleaning function that assists the cleaning equipment in self-cleaning in response to the activation command.

[0022] In another embodiment of this application, a base station is also provided, comprising: a base station body and a base for carrying cleaning equipment, wherein a controller and a memory are disposed on the base station body; the memory is used to store a computer program, and the controller is coupled to the memory and is used to execute the computer program to perform the steps in the device self-cleaning startup method provided in an embodiment of this application.

[0023] In another embodiment of this application, a cleaning device is also provided, comprising: a device body and a controller and a memory disposed on the device body; the memory is used to store a computer program, and the controller is coupled to the memory and is used to execute the computer program to perform the steps in the device self-cleaning startup method provided in another embodiment of this application.

[0024] This application embodiment also provides a self-cleaning method for cleaning equipment, applied to a self-cleaning system, comprising: cleaning equipment and a base station, wherein the cleaning equipment includes at least a wastewater tank and a floor brush; the method includes:

[0025] When the cleaning equipment is connected to the base station, the following self-cleaning operations are performed in sequence:

[0026] Perform an initial self-cleaning on the wastewater tank;

[0027] The floor brush performs self-cleaning;

[0028] The wastewater tank undergoes a second self-cleaning process.

[0029] This application embodiment also provides a base station, including: a base station body and a base for supporting cleaning equipment. The base station body is provided with a controller and a memory. The memory is used to store a computer program. The controller is coupled to the memory and is used to execute the computer program to perform the steps in the self-cleaning method of the cleaning equipment provided in this application embodiment.

[0030] This application embodiment also provides a cleaning device, including: a handle, a body, and a cleaning component, wherein the body is at least provided with a wastewater tank and a treatment system, and the cleaning component includes at least a floor brush; the processor system is used for:

[0031] When the cleaning equipment is connected to the base station, determine whether the sewage tank is full of water;

[0032] Sending an indication to the base station whether the wastewater tank is full, so that the base station can perform an initial self-cleaning of the wastewater tank based on the information; and

[0033] Upon receiving a cleaning instruction from the base station, the floor brush performs self-cleaning. The cleaning instruction is sent by the base station after determining that the first self-cleaning of the sewage tank is completed.

[0034] A notification message indicating that the ground brush self-cleaning is complete is sent to the base station, so that the base station can continue to perform secondary self-cleaning on the sewage tank.

[0035] In one technical solution provided in this application, the base station detects whether the cleaning device is located at a designated position on the base station and detects the communication link between the base station and the cleaning device. Based on the detection that the cleaning device is located at the designated position and the communication link meets communication requirements, the base station determines that the connection between the base station and the cleaning device is successful. Furthermore, it sends a command to the cleaning device to activate the self-cleaning function and initiates a cleaning function to assist the self-cleaning of the cleaning device via the communication link. Therefore, in this solution, the base station has the function of identifying whether the connection with the cleaning device is successful and can automatically activate the cleaning function, which simplifies the cleaning operation and improves the user experience.

[0036] In another technical solution provided in this application embodiment, the cleaning device can detect the communication link with the base station and determine whether it is located at a set position at the base station. Based on the determination that the communication link meets the communication requirements and that it is located at the set position, it can automatically activate the self-cleaning function and send a start command to the base station through the communication link, causing the base station to activate the cleaning function that assists the cleaning device in self-cleaning. Therefore, the cleaning device in this solution has the function of identifying whether it has successfully connected to the base station and can automatically activate the cleaning function, which effectively simplifies the cleaning operation and improves the user experience.

[0037] In another technical solution provided in this application embodiment, the structure and function of the base station are improved to address the cleaning problem of the sewage tank on the cleaning equipment. With the cooperation of the base station and the cleaning equipment, the self-cleaning of the entire cleaning equipment can be achieved, including the self-cleaning of the cleaning components on the cleaning equipment and the self-cleaning of the sewage tank 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 tank and the entire machine. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1a A cleaning equipment system and a structural diagram of the cleaning equipment and base station provided in this application embodiment;

[0040] Figure 1b This is a schematic diagram illustrating the connection status between the cleaning equipment and the base station in the cleaning equipment system shown in the embodiments of this application;

[0041] Figure 1c Another cleaning equipment system provided in this application, as well as a structural diagram of the cleaning equipment and base station;

[0042] Figure 1d A cleaning device (and) shown in the embodiments of this application Figure 1c The diagram shown is a structural schematic of the corresponding cleaning equipment in the cleaning system.

[0043] Figure 2 This is a partial structural diagram of a cleaning device connected to a base station according to an embodiment of this application.

[0044] Figure 3 A schematic flowchart illustrating a device self-cleaning start-up method provided in an embodiment of this application;

[0045] Figure 4a This is a schematic diagram illustrating the working principle of the sensing element and triggering element provided in the embodiments of this application;

[0046] Figure 4b A schematic diagram illustrating the principle of the sensing signal generated by the sensing element as the triggering element approaches, provided in an embodiment of this application;

[0047] Figure 5a This is a schematic diagram of the circuit principle after the base station and the cleaning equipment are connected, provided in an embodiment of this application.

[0048] Figure 5b This is a schematic diagram illustrating a transformed charging signal according to an embodiment of this application;

[0049] Figure 6 This is a schematic diagram illustrating another variation of the charging signal in an embodiment of this application;

[0050] Figure 7 A schematic flowchart of another device self-cleaning start-up method provided in an embodiment of this application;

[0051] Figure 8a A schematic flowchart illustrating a self-cleaning method for cleaning equipment provided in an embodiment of this application;

[0052] Figure 8b A schematic flowchart of another self-cleaning method for cleaning equipment provided in an embodiment of this application;

[0053] Figures 9a-9d Flowcharts illustrating several other self-cleaning methods for cleaning equipment provided in the embodiments of this application;

[0054] Figures 9e-9f This is a partial structural diagram of the cleaning equipment provided in this application when it is connected to a base station, and a schematic diagram of the liquid flow direction.

[0055] Figure 10 A schematic flowchart illustrating a self-cleaning method for cleaning equipment from the perspective of cleaning equipment, provided for embodiments of this application;

[0056] Figure 11a A schematic flowchart illustrating another self-cleaning method for cleaning equipment provided in this application embodiment;

[0057] Figure 11b This is a schematic flowchart illustrating another self-cleaning method for cleaning equipment from the perspective of cleaning equipment, provided as an embodiment of this application. Detailed Implementation

[0058] Currently, some cleaning equipment (such as floor scrubbers) requires manual removal of the wastewater tank after use to prevent odors and bacterial growth from prolonged storage. Users must then drain the wastewater and clean the tank and its associated drainage channels. While some advanced cleaning equipment features self-cleaning functions, allowing users to activate the self-cleaning mode (e.g., cleaning the roller brushes and drainage channels) after use, the base station only charges the equipment. The wastewater is ultimately returned to the tank, requiring manual emptying and cleaning after self-cleaning. This manual process increases workload and leads to a poor user experience. Furthermore, manual cleaning may be ineffective, and the repeated disassembly and reassembly of the tank can affect machine performance.

[0059] To achieve truly self-cleaning machines without any user intervention, one existing solution involves a wastewater discharge structure on the base station. After the user moves the cleaning equipment to the base station and docks it, the discharge structure connects to the wastewater tank of the cleaning equipment and automatically discharges the wastewater. However, this existing solution lacks the ability to recognize the docking of the cleaning equipment with the base station, thus failing to automatically initiate wastewater discharge, resulting in a poor user experience.

[0060] This application provides a solution where a base station (or cleaning device) has the function of identifying the connection between the cleaning device and the base station, and on this basis, can realize an automatic self-cleaning function, which can simplify cleaning operations and improve user experience. To enable those skilled in the art to better understand the solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0061] In some processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. These operations may be executed out of order or in parallel. Operation numbers such as 101, 102, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the terms "first," "second," etc., used herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types. The term "or / and" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A or / and B means that A can exist alone, A and B can exist simultaneously, or B can exist alone. The character " / " in this application generally indicates that the preceding and following related objects have an "or" relationship. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system including said element. Furthermore, the following embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0062] Before introducing the method embodiments provided in this application, the system environment architecture to which the method embodiments are applied will be described first.

[0063] Some embodiments of this application provide a cleaning equipment system, such as Figure 1a and Figure 1c As shown, the cleaning equipment system includes: a cleaning device 10 and a base station 20. The cleaning device 10 can be a handheld cleaning machine or a self-propelled cleaning device. Figures 1a-1d The illustration shows an example of a handheld floor cleaner. Self-moving cleaning devices can be cleaning robots, such as mopping robots or sweeping and mopping robots, but this embodiment does not limit the scope of the invention. Base station 20 is a base station used in conjunction with cleaning device 10, such as... Figure 1a and Figure 1c The base station shown is used in conjunction with a handheld floor cleaner.

[0064] The cleaning device 10 and base station 20 can communicate with each other and exchange information. The communication method between the cleaning device 10 and base station 20 is not limited. For example, both the cleaning device 10 and base station 20 can be equipped with infrared transceivers, communicating via infrared signals; or both can be equipped with Bluetooth modules, communicating via Bluetooth signals; or both can be equipped with WiFi modules, communicating via WiFi signals; or both can be equipped with mobile communication modules, communicating via a mobile communication network. Of course, the cleaning device 10 can also communicate with the base station 20 via a wired connection. Besides the above communication methods, the cleaning device 10 and base station 20 can also communicate through other means, such as through communication electrodes (also called communication contacts), charging electrodes (also called charging contacts), or wireless charging devices. For example, when the base station charges the cleaning device through the charging electrodes, it can communicate with the cleaning device 10 by changing the charging mode. The specific implementation of communication between base station 20 and cleaning equipment 10 via charging electrodes (also called charging contacts), wireless charging devices, etc., will be described in detail in other method embodiments. Please refer to the relevant content of other embodiments below.

[0065] In this embodiment, the cleaning device is a handheld vacuum cleaner. In other embodiments, the cleaning device can be a robot vacuum cleaner, carpet cleaning device, fabric cleaning device, or other cleaning device for cleaning various surfaces such as floors, tabletops, carpets, and sofas.

[0066] In this embodiment, base station 20 can provide some basic services for cleaning equipment 10. For example, base station 20 can provide docking services for cleaning equipment 10, so that cleaning equipment 10 can dock at base station 20 when it does not need to perform ground cleaning tasks. For another example, base station 20 can also provide charging services for cleaning equipment 10, so that cleaning equipment 10 can charge and store energy at the same time when it docks at base station 20. Of course, when cleaning equipment 10 is low on power, it can also return to base station 20 for charging and energy storage.

[0067] In addition to the basic services mentioned above, the functionality of base station 20 is further expanded in this embodiment. Base station 20 can cooperate with cleaning equipment 10 to provide a full-machine cleaning service for cleaning equipment 10. To achieve the purpose of providing a full-machine cleaning service for cleaning equipment 10, some hardware components are added to base station 20, such as a water storage tank, a sewage trough, and various pipelines connected to the water storage tank and sewage trough. At the same time, the control logic of base station 20 is improved, adding control logic related to providing a full-machine cleaning service for cleaning equipment 10. This control logic is implemented in the form of software programs. By running these software programs and cooperating with the hardware components added to provide a full-machine cleaning service for cleaning equipment 10, base station 20 can provide a full-machine cleaning service for cleaning equipment 10. Among them, the sewage trough refers to some components on the base station that are needed to assist in discharging sewage from the sewage tank on the cleaning equipment. The structure of the sewage trough is not limited. For example, it can be a sewage discharge structure with a cavity or a sewage discharge pipe without a cavity. For a sewage discharge structure containing a cavity, the cavity has a certain volume to hold a certain amount of sewage, facilitating the discharge of larger volumes of sewage. The size of the cavity can be flexibly set according to product requirements. Furthermore, those skilled in the art will understand that, depending on application requirements or scenarios, the sewage discharge trough can be flexibly selected to include a sewage discharge structure with a cavity, or it can be a sewage discharge pipe without a cavity.

[0068] In this embodiment, the base station 20 provides a full-machine cleaning service for the cleaning equipment 10 by automatically cleaning the equipment without user intervention, simplifying the cleaning operation and improving cleaning efficiency. The full-machine cleaning service for the cleaning equipment 10 mainly includes two parts: self-cleaning of the cleaning components and self-cleaning of the wastewater tank. The self-cleaning of the cleaning components involves washing and drying them, thus completing the self-cleaning task of the cleaning components of the cleaning equipment 10. The self-cleaning of the wastewater tank involves draining and rinsing the tank, thus automatically completing the self-cleaning task of the wastewater tank on the cleaning equipment 10. Furthermore, during the full-machine cleaning service provided by the base station 20, the suction channel between the wastewater tank and the cleaning components can also be cleaned simultaneously.

[0069] Based on the whole-machine cleaning service provided by base station 20 for cleaning equipment 10, after the cleaning equipment 10 finishes its ground cleaning task, the user only needs to place the cleaning equipment 10 on base station 20. Base station 20 and cleaning equipment 10 cooperate to automatically complete the self-cleaning of the cleaning components and the wastewater tank. After the self-cleaning action of the cleaning components is completed, the cleaning purpose of the cleaning components is achieved; after the self-cleaning action of the wastewater tank is completed, the wastewater tank is cleaned. Furthermore, the self-cleaning actions of the cleaning components and wastewater tank provided in this embodiment can achieve a good cleaning effect. Users do not need to disassemble the wastewater tank for manual cleaning to achieve the purpose of cleaning the wastewater tank; it can even achieve self-cleaning of the entire cleaning equipment, greatly improving the user experience.

[0070] It should be noted that in the whole-machine cleaning service, the self-cleaning of the cleaning components and the self-cleaning of the wastewater tank can be interconnected or independent of each other. For example, base station 20 can provide the wastewater tank self-cleaning service for cleaning device 10 independently, or it can provide the cleaning components self-cleaning service for cleaning device 10 independently. Of course, considering that the self-cleaning of the cleaning components depends on the wastewater tank, which needs to store the wastewater generated by the cleaning components during the self-cleaning process, in a preferred embodiment, the two self-cleaning processes can be integrated and completed in the same process to achieve whole-machine self-cleaning.

[0071] Furthermore, in addition to providing full-machine cleaning services for the cleaning equipment 10, the base station 20 can also provide water refilling services for the clean water tank on the cleaning equipment 10. Thus, when the clean water tank needs to be replenished with clean liquid, the user does not need to remove the tank from the device; the system automatically replenishes the clean water tank. It should be noted that the clean liquid in the tank can be clean water or various cleaning solutions containing detergent; there are no limitations on this.

[0072] Furthermore, the base station 20 can provide a whole-machine cleaning service for the cleaning equipment 10, or it can provide a water filling service for the clean water tank of the cleaning equipment 10; it can also provide a whole-machine cleaning service and a water filling service for the cleaning equipment 10 simultaneously in the same process. For example, it can provide a water filling service for the clean water tank of the cleaning equipment 10 at the same time as providing a whole-machine cleaning service for the cleaning equipment 10.

[0073] It should be noted that during the process of base station 20 providing whole-machine cleaning service and / or water injection service to cleaning equipment 10, cleaning equipment 10 needs to communicate with base station 20 to synchronize relevant information or status. The process of cleaning equipment 10 and base station 20 cooperating to perform whole-machine self-cleaning can be found in subsequent embodiments. Before describing the whole-machine self-cleaning process, it is necessary to first combine... Figure 1a as well as Figure 2The structure of the cleaning device 10 and base station 20 involved in the embodiments of this application will be briefly described.

[0074] The cleaning equipment 10 involved in the embodiments of this application will be briefly described below. For example... Figures 1a-1d As shown, the cleaning device 10 includes at least: a handle assembly 11, a body 12, a cleaning assembly 13, a processing system (not shown), and a clean water tank 16 and a wastewater tank 17 disposed on the body 12.

[0075] In this embodiment, the handle assembly 11 can be disposed at the upper end of the body 12, or at the side (back, left, or right side) of the body 12. Optionally, if the handle assembly 11 is disposed at the upper end of the body 12, its axial direction (the direction indicated by the center of gravity) is parallel to the axial direction of the body 12.

[0076] Optionally, the handle assembly 11 may include a handle for the user to grip, and an extension rod connecting the handle to the body 12. Furthermore, the length of the extension rod may be fixed or adjustable. Optionally, if the length of the extension rod is adjustable, its structure is telescopic. Accordingly, the user can flexibly adjust the length of the extension rod according to their own needs.

[0077] In this embodiment, the processing system can be disposed inside the casing or on the surface of the casing. Figure 1a The processing system is not illustrated. The processing system can be housed on the motherboard of the cleaning device, and may include components such as a CPU, controller, or GPU. The processing system acts as the control system for the cleaning device, primarily responsible for various control logics and controlling the usage and operating states of other connected components. In the following embodiments, the cleaning device 10, in conjunction with the base station 20, performs a self-cleaning process. The operations performed by the cleaning device 10 can be understood as being completed under the control of its processing system. In subsequent embodiments where the cleaning device 10 is described as the executing entity, those skilled in the art will understand that this executing entity can also be the processing system of the cleaning device 10.

[0078] In this embodiment, the cleaning assembly 13 includes a floor brush (or roller brush), a water pump, and a floor brush motor. The floor brush is equipped with floor brush nozzles. The clean water tank 16 is connected to the floor brush nozzles via a water supply pipeline, which includes, but is not limited to, a flexible hose connecting the clean water tank and the floor brush nozzles. The water pump is located on the water supply pipeline between the clean water tank 16 and the floor brush nozzles. For ease of description and distinction, the water supply pipeline between the clean water tank and the floor brush nozzles on the cleaning equipment is referred to as the first water supply pipeline. When performing a floor cleaning task, the floor brush motor drives the floor brush to rotate, relying on the friction between the floor brush and the ground to achieve floor cleaning. On the other hand, it drives the water pump to transport the clean liquid in the clean water tank 16 to the floor brush nozzles through the first water supply pipeline, where it is sprayed onto the ground and / or the floor brush to perform the floor cleaning task. After the cleaning task is performed, the clean liquid becomes dirty liquid. The dirty liquid on the ground is sucked up by the suction nozzle on the cleaning assembly 13 and sent into the wastewater tank 17 through the suction channel. It should be noted that cleaning equipment can be used on various surfaces, including floors, tabletops, and other objects, not just the ground. Figure 2 As shown, the suction channel 174, which is the air duct of the cleaning equipment, may include, but is not limited to, a hose connecting the suction nozzle on the cleaning assembly 13 and the wastewater tank 17.

[0079] In some alternative embodiments, a display can also be installed on the housing 12. Figure 1a The display is not illustrated. The display is electrically connected to the processing system and is used to display the working status of the cleaning equipment, power information, and the working status information of at least one component on the cleaning equipment. The display may include at least one display area for displaying the working status information of different components. Optionally, 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) cleaning degree information of the cleaning component on the cleaning object; (3) power information of the power supply unit; (4) self-cleaning information of the cleaning equipment; (5) main motor power information; (6) stall information of the cleaning component; (7) working status information of the communication component; (8) self-cleaning stage information. The liquid storage device may be the clean water tank or the wastewater tank of the cleaning equipment.

[0080] In the embodiments of this application, the specific shape of the display is not limited. Optionally, the display can be a regular shape such as a circle, square, ellipse, trapezoid, or polygon, or any irregular shape, which will not be listed here.

[0081] Optionally, the display can be fixedly mounted on the surface of the body 12, or retractably mounted on the body 12. For example, the display can be mounted on the top of the body, or on the front, left, or right side of the body. Optionally, if the display is mounted on the top of the body 12, the plane on which the display is located can be perpendicular to or at an angle to the axis of the body 12. The body 12 includes a main motor and a liquid storage device (such as a clean water tank and a wastewater tank). Optionally, the display is mounted above the liquid storage device, that is, above the clean water tank or the wastewater tank, preferably above the clean water tank. Furthermore, to meet the user's viewing angle, the display can be mounted on the front of the handle assembly 11.

[0082] In this embodiment, in order to achieve self-cleaning of the sewage tank 17, a drain outlet 171 is added to the bottom of the sewage tank 17 (e.g., ...). Figure 1a or Figure 1c (As shown in the figure). Accordingly, in order to achieve automatic water filling of the clean water tank 16, a water inlet (not shown in the figure) is added at the bottom of the body 12 near the drain port 171. The water inlet is connected to the liquid outlet of the clean water tank 16 through a liquid pipe, and is used to replenish the clean water tank 16 with cleaning solution through the liquid outlet. When the cleaning equipment cleans the surface to be cleaned, the water in the clean water tank 16 is discharged through the liquid outlet to the water outlet pipe and delivered to the floor brush nozzle. The drain port and water inlet need to be used in conjunction with the corresponding hardware components on the base station. There is no limitation on the setting of the drain port and water inlet, and they can be set in a position that is convenient for use with the corresponding components on the base station 20.

[0083] The base station 20 involved in the embodiments of this application will be briefly described below. Figure 1a or Figure 1c As shown, base station 20 includes a base station body 21 and a base 22 for supporting cleaning equipment 10. A controller and a memory are mounted on the base station body 21. The memory stores a computer program, and the controller executes the computer program in the memory to implement various control logics for the base station 20. For example, the entire cleaning process of the cleaning equipment 10 can be controlled and executed by the controller of the base station 20. The controller and memory are not illustrated in the accompanying drawings.

[0084] The base 22, also known as a base station tray, has a receiving slot 221 for accommodating the cleaning component 13 (specifically, the floor brush). When the cleaning device 10 is placed on the base 22, the floor brush in the cleaning component 13 will be located within the receiving slot 221. Additionally, a first charging unit 223 is provided on the base 22. One end of the first charging unit 223 is used to interface with a second charging unit on the cleaning device 10, and the other end is connected to a power supply. This power supply can be a charging power source or the mains power supply in the environment where the base station 20 is located; there is no limitation on either. This allows the cleaning device 10 to be charged and powered when it is docked at the base station 20. The first charging unit 223 can also be a wireless charging interface for wireless charging. Furthermore, other components can be provided on the base 22, such as fixing parts for securing or stabilizing the cleaning device 10, which are not shown in the diagram.

[0085] Furthermore, combined with Figure 1a and Figure 2 The base station body 21 is equipped with at least a water storage tank 211, a water injection valve 212 connected to the water storage tank 211, a sewage discharge trough 213, and an inlet 214 of the sewage discharge trough 213; further, such as Figure 9e and Figure 9f As shown, the water storage tank 211 is connected to the sewage tank 213 via the third water supply pipe 219. The other end of the sewage tank 213 is connected to the sewer pipe, which is connected to the sewer or other sewage discharge channels.

[0086] like Figure 1b As shown, when the cleaning device 10 is connected to the base station 20, with the cleaning device 10 placed on the base 22, the inlet 214 of the sewage trough 213 is connected to the drain outlet 171 of the sewage tank 17 of the cleaning device 10. Thus, during self-cleaning of the sewage tank 17, the sewage in the sewage tank 17 flows through the drain outlet 171 to the inlet 214, then flows into the sewage trough 213, and finally is discharged into the sewer or other sewage pipes through the sewage trough 213. Optionally, the drain outlet can be located either at the bottom of the sewage tank or in the lower area of ​​the side wall of the sewage tank.

[0087] like Figure 1b As shown, when the cleaning device 10 is connected to the base station 20, with the cleaning device 10 placed on the base 22, the water inlet on the clean water tank 16 of the cleaning device 10 is connected to the water inlet valve 212 on the base station 20. This water inlet valve 212 is connected to the water storage tank 211 on the base station 20. Thus, when the water inlet valve 212 is open, clean liquid in the water storage tank 211 can enter the clean water tank 16 through the water inlet valve 212 and the water inlet, achieving automatic water filling. When the water inlet valve 212 is closed, water filling to the clean water tank 16 will stop. Optionally, the water inlet can be located on the bottom support of the clean water tank or the wastewater tank, but is not limited to this.

[0088] Furthermore, such as Figure 1b As shown, a display 218 is also provided on the base station body 21 of the base station 20. The display 218 is electrically connected to the base station controller and is used to display the working status of the base station and the working status information of each component on the base station. Furthermore, it can also display information such as the stages and steps of the self-cleaning of the cleaning equipment.

[0089] Similarly, in this embodiment, the specific shape of the display 218 on the base station 20 is not limited. Optionally, the display 218 can be a regular shape such as circular, square, elliptical, trapezoidal, or polygonal, or any irregular shape, which will not be listed here. Optionally, the display 218 can be fixedly disposed on the surface of the base station body 21, or retractably disposed on the base station body 21. For example, the display 218 can be disposed on the top of the base station body 21, or on the front, left, or right side of the base station body 21. Optionally, if the display 218 is disposed on the top of the base station body 21, the plane on which the display is located can be perpendicular to the axis of the base station body 21 or at a certain angle. Figure 1b The illustration shows an example of a display 218 located on the top of the base station body 21.

[0090] Further optional, such as Figure 2 As shown, a rinsing nozzle 222 is provided inside the receiving tank 221. The rinsing nozzle 222 is connected to the water storage tank 211 via a second water supply pipe 215. The second water supply pipe 215 can be a water pipe or hose connecting the water storage tank 211 and the rinsing nozzle 222, and is not limited thereto. When the cleaning device 10 is placed on the base 22, the clean liquid in the water storage tank 211 can be transported to the rinsing nozzle 222 through the second water supply pipe 215. The rinsing nozzle 222 sprays the clean liquid onto the floor brush in the receiving tank 221. The main motor of the cleaning device is turned on, and the liquid is collected into the wastewater tank 17, filling the wastewater tank 17 with water. In another embodiment, this method can also be used to self-clean the floor brush, without using water from the clean water tank.

[0091] Further optional, such as Figure 2 As shown, the base station body 21 is equipped with a moving mechanism 216 that can open and close the sewage tank 17. The sewage tank 17 has a cover plate 172 on its discharge port. The moving mechanism 216 corresponds to the cover plate on the sewage tank 17. The moving mechanism 216 can open the cover plate by moving, so that the discharge port of the sewage tank 17 is connected to the sewage trough 213. The moving mechanism 216 can close the cover plate of the sewage tank 17 by moving in the opposite direction. When the cover plate 172 is closed, the latch 173 on the sewage tank will lock the cover plate 172 to close the sewage tank 17.

[0092] Further optional, such as Figure 2 As shown, the base station body 21 is also equipped with a flushing device 217 for flushing the sewage tank 17. The flushing device 217 is correspondingly arranged with the sewage outlet 171 of the sewage tank. When the cover 172 of the sewage tank is open, the flushing device 217 can move repeatedly towards the sewage tank and extend into the sewage tank from the sewage outlet 171 to flush the sewage tank.

[0093] In addition to the components described above, the cleaning device 10 and base station 20 may also include other components. For example, one of the cleaning device 10 and base station 20 may be provided with a sensing component, and the other may be provided with a triggering component adapted to the sensing component. Figure 1c Combination Figure 1d The example shown is that the base station 20 is equipped with a sensing component 219 and the cleaning device 10 is equipped with a triggering component 175.

[0094] The aforementioned triggering and sensing components are devices capable of triggering or cooperating with each other to generate a sensing signal, and the sensing signal will vary depending on the relative position between the triggering and sensing components. For example, the triggering component can be a magnetic element (such as a magnet), and the sensing component can be a reed switch or a Hall element. The reed switch or Hall element can generate a corresponding sensing signal (such as a current signal or a voltage signal) by sensing the magnetic signal of the magnetic element. Among them, the reed switch, also known as a magnetic reed switch, is a special magnetically sensitive switch, which is generally composed of two soft magnetic metal reeds sealed in a glass tube. Figure 4a and Figure 4b The diagram shows a schematic of the reed switch E. For example, the triggering component could also be a reflector, and the sensing component could also be a photoelectric switch; alternatively, the triggering component could also be an infrared generator, and the sensing component could also be an infrared sensor, etc. Those skilled in the art can choose flexibly, as long as the triggering component and the sensing component can trigger each other or cooperate to generate a sensing signal.

[0095] The structures of the cleaning device 10 and base station 20 described above are merely illustrative examples. These structures are some structures related to the whole machine cleaning service, but it does not mean that the cleaning device 10 and base station 20 in this embodiment only include the above structures, nor does it mean that the cleaning device 10 and base station 20 must include all of the above structures.

[0096] Based on the aforementioned structures of the cleaning device 10 and the base station 20, the following embodiments of this application provide several methods and logics for the base station 20 or the cleaning device 10 to initiate self-cleaning, as well as methods and logics for the cleaning device 10 and the base station 20 to cooperate with each other to perform overall cleaning of the cleaning device 10.

[0097] Figure 3 This application illustrates a flowchart of a device self-cleaning start-up method according to an embodiment of the present application. This method is applicable to devices such as…Figure 1a or Figure 1c The base station 20 shown can be implemented in practice using a controller (not shown in the figure) mounted on the base station 20. The controller can be, but is not limited to, a microcontroller, a single-chip microcomputer, a CPU, etc., and is not limited here. Figure 3 As shown, the device self-cleaning start-up method includes the following steps:

[0098] 101. Check whether the cleaning equipment is located at the designated position at the base station;

[0099] 102. Detect the communication connection with the cleaning equipment;

[0100] 103. If the cleaning equipment is detected to be located at the set position and the communication link meets the communication requirements, then it is determined that the base station and the cleaning equipment have successfully connected.

[0101] 104. Send a command to the cleaning device to activate the self-cleaning function via the communication link;

[0102] 105. Activate the cleaning function that assists the self-cleaning of the cleaning equipment.

[0103] In practical applications, see Figure 1a or Figure 1c In order to achieve fully automated cleaning of the cleaning equipment 10 by cooperating with the base station 20, in addition to ensuring that the drain outlet 171 on the wastewater tank 17 of the cleaning equipment 10 is connected to the inlet 214 of the sewage trough of the base station 20 to connect the wastewater tank 17 and the sewage trough, the cleaning equipment 10 and the base station 20 also need to be able to communicate. Therefore, in this embodiment, the docking between the base station 20 and the cleaning equipment 10 includes: position docking and signal docking. Position docking refers to positioning the cleaning equipment at a predetermined position at the base station; specifically, it involves engaging the drain outlet 171 on the wastewater tank 17 of the cleaning equipment 10 with the inlet 214 of the sewage trough of the base station 20. Signal docking refers to establishing a communication connection between the cleaning equipment 10 and the base station 20.

[0104] To achieve location detection, the base station 20 in this embodiment is equipped with a sensing component 219, and correspondingly, the cleaning device 10 is equipped with a triggering component 175 adapted to the sensing component. The sensing component generates a corresponding sensing signal (such as a current signal) by sensing the signal from the triggering component, which can provide data support for detecting whether the cleaning device is located at a set position at the base station. For specific implementation details, see [link to implementation details]. Figure 1c and Figure 1dThe triggering component 175 can be located on the side of the cleaning device 10 facing the base station 20. More specifically, the triggering component can be located on the side of the wastewater tank 17 of the cleaning device 10 facing the base station and near the drain outlet 171. Correspondingly, the sensing component 219 can be located on the base station 20 near the inlet 214 of the drain tank.

[0105] The sensing signal generated by the sensing component, which senses the signal from the triggering component, changes with the relative position between the sensing component and the triggering component. This change in relative position is primarily caused by the movement of the cleaning equipment. As the triggering component 175 moves closer to the sensing component 219 on the base station 20 along with the cleaning equipment 10, the signal sensed by the sensing component 219 from the triggering component 211 becomes increasingly stronger, thus increasing the generated sensing signal. When the drain outlet 171 at the bottom of the wastewater tank 17 of the cleaning equipment 10 is aligned with the inlet 214 of the wastewater trough of the base station 20, the relative position between the triggering component and the sensing component reaches its minimum. Consequently, the signal sensed by the sensing component from the triggering component reaches its maximum, and the generated sensing signal reaches its peak value.

[0106] Specifically, in combination Figure 4a Taking a magnetic element (such as a magnet) as the triggering component 175 and a reed switch as the sensing component 219 as an example, when the reed switch does not sense the magnetic field signal generated by the magnetic element, the two reeds e inside are in a non-contact state (such as...). Figure 4a (The state shown by the horizontal arrow on the left) In other words, the circuit inside the reed switch is in an open state. As the cleaning device 10 is gradually moved to the base station 20 to dock with it, the magnetic component moves closer to the reed switch of the base station 20. The magnetic field signal generated by the magnetic component approaches the reed switch, which magnetizes the two reeds inside the reed switch, producing different polarities. When the magnetic force exceeds the elastic force of the reeds themselves, the two reeds attract each other (e.g., Figure 4a (As shown by the right side of the horizontal arrow), the reed switch circuit is turned on to generate a corresponding induced signal (such as a current signal). When the drain port 171 at the bottom of the sewage tank 21 of the cleaning device 10 is standardly engaged with the sewage inlet 214 of the sewage trough of the base station 20, the relative position of the reed switch and the magnetic element is at its minimum, the magnetic field signal of the magnetic element sensed by the reed switch reaches its strongest, and correspondingly, the generated induced signal also reaches its strongest value (i.e., peak value). Figure 4b The diagram illustrates the principle of how the induced signal changes as a reed switch approaches a magnetic element. The origin O represents the position of the reed switch, the horizontal arrow indicates the direction of movement of the magnetic element, and the horizontal axis D represents the relative distance between the magnetic element and the reed switch.

[0107] In the above example, generally, when the distance between the magnetic component and the reed switch is less than or equal to about 10mm, the reed switch circuit can conduct and generate a corresponding induction signal. Therefore, when the reed switch generates an induction signal, it indicates that the drain outlet 171 at the bottom of the wastewater tank 17 and the inlet 214 of the drain trough of the base station 20 are connected. Based on this, to avoid accidental occurrences, if the induction signal generated by the reed switch persists for a preset duration, it can be considered that the drain outlet 171 and the inlet 214 of the drain trough of the base station 20 are connected, meaning the cleaning equipment is located at the set position at the base station. Based on the above, in one feasible technical solution, the above-mentioned 101 "detecting whether the cleaning equipment is located at the set position at the base station" can specifically include:

[0108] 1011. When the triggering component on the cleaning device is sensed, access bit information is generated;

[0109] 1012. If the access signal does not disappear after a first preset duration, then the cleaning device is determined to be located at the set position.

[0110] In the above-described 1011, the base station 20 can sense the triggering component on the cleaning equipment through its own sensing components. The principle by which the sensing component senses the triggering component differs depending on the specific sensing component and triggering component. Taking a switching component such as a reed switch or Hall effect switch as an example, when the sensing component senses the triggering component, its internal circuit is activated, and a current signal (i.e., the sensing signal mentioned above) flows through the circuit containing the sensing component. Furthermore, the base station 20 can store the current signal in the detected circuit containing the sensing component, generate a pair of access position signals, and store these signals locally. These pair of access position signals reflect that the drain outlet 171 at the bottom of the wastewater tank 17 of the cleaning equipment is connected to the inlet 214 of the base station 20's drain trough. For the specific principle of the circuit activation within the sensing component in the above example, please refer to the relevant content above.

[0111] Based on the above, and for cost considerations, in one specific embodiment, the triggering component can be a magnetic component, and correspondingly, the sensing component can be a switch-type component adapted to the magnetic component, such as a reed switch. Further, a specific implementation of the above-mentioned 1011 "generating an access position signal when the triggering component on the cleaning device is sensed" may include the following specific steps:

[0112] 10111. When the magnetic component is sensed, the sensing circuit is turned on;

[0113] 10112. When an on-line electrical signal is detected on the sensing circuit, the connection signal is generated.

[0114] In practical implementation, the aforementioned sensing circuit can refer to the circuit containing the sensing component. When the circuit within the sensing component is turned on, the sensing circuit is activated. When the sensing circuit is activated, the connection signal present in the sensing circuit can be, but is not limited to, a current signal or a voltage signal.

[0115] Of course, in other embodiments, the triggering component and the sensing component can also be of other types. For example, the triggering component can also be a reflector, and the sensing component can also be a photoelectric switch; or, the triggering component can also be an infrared generator, and the sensing component can also be an infrared sensor, etc. Regarding the principle of the sensing component sensing the triggering component in other types of cases, please refer to existing content or the example provided in this embodiment where the triggering component is a magnetic element, which will not be repeated here. As a preferred example, this embodiment selects a magnetic element as the triggering component and a reed switch as the sensing component.

[0116] It should be further noted that the base station 20 can also generate a displacement signal when it does not sense the triggering component on the cleaning equipment. This displacement signal indicates that the drain outlet 171 at the bottom of the wastewater tank 17 of the cleaning equipment has separated from the inlet 214 of the drain trough of the base station 20. That is, step 101, "detecting whether the cleaning equipment is located at the set position at the base station," may further include the following steps:

[0117] 1013. When no triggering component is detected on the cleaning device, displacement information is generated;

[0118] Furthermore, in conjunction with the content related to 1011 above, when the triggering component in 1013 above is a magnetic component, a specific implementation of the above-mentioned "generating displacement information when no triggering component on the cleaning device is sensed" may include the following specific steps:

[0119] 10131. When the magnetic component is not detected, disconnect the sensing circuit;

[0120] 10132. When no electrical signal is detected on the sensing circuit, the displacement signal is generated.

[0121] In practical implementation, the aforementioned sensing circuit may refer to the circuit where the sensing component of the base station is located. The base station senses the magnetic component through the sensing component. When the sensing component does not sense the magnetic component, the circuit inside the sensing component is disconnected, which also disconnects the sensing circuit. There is no electrical signal flowing through the sensing circuit. When the base station detects that there is no electrical signal in the sensing circuit, it generates an off-position signal and buffers the off-position signal locally.

[0122] It should be noted that in some other embodiments, such as those described below... Figure 6The illustrated embodiment of device self-cleaning startup, with cleaning device 10 as the execution entity, also includes a base station 20 that can send generated access and departure signals to cleaning device 10 to provide data support for cleaning device 10 to detect whether it is located at base station 20. For specific implementation details, please refer to [reference needed]. Figure 6 Related descriptions.

[0123] In the above 1012, the first preset duration can be 30s, 1min, or other durations, and is not limited here. If the access signal continues for the duration of the first preset duration and still has not disappeared, it indicates that the connection between the drain outlet 171 at the bottom of the sewage tank 17 of the cleaning equipment and the inlet 214 of the sewage trough of the base station 20 is in a stable state, and therefore it can be determined that the cleaning equipment is located at the set position of the base station.

[0124] In the above-mentioned 102, the communication connection between the base station 20 and the cleaning device 10 can be implemented in any of the following ways, including but not limited to: wireless, wired, and electrode (or contact). Wireless methods include, but are not limited to: Bluetooth, WIFI, near-field communication, mobile networks (such as 4G+, 5G+), etc., and may also include wireless communication connections achieved through wireless charging. 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 through communication electrodes, charging electrodes, etc. Based on this, the above-mentioned 102 "monitoring the communication link with the cleaning device" can be implemented using any of the following methods:

[0125] (1) Detect the charging signal on the charging circuit between the first charging positive electrode and the first charging negative electrode of the base station; if a charging signal is detected on the charging circuit, it is determined that the communication link with the cleaning equipment has been established and the communication link meets the communication requirements, so as to use the charging circuit to transmit the communication signal.

[0126] (2) Monitor whether the first electrical connection terminal on the base station used for communication receives a communication signal from the cleaning equipment; if a communication signal from the cleaning equipment is detected, it is determined that the communication link with the cleaning equipment has been established and the communication link meets the communication requirements.

[0127] (3) Detect the wireless connection signal of the cleaning equipment; if the wireless connection signal of the cleaning equipment is detected, establish a communication link with the cleaning equipment. Successful establishment of the communication link meets the communication requirements.

[0128] (4) Detect the wireless charging transmitter on the base station; if the wireless charging transmitter is detected to be working and emitting a wireless charging signal, it is determined that the communication link between the cleaning equipment and the wireless charging transmitter has been established and the communication link meets the communication requirements, so as to use the wireless charging transmitter to transmit communication signals.

[0129] In (1) above, the charging circuit can be used to transmit communication signals by changing the charging mode.

[0130] For example, see Figure 5a As shown, the base station 20 is provided with two first charging electrodes, namely a first positive charging electrode A1 and a first negative charging electrode A2; correspondingly, the cleaning device is provided with two second charging electrodes, namely a second positive charging electrode B1 and a second negative charging electrode B2; after the first charging electrodes and the second charging electrodes are connected, a charging electrode is formed. Figure 5a Thick black line The charging circuit shown allows base station 20 to charge cleaning device 10. It also enables communication signal transmission between the base station and cleaning device when successful docking is confirmed. Specifically, taking the base station sending a command to the cleaning device to activate the self-cleaning function as an example, normally, base station 20 charges cleaning device 10 by converting the AC signal from the external power supply into a constant current charging signal and supplying it to cleaning device 10 via the power supply control device within base station 20. If the controller within base station 20 determines that the base station and cleaning device have successfully docked, it sends a switching command to the power supply control device. Upon receiving the switching command, the power supply control device generates a pulse signal with five pulse cycles based on the received AC signal, switching the power supply mode to cleaning device 10 from constant current mode to pulse mode. After generating the pulse signal with five pulse cycles, the power supply control device restores the provided charging signal to a constant signal. Thus, the charging signal at the second charging positive terminal B1 on cleaning device 10 can present as follows: Figure 5b As shown in the figure, the charging signal flowing into the shunt also appears as follows. Figure 5b As shown in the figure.

[0131] In the above, the shunt is an electrical component that contains a resistor with a very small resistance value. It utilizes the volt-ampere characteristic of the resistor. When a current signal flows through the resistor, a corresponding voltage signal will be generated across the resistor.

[0132] The processor within the cleaning device 10 can monitor the charging signal flowing into the splitter, and when it detects a change in the charging signal flowing into the splitter and determines that the change meets objective requirements such as the following:

[0133] Transformation method: DC → Pulse → DC;

[0134] Duration of change (or period): The duration is 5 pulse cycles;

[0135] It then determines that it has received the instruction from the base station to start the self-cleaning function, and starts the self-cleaning function according to the instruction.

[0136] The above example is merely illustrative; the reverse is also possible and is not limited here. Similarly, the cleaning device 10 can also change the battery charging mode through the charging control unit within the battery system to transmit communication signals to the base station 20 using the charging circuit, which will not be described in detail here.

[0137] In (2) above, the first electrical connection terminal on the base station used for communication can be an electrical interface for wired communication, or it can be a contact-type communication electrode (or communication contact). Correspondingly, the cleaning equipment is provided with a second electrical connection terminal for connecting to the first electrical connection terminal. When the first electrical connection terminal on the base station can receive communication signals from the cleaning equipment, it indicates that the first electrical connection terminal on the base station and the second electrical connection terminal on the cleaning equipment have been electrically connected, that is, the base station and the cleaning equipment have established a communication link, and the communication link is stable and meets the communication requirements. After determining that the base station 20 has successfully connected with the cleaning equipment, the base station 20 and the cleaning equipment can use the communication link to exchange communication signals.

[0138] In (3) above, the base station and the cleaning equipment establish a communication connection using wireless communication. Wireless communication is short-range communication. When 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. At this time, it can be directly considered that the communication link meets the communication requirements. Alternatively, it can be further determined whether the signal strength of the communication signal transmitted through the communication link is greater than or equal to a preset threshold. If the signal strength is greater than or equal to the preset threshold, it can be determined that the communication link meets the communication requirements.

[0139] Similar to (1) above, (4) above can also transmit communication signals by changing the charging mode using a wireless charging transmitter.

[0140] Specifically, under normal circumstances, when the base station 20 charges the cleaning device 10 using its own wireless charging transmitter, it generates a constantly changing magnetic field (AC charging signal) through the coil by allowing the AC charging signal to pass through the coil. After this changing magnetic field is received by the wireless charging receiver of the cleaning device 10, it will generate an AC charging signal in the local induction coil. Furthermore, the cleaning device 10 rectifies and regulates the AC charging signal to charge the battery.

[0141] Once base station 20 confirms successful docking with the cleaning equipment, when the cleaning equipment needs to send a command to activate its self-cleaning function, it can perform a rectification and switching operation to generate a pulse signal with five pulse cycles based on the AC charging signal. This pulse signal, transmitted through a coil in the wireless transmitter, generates a magnetic field with a constant direction but continuously changing strength. This changing magnetic field is received by the wireless charging receiver of the cleaning equipment 10, generating a corresponding pulse signal in its local induction coil. After generating the pulse signal with five pulse cycles, base station 20 can restore the provided charging signal to an AC charging signal. Therefore, the charging signal received by the wireless charging receiver on the cleaning equipment 10 can be presented as follows: Figure 6 As shown in the figure.

[0142] The processor within the cleaning device 10 can monitor the charging signal received by the wireless charging receiver, and determine when a change in the charging signal received by the wireless charging receiver is detected and the change meets objective requirements such as the following:

[0143] Transformation mode: AC → Pulse → AC;

[0144] Duration of change (or period): The duration is 5 pulse cycles;

[0145] It then determines that it has received the instruction from the base station to start the self-cleaning function, and starts the self-cleaning function according to the instruction.

[0146] The above example is merely illustrative; the reverse is also possible, and no limitation is made here.

[0147] In the above scenario, if the cleaning device 10 needs to transmit signals to the base station 20, this can be achieved through, but is not limited to, reverse wireless charging. Reverse wireless charging refers to using technical means to convert the inductor coil integrated inside the cleaning device 20 into an output mode, thereby supplying power to the base station 20. In this way, the wireless charging receiver of the cleaning device 10 changes from a receiver to a transmitter, and the wireless charging transmitter of the base station 20 changes from a transmitter to a receiver. Specifically, taking the cleaning device 10 needing to send a start command to the base station 20 to begin filling the water tank 16 as an example, the cleaning device 10 can perform reverse wireless charging on the base station 20 for a preset time period. After the preset time period is reached, it returns to the original wireless charging mode. Correspondingly, the base station 20 can start a timer when it detects a change in the wireless charging mode, and after the preset time period is reached, it detects that the wireless charging mode has returned to its original state, confirming that it has received the start command from the cleaning device to begin filling the water tank 16. The preset time period can be 10s, 25s, or other durations, and is not limited here.

[0148] For a detailed description of the implementation in steps 103 to 104 above, please refer to the relevant content described in steps 101 to 102 above.

[0149] In the above 105, the base station 20 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:

[0150] Activate the function to fill the wastewater tank on the cleaning equipment;

[0151] Activate the function to discharge wastewater from the wastewater tank on the cleaning equipment;

[0152] After the sewage in the sewage tank has been drained, start the function of rinsing the sewage tank;

[0153] Activate the function to inject cleaning solution into the clean water tank of the cleaning equipment;

[0154] Activate the function to spray cleaning fluid onto the cleaning actuators of the cleaning equipment to saturate the cleaning actuators;

[0155] After the cleaning actuator of the equipment to be cleaned completes its self-cleaning process, the function of the drying and cleaning actuator is activated.

[0156] The timing of the activation of at least one of the above-mentioned features can be determined by the base station based on the instructions received from the cleaning device. For specific implementation details of the activation process for at least one of the above-mentioned features, please refer to the relevant content in the embodiments of the self-cleaning method for cleaning devices provided in this application (i.e., related to...). Figures 8a-10 The details related to the illustrated embodiments are not described in detail here.

[0157] The technical solution provided in this embodiment allows the base station to detect whether the cleaning equipment is located at a designated position on the base station and to detect the communication link between the base station and the cleaning equipment. Based on the detection that the cleaning equipment is located at the designated position and the communication link meets communication requirements, the base station determines that the connection between the base station and the cleaning equipment is successful. Furthermore, it sends a command to the cleaning equipment to activate the self-cleaning function and initiates a cleaning function to assist the self-cleaning of the cleaning equipment via the communication link. Therefore, this solution provides a base station with the ability to identify whether the connection with the cleaning equipment is successful and can automatically activate the cleaning function, which simplifies the cleaning operation and improves the user experience.

[0158] Furthermore, in one embodiment, the execution of steps 101-102 above can be triggered upon detecting that the user has input an instruction to start cleaning the cleaning equipment. That is, the method provided in this embodiment may further include the following steps:

[0159] 100. In response to a user input command to start cleaning the cleaning equipment, trigger the steps of detecting whether the cleaning equipment is located at the set position and detecting the communication link with the cleaning equipment.

[0160] In practice, it can be determined that the user has input an instruction to start cleaning the cleaning equipment if at least one of the following events is detected: user manipulation event of the target control (such as the self-cleaning function control); voice control event in which the user issues a specified semantic voice, such as the user issuing a voice to start cleaning.

[0161] Corresponding to the above Figure 3 The illustrated embodiment of the device self-cleaning startup method provided in this application also includes embodiments of a cleaning system and a base station. Specifically,

[0162] The architecture of the cleaning system provided in one embodiment of this application is as follows: Figure 1c As shown. See also Figure 1c The cleaning system includes: a base station 20 and a cleaning device 10; wherein,

[0163] Base station 20 is used to detect whether the cleaning equipment is located at a set location at the base station; detect the communication link between the base station and the cleaning equipment; if the cleaning equipment is detected to be located at the set location and the communication link meets the communication requirements, it is determined that the base station and the cleaning equipment are successfully connected; send a command to the cleaning equipment to start the self-cleaning function through the communication link; and start the cleaning function to assist the cleaning equipment in self-cleaning.

[0164] The cleaning device 10 is configured to activate the self-cleaning function in response to a command sent by the cleaning device to activate the self-cleaning function.

[0165] It should be noted that the structure and function of the cleaning equipment and base station provided in this application embodiment are not limited to the components and functions described in this embodiment above. For the specific structure and function of the cleaning equipment and base station, please refer to the relevant content described in other embodiments of this application, which will not be repeated here.

[0166] This application provides a base station structure as follows: Figure 1c The structure of base station 20 is shown in the image. See also... Figure 1c The base station includes: a base station body and a base for supporting cleaning equipment; a controller and a memory are disposed on the base station body; the memory stores a computer program, and the controller is coupled to the memory to execute the computer program for executing this application. Figure 3 The steps in the illustrated embodiment of the device self-cleaning startup method are shown.

[0167] It should be noted that the structure and function of the base station provided in this application embodiment are not limited to the components and functions described in this embodiment above. For the specific structure and function of the base station, please refer to the relevant content described in other embodiments of this application, which will not be repeated here.

[0168] The above content mainly introduces this technical solution from the perspective of base station 20 performing "detection of whether the cleaning equipment is located at the set position of the base station and detection of the communication link between the base station and the cleaning equipment". Of course, it is also possible for the cleaning equipment 10 to perform the same function. Based on this, another embodiment of this application also provides a device self-cleaning start method. This method is applicable to cleaning equipment. In specific implementation, the method provided in this embodiment can be implemented by a controller (not shown in the figure) set on the cleaning equipment 10. The controller can be, but is not limited to, a microcontroller, a single-chip microcomputer, a CPU, etc. Specifically,

[0169] See Figure 7 The illustrated flowchart shows another embodiment of the device self-cleaning startup method provided in this application, which includes the following steps:

[0170] 201. Detect the communication link between the device and the base station;

[0171] 202. Determine if it is located at the designated location of the base station;

[0172] 203. If the communication link meets the communication requirements and it is determined that it is in the set position, then the self-cleaning function is activated;

[0173] 204. Send a start command to the base station through the communication link so that the base station can start the cleaning function that assists the cleaning equipment in self-cleaning.

[0174] In one feasible technical solution, the implementation of the above-mentioned 201 "detection of the communication link between the base station" may specifically include, but is not limited to, any one of the following:

[0175] 1) Detect the charging signal on the charging circuit between the second charging positive electrode and the second charging negative electrode on the cleaning equipment; if a charging signal is detected on the charging circuit, determine that the communication link with the base station has been established and the communication link meets the communication requirements, so as to use the charging circuit to transmit communication signals;

[0176] 2) Monitor whether the second electrical connection terminal used for communication on the cleaning equipment receives a communication signal from the base station. If a communication signal from the base station is detected, it is determined that a communication link with the base station has been established and that the communication link meets the communication requirements.

[0177] 3) Detect the wireless connection signal of the base station. If the wireless connection signal of the base station is detected, establish a communication link with the base station. Successful establishment of the communication link meets the communication requirements.

[0178] 4) Detect the wireless charging receiver on the cleaning equipment; if the wireless charging receiver is detected to receive a wireless charging signal, it is determined that a communication link with the base station has been established and the communication link meets the communication requirements, so as to use the wireless charging receiver to transmit communication signals.

[0179] For details on how the cleaning device 10 and the base station 20 transmit communication signals through the communication link determined by any of the methods 1) to 4) above, please refer to the relevant content in other embodiments of this application (such as...). Figure 3 The provided embodiments will not be described in detail here.

[0180] In one embodiment of the above 202, as shown Figure 1c and Figure 1d As shown, if the base station 20 is equipped with a sensor 219 and the cleaning device 10 is equipped with a trigger 175, and if a communication link has been established between the cleaning device and the base station, and the communication link meets the communication requirements, the cleaning device 10 can determine whether it is located at a set position at the base station based on the access bit signal received from the base station 20. In another embodiment, the cleaning device 10 may be equipped with a sensor, and the base station 20 may be equipped with a trigger; specifically, see [link to documentation]. Figure 1a The triggering component (not shown in the figure) can be disposed on the side of the base station 20 facing the cleaning device 10. More specifically, the triggering component can be disposed on the side of the base station 20 facing the cleaning device 10, near the inlet 214 of the sewage tank. Correspondingly, the sensing component (not shown in the figure) can be disposed on the sewage tank 17 of the cleaning device 10, near the sewage outlet 171 at the bottom of the sewage tank. In another example described above, the cleaning device 10 can determine whether it is located at a set position at the base station 20 by sensing the triggering component on the base station 20. Based on this, in a specific implementable technical solution, the above-mentioned 201 "determining whether it is located at a set position at the base station" can specifically include any of the following implementation methods:

[0181] Method 1: If the system receives the access signal sent by the base station through the communication link and does not receive the departure signal sent by the base station for a continuous first duration, it is determined that the system is located at the set position.

[0182] Method 2: When the triggering component on the base station is sensed, an access bit signal is generated. If the access bit signal does not disappear after a first preset duration, it is determined that the location is at the set position.

[0183] In the above method one, the specific implementation of the base station 20 sending access position signals and departure signals to the cleaning equipment 10 through the communication link can be found in the relevant content of other embodiments of the above application.

[0184] In the second method described above, the triggering component on the base station can be a magnetic component, and correspondingly, the sensing component on the cleaning equipment can be a switching component, such as a reed switch. Further, a specific implementation of the above-mentioned "generating an access bit signal when the triggering component on the base station is sensed" may include the following steps:

[0185] S1. When the magnetic component is sensed, the sensing circuit is turned on;

[0186] S2. When an on-line electrical signal is detected on the sensing circuit, the connection signal is generated.

[0187] For a detailed description of the implementation of steps S1 to S2 above, please refer to the relevant content in other embodiments of the above application, which will not be repeated here.

[0188] The technical solution provided in this embodiment allows the cleaning device to detect the communication link with the base station and determine whether it is located at a designated position on the base station. Based on the determination that the communication link meets communication requirements and that it is located at the designated position, the device can automatically activate its self-cleaning function and send a start command to the base station via the communication link, causing the base station to activate a cleaning function that assists the cleaning device in self-cleaning. Therefore, this solution provides a cleaning device with the ability to identify whether it has successfully connected to the base station and can automatically activate the cleaning function, effectively simplifying the cleaning operation and improving the user experience.

[0189] Furthermore, the method provided in this embodiment may also include the following steps:

[0190] 200. In response to a user-input command to activate the self-cleaning function, initiate steps to detect the communication link with the base station and determine whether the device is located at a set position at the base station.

[0191] In practice, it can be determined that the user has input a command to start the self-cleaning function if at least one of the following events is detected: user manipulation event of the target control (such as the self-cleaning function control); voice control event in which the user issues a specified semantic voice, such as the user issuing a voice to start self-cleaning.

[0192] Corresponding to the above Figure 7 The illustrated embodiment of the device self-cleaning start-up method provided in this application also includes embodiments of a cleaning system and a cleaning device. Specifically,

[0193] This application provides an architecture for a cleaning system and Figure 1aThe cleaning system architecture shown is similar. See also Figure 1a The cleaning system includes: a base station 20 and a cleaning device 10; wherein,

[0194] Cleaning device 10 is used to detect the communication link with the base station; determine whether it is located at a set position at the base station; if the communication link meets the communication requirements and it is determined that it is located at the set position, then activate the self-cleaning function; and send a start command to the base station through the communication link.

[0195] Base station 20 is used to activate a cleaning function that assists the cleaning equipment in self-cleaning in response to the activation command.

[0196] It should be noted that the structure and function of the cleaning equipment and base station provided in this application embodiment are not limited to the components and functions described in this embodiment above. For the specific structure and function of the cleaning equipment and base station, please refer to the relevant content described in other embodiments of this application, which will not be repeated here.

[0197] This application provides a structure and... Figure 1a and Figure 1b The cleaning device 10 shown in the figure has a similar structure. This cleaning device includes: a device body and a controller and a memory disposed on the device body; the memory stores a computer program, and the controller is coupled to the memory to execute the computer program for performing this application. Figure 7 The steps in the illustrated embodiment of the device self-cleaning startup method are shown.

[0198] It should be noted that the structure and function of the cleaning equipment provided in this application embodiment are not limited to the components and functions described in this embodiment above. For the specific structure and function of the cleaning equipment, please refer to the relevant content described in other embodiments of this application, which will not be repeated here.

[0199] Regarding the technical solutions provided in the embodiments of the above application, it should be further explained that when the base station (or cleaning equipment) determines that the connection with the cleaning equipment (or base station) has failed, it can output a user-perceptible prompt message to inform the user that the connection between the base station and the cleaning equipment has failed, facilitating the user to check the connection between the cleaning equipment and the base station based on the prompt message. The prompt message may be, but is not limited to, one or a combination of voice, text, images, 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, such as a wired communication connection where the communication signal transmitted on the link is unstable, a voice prompt such as "Please check if the communication connection cable is loose" can be output.

[0200] The technical solution adopted in the above application will be explained below in specific scenarios to aid understanding.

[0201] The user has a handheld floor cleaner (hereinafter referred to as the cleaner) at home. The system structure of this cleaner is similar to that of... Figure 1a and Figure 1b As shown. That is, the cleaning machine includes a cleaning machine 10 and a base station 20, wherein the base station 20 communicates with the cleaning machine 10 via Bluetooth, and both Bluetooth are turned on; the cleaning machine 10 is provided with a triggering component (a magnetic element), the specific setting of which can be found in the relevant description above.

[0202] The user turns on the power switch of the cleaning machine 10 to clean the floor. After cleaning, the user places the cleaning machine 10 on the base station 20 and presses the function control on the base station 20 to start the cleaning machine 10. In response to this press, the base station 20 detects whether the cleaning machine is in the set position by sensing the trigger component on the cleaning machine 10, and detects the communication link between the cleaning machine and the cleaning machine by detecting the Bluetooth signal of the cleaning machine 10. Upon detection, it is determined that the cleaning machine is in the set position and that a communication link has been successfully established with the cleaning machine via Bluetooth, meeting the communication requirements, thus confirming successful docking with the cleaning machine. Furthermore, it sends a command to the cleaning machine via Bluetooth to start the self-cleaning function and also activates cleaning functions that assist in the self-cleaning process, such as opening the wastewater outlet at the bottom of the wastewater tank on the cleaning machine to drain the wastewater. The wastewater can be, but is not limited to, dirt, solid waste, etc.

[0203] In some optional embodiments, the cleaning device 10 and the base station 20 cooperate to perform a unified whole-machine cleaning process for the cleaning device 10 to perform a whole-machine self-cleaning, such as... Figure 8a As shown, the overall cleaning process includes:

[0204] Step 31: With the cleaning equipment connected to the base station, the base station performs its first self-cleaning of the wastewater tank;

[0205] Step 32: After the initial self-cleaning of the sewage tank, the cleaning equipment performs self-cleaning on the floor brush.

[0206] Step 33: After the cleaning equipment completes the self-cleaning of the ground brush, the base station performs a second self-cleaning of the sewage tank.

[0207] Furthermore, such as Figure 8b As shown, after step 33, the following steps are also included:

[0208] Step 34: After completing the secondary self-cleaning of the sewage tank, the base station performs self-cleaning on the sewage trough used in the above self-cleaning process.

[0209] It should be noted here that,Figure 8a and Figure 8b In the illustrated embodiment, the base station can also control the water storage tank to synchronously fill the clean water tank in all steps. If the cleaning fluid is supplied by the clean water tank of the cleaning device during the self-cleaning of the floor brush by the cleaning device in step 32, then in all steps except step 32, the base station controls the water storage tank to synchronously fill the clean water tank. This patent uses step 32, where the clean water tank of the cleaning device supplies the fluid, as an example for illustration.

[0210] Furthermore, the self-cleaning process of the sewage tank is broken down into three operations: sewage tank filling, sewage tank emptying, and sewage tank flushing. Sewage tank filling refers to the process of filling the sewage tank with water until it is full; sewage tank emptying refers to the process of opening the sewage tank's drain outlet to discharge sewage to the base station; and sewage tank flushing refers to the process of flushing the inside of the sewage tank after it has been emptied until the flushing is complete.

[0211] It should be noted that, in the above Figure 8a and Figure 8b In the illustrated embodiment, the initial self-cleaning of the sewage tank includes at least the step of emptying the sewage tank, while the steps of filling the sewage tank with water and rinsing the sewage tank are optional. Correspondingly, the secondary cleaning of the sewage tank includes at least the steps of emptying the sewage tank and rinsing the sewage tank, while filling the sewage tank with water is an optional step. Based on this, Figure 8a and Figure 8b The process of performing a self-cleaning of the cleaning equipment 10 according to a unified whole-machine cleaning procedure includes the following specific implementation methods:

[0212] In specific implementation method A1, such as Figure 9a As shown, the self-cleaning process of the cleaning equipment includes the following steps:

[0213] (1) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0214] (2) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0215] (3) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0216] (4) Self-cleaning of the floor brush by the cleaning equipment;

[0217] (5) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0218] (6) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0219] (7) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0220] further, Figure 8bThe whole machine cleaning process of the embodiment shown includes the following steps after step (7):

[0221] (8) Flushing of the sewage tank, optionally, water is added to the clean water tank at the same time;

[0222] (9) Turn on drying and / or sterilization.

[0223] In step (1) above, if the water tank is full, then stop filling the water tank in steps (2) and (3). If the water tank is not full in step (1), then continue filling the water tank in the following steps. The same applies to step (5). In step (9), drying and / or sterilization refers to drying and / or sterilizing the floor brush. Sterilization can be performed using a UV lamp.

[0224] In specific implementation method A2, such as Figure 9b As shown, the self-cleaning process of the cleaning equipment includes the following steps:

[0225] (1) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0226] (2) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0227] (3) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0228] (4) Self-cleaning of the floor brush by the cleaning equipment;

[0229] (6) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0230] (7) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0231] further, Figure 8b The whole machine cleaning process of the embodiment shown includes the following steps after step (7):

[0232] (8) Flushing of the sewage tank, optionally, water is added to the clean water tank at the same time;

[0233] (9) Turn on drying and / or sterilization.

[0234] In specific implementation method A3, such as Figure 9c As shown, the self-cleaning process of the cleaning equipment includes the following steps:

[0235] (1) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0236] (2) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0237] (4) Self-cleaning of the floor brush by the cleaning equipment;

[0238] (5) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0239] (6) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0240] (7) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0241] further, Figure 8b The whole machine cleaning process of the embodiment shown includes the following steps after step (7):

[0242] (8) Flushing of the sewage tank, optionally, water is added to the clean water tank at the same time;

[0243] (9) Turn on drying and / or sterilization.

[0244] In specific implementation method A4, such as Figure 9d As shown, the self-cleaning process of the cleaning equipment includes the following steps:

[0245] (1) Fill the sewage tank with water, and optionally, fill the clean water tank with water at the same time;

[0246] (2) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0247] (4) Self-cleaning of the floor brush by the cleaning equipment;

[0248] (6) Empty the sewage tank, and optionally, fill the clean water tank with water at the same time;

[0249] (7) Flushing the sewage tank; optionally, the clean water tank is filled with water simultaneously.

[0250] further, Figure 8b The whole machine cleaning process of the embodiment shown includes the following steps after step (7):

[0251] (8) Flushing of the sewage tank, optionally, water is added to the clean water tank at the same time;

[0252] (9) Turn on drying and / or sterilization.

[0253] In the above specific implementations A1-A4, step (1) is a step that needs to be performed when the sewage tank is not full of water. If the sewage tank is full of water, it can be directly executed from step (2) in each specific implementation.

[0254] In Figure 8aIn the various specific implementation methods A1-A4 corresponding to the illustrated embodiments, step (4) can be used as a dividing point. The steps before step (4) are the initial self-cleaning process of the sewage tank, and the steps after step (4) are the secondary self-cleaning process of the sewage tank. Step (4) itself is the self-cleaning process of the floor brush. In the above specific implementation methods A1-A4, there are certain differences in the initial self-cleaning process of the sewage tank, namely, emptying the sewage tank is a mandatory step, while filling the sewage tank with water and rinsing the sewage tank are optional steps; correspondingly, there are certain differences in the secondary self-cleaning process of the sewage tank, namely, emptying the sewage tank and rinsing the sewage tank are mandatory steps, while filling the sewage tank with water is an optional step.

[0255] The following describes the overall process of the above specific implementation methods A1-A4 and the detailed implementation process of each step.

[0256] Specifically, when a user uses cleaning equipment to perform a ground cleaning task, if any of the following situations occur during the ground cleaning task, the user can interrupt the ground cleaning task and place the cleaning equipment on the base station base and complete the docking with the base station.

[0257] Scenario 1: During the floor cleaning task, a low battery alarm message is received from the cleaning equipment. The low battery alarm message can be displayed as graphic information (such as a highlighted battery icon), as a light signal output by an indicator light (such as a continuously flashing red light signal), or as a voice signal output, such as "Battery power is low, please charge".

[0258] Scenario 2: When receiving an alarm message that the wastewater tank is full during the floor cleaning process, the wastewater tank full alarm message can be displayed as graphic information (e.g., a highlighted wastewater tank icon or the text message "Wastewater tank is full"), as a light signal (e.g., a continuously flashing green light), or as a voice signal, such as "Wastewater tank is full, please clean".

[0259] Scenario 3: When receiving an alarm message that the water tank in the cleaning equipment is low during the floor cleaning process, the low water tank water level alarm message can be displayed as graphic information (such as a highlighted water tank icon or the text message "Water tank water level is too low"), or as a light signal output by an indicator light (such as a continuously flashing blue light signal), or as a voice signal output by voice, such as "Water tank water level is low, please add water".

[0260] When different alarm messages are output through the indicator lights, the light signals may be of different colors or the same color but with different flashing frequencies. Any light signal expression method that can distinguish different alarm messages is applicable to the embodiments of this application.

[0261] Besides the situations mentioned above, other problems may occur during ground cleaning operations, potentially causing interruptions. In such cases, the cleaning equipment must be placed on the base station's base and docked with it. Alternatively, after the ground cleaning task is completed, the user can also place the cleaning equipment on the base station's base and dock it with it.

[0262] The base station and cleaning equipment can detect whether they have completed docking with the other end. The method for detecting docking completion is not limited in this embodiment. When the base station and cleaning equipment complete docking, the cleaning component of the cleaning equipment is located in the receiving groove on the base station base, the sewage tank's drain outlet is connected to the inlet of the sewage trough, and the clean water tank's inlet is connected to the water filling valve of the storage tank; of course, docking will also be completed between other components that need to be docked.

[0263] Once it is confirmed that the cleaning equipment is connected to the base station, any of the cleaning equipment's overall cleaning process in the above specific implementation methods A1-A4 can be entered. The final cleaning equipment's overall process is either preset at the factory or pre-set by the user.

[0264] In specific implementation methods A1-A4, when the base station determines that the cleaning equipment is connected to it, it first obtains the water level status of the sewage tank. If the sewage tank is full, it starts from step (2) in each specific real-time method. If the sewage tank is not full, it starts from step (1) in each specific implementation method. It is noted here that the full water status can be flexibly defined according to application requirements. For example, a certain percentage of the total sewage tank capacity (e.g., 90%, 4 / 5) can be defined as the full water status. Below this percentage is the incomplete water status. Equal to or higher than this percentage is defined as the full water status. Of course, this percentage can also be 100%, that is, 100% of the sewage tank capacity can be defined as the full water status. Any capacity status below 100% is considered incomplete water status. Alternatively, the range of 80-90% of the sewage tank capacity can be defined as the full water status. For a capacity exceeding 90%, it can be defined as overfilled or overflowing. A capacity status below 80% is considered incomplete water status.

[0265] In the above optional embodiment, the sewage tank 17 of the cleaning device 10 is provided with a set of electrode plates for detecting whether the sewage tank is full. The end of the set of electrode plates represents the full state. When the sewage in the sewage tank 17 is above the end of the set of electrode plates, the set of electrode plates will generate an electrical signal indicating the full state due to conduction. The set of electrode plates is electrically connected to the processing system of the cleaning device 10. The electrical signal will be sent to the processing system of the cleaning device 10. The processing system can identify whether the sewage tank 17 is full based on whether it receives the electrical signal indicating the full state.

[0266] The cleaning device 10 can detect whether the sewage tank is full in real time or periodically, and send the indication information to the base station 20. The base station 20 determines whether the sewage tank is full based on the indication information sent by the cleaning device. Alternatively, the cleaning device 10 can detect a full water signal and send the full water status of the sewage tank to the base station. Of course, the cleaning device can also send the current water level information of the sewage tank to the base station 20, and the base station 20 can determine whether the sewage tank is full based on the current water level information. If the sewage tank is full, it will be directly drained to empty the sewage. If the sewage tank is not full, it will first be filled with water, and then drained when the sewage tank is full.

[0267] The methods for filling sewage tanks with water include, but are not limited to, the following two:

[0268] Method 1: The cleaning equipment injects water into the wastewater tank via a clean water tank. Specifically, the clean water tank of the cleaning equipment 10 delivers clean liquid to the cleaning components (such as a floor brush or roller brush) or the receiving tank via a first water supply pipe (the first water supply pipe refers to the pipe between the clean water tank and the nozzles on the cleaning components). Then, the main motor (also known as a suction motor) is activated to suck the liquid (i.e., wastewater) from the cleaning components or the receiving tank back into the wastewater tank through a suction channel until the wastewater tank is full, thus achieving the purpose of filling the wastewater tank with water. In this embodiment, the receiving tank is connected to the clean water tank via the first water supply pipe and to the wastewater tank via a suction channel.

[0269] Optionally, in method 1, the cleaning device 10 can actively fill the wastewater tank with water. Specifically, upon confirming connection with the base station, the cleaning device begins to detect whether the wastewater tank is full. If the cleaning device detects that the wastewater tank is not full, it can send an indication that the wastewater tank is not full to the base station, so that the base station knows that the wastewater tank is not currently full. Simultaneously, it can directly control the ground brush motor to turn on the water pump to transport clean liquid from the clean water tank to the cleaning component or receiving tank, and start the main motor to suck the liquid from the cleaning component or receiving tank back into the wastewater tank, until it receives an electrical signal indicating that the wastewater tank is full due to the electrode plate being fully conductive. When the wastewater tank is filled to full, the cleaning device can control the clean water tank to stop supplying liquid and control the main motor to stop suction. Specifically, when the cleaning device detects the electrical signal that the wastewater tank is full, it sends an indication that the wastewater tank is full to the base station, so that the base station knows that the wastewater tank is full. Or...

[0270] Optionally, in method 1, the cleaning device 10 fills the wastewater tank with water according to the control of the base station 20. Upon confirming docking with the base station, the cleaning device begins to detect whether the wastewater tank is full. If the cleaning device detects that the wastewater tank is not full, it sends an indication that the wastewater tank is not full to the base station, so that the base station is aware that the wastewater tank is not currently full. Based on the indication that the wastewater tank is not full, the base station returns a water filling command to the cleaning device, instructing the cleaning device to fill the wastewater tank with water. The cleaning device, based on the water filling command returned by the base station, controls the brush motor to turn on the water pump to deliver clean liquid from the clean water tank to the cleaning component or receiving tank, and starts the main motor to suck the wastewater from the cleaning component or receiving tank back into the wastewater tank, until the cleaning device receives an electrical signal indicating that the wastewater tank is full due to the electrode plate being fully conductive. At this point, the cleaning device can control the clean water tank to stop delivering liquid and control the main motor to stop suction.

[0271] Method 2: A flushing nozzle is installed inside the receiving tank of the base station. This flushing nozzle is connected to a water storage tank and can spray liquid toward the receiving tank or the cleaning components inside the receiving tank. Optionally, the flushing nozzle can be installed on the front wall of the receiving tank, but it is not limited to this. For example, it can also be installed around the perimeter of the receiving tank. The number of flushing nozzles can be one or more. Based on this, the base station can inject wastewater into the wastewater tank through the water storage tank.

[0272] Specifically, once the connection with the base station is confirmed, the cleaning equipment begins to detect whether the wastewater tank is full. If the cleaning equipment detects that the wastewater tank is not full, it sends an indication that the wastewater tank is not full to the base station, so that the base station is aware that the wastewater tank is not currently full. Based on the indication that the wastewater tank is not full, the base station controls its water storage tank to fill the receiving tank through a second water supply pipeline. The second water supply pipeline includes the pipeline between the water storage tank and the rinsing nozzle, as well as the rinsing nozzle itself. Specifically, the water storage tank delivers clean liquid to the rinsing nozzle, which sprays the clean liquid onto the cleaning components or the receiving tank and sends a suction command to the cleaning equipment. Based on the suction command, the cleaning equipment starts the main motor to suck the wastewater in the cleaning components or the receiving tank back to the wastewater tank through the suction channel until the wastewater tank is full, thereby achieving the purpose of filling the wastewater tank with water. During the process of filling the sewage tank with water, the cleaning equipment continuously monitors whether the tank is full. When the tank is detected to be full, it sends an indication to the base station, causing the base station to stop filling the tank with water from the storage tank. Simultaneously, it shuts off the main motor to stop pumping sewage. In this embodiment, the receiving tank is connected to the storage tank via a second water supply pipe and to the sewage tank via a suction channel.

[0273] It should be noted that in Method 2 above, in addition to starting the main motor according to the suction command sent by the base station, the cleaning equipment can also automatically start the main motor when it detects that the sewage tank is not full, so as to suck the liquid on the receiving tank or cleaning components into the sewage tank.

[0274] It should be noted that in the two embodiments described above for filling the wastewater tank, after the clean liquid is supplied to the cleaning component or the receiving tank from either the clean water tank on the cleaning equipment or the water storage tank on the base station, the clean liquid can remain on the cleaning component for a certain period of time before the main motor is started to suck the wastewater on the cleaning component back to the wastewater tank via the suction channel. This achieves pre-soaking of the floor brush in the cleaning component, providing certain conditions for the subsequent self-cleaning of the floor brush. The residence time of the clean liquid on the cleaning component is not limited in the above process; for example, it can be 2 seconds, 5 seconds, or 5-10 seconds. Alternatively, the wastewater on the cleaning component can be sucked back to the wastewater tank in a timely manner while the liquid is being sprayed onto the cleaning component or the receiving tank.

[0275] In the two embodiments described above for filling the wastewater tank with water, whether the clean liquid is released from the clean water tank of the cleaning equipment or from the water storage tank of the base station, such as Figure 9eThe liquid flow indicated by the gray arrows indicates that the wastewater will eventually enter the wastewater tank through the floor brush and suction channel (such as the hose connecting the wastewater tank and the floor brush). This process cleans both the floor brush and the suction channel simultaneously, saving on the amount of clean liquid used. In addition, filling the wastewater tank with liquid can remove more dirt and grime from the side walls of the wastewater tank, enhancing the cleaning effect.

[0276] In the above-described specific embodiments A1-A4, after performing step (1), step (2) is performed. During the initial self-cleaning process of the sewage tank, the process of emptying the sewage tank includes: the base station controls the movement mechanism on the base station to move towards the sewage outlet of the sewage tank until it contacts the outlet and opens the cover, allowing sewage in the tank to flow into the sewage trough through the outlet and the inlet of the sewage trough, thus achieving sewage discharge. Optionally, the cover of the outlet can be fixed by a latch; when the latch is closed, the cover is closed; when the latch is open, the cover is open. Based on this, the base station can control the movement mechanism to move towards the outlet, opening the latch of the closed outlet cover, thereby opening the outlet cover. Sewage in the sewage tank flows into the sewage trough on the base station through the outlet and the inlet of the sewage trough, and finally, the external outlet connected to the sewage trough discharges the sewage into the sewer or other sewage channels, achieving sewage discharge.

[0277] To determine whether the sewage tank emptying process is complete, a threshold value for the sewage tank's emptying time can be preset on the base station. Based on this, the sewage tank emptying time is counted at the start of the sewage tank emptying operation. When the sewage tank emptying time reaches the preset threshold value, the sewage tank emptying operation is considered complete. At this time, in specific implementations A3-A4, the base station can send a notification message to the cleaning equipment indicating that the sewage tank has been emptied, instructing the cleaning equipment to perform self-cleaning on the floor brush or informing the cleaning equipment to proceed to the next step; in specific implementations A1-A2, the base station can begin performing the sewage tank flushing operation.

[0278] In the above specific embodiments A1-A2, after performing step (2), step (3) is performed. In the initial self-cleaning process of the sewage tank, one method of flushing the sewage tank includes: with the sewage tank's drain opening open, the base station controls the flushing device for rinsing the sewage tank to move towards the drain opening (e.g., upwards) until it extends into the sewage tank and reaches a designated position. Then, the flushing device begins reciprocating motion, rinsing the sewage tank during this reciprocating motion. The liquid used to rinse the sewage tank flows into the drain trough through the drain opening and the inlet of the drain trough and is discharged, thus achieving the rinsing of the sewage tank. When the number of rinsings reaches a set first threshold or the rinsing time reaches a set first duration threshold, the rinsing action ends, and the flushing device for rinsing the sewage tank returns to its original position. For example, the first threshold number can be 3 times, 5 times, etc., and the first duration threshold can be 3 seconds, 7 seconds, 10 seconds, etc., without limitation.

[0279] In one of the initial self-cleaning processes of the sewage tank, the flushing process includes: a water storage tank connected to the sewage tank's inlet; the base station controls the water storage tank to inject clean liquid into the sewage tank through the inlet; preferably, the liquid can be injected into a first designated position in the sewage tank through the inlet, which is a relatively high position, such as the lid. This creates a downward spray effect, achieving the purpose of flushing the sewage tank. The injected liquid then flows to the drain outlet and exits through the inlet of the drain trough. Optionally, the inlet can be located on the bottom support of the sewage tank. This configuration allows for greater water pressure or volume to reach the first designated position within the sewage tank, but is not limited to this. Alternatively, in another optional embodiment, the inlet can be located at a higher position in the sewage tank, such as near the side wall of the lid or close to the lid. Injecting liquid into the sewage tank through this inlet also achieves a downward spray effect.

[0280] To determine whether the sewage tank flushing process is complete, a first flushing count threshold or a first flushing duration threshold can be preset on the base station for the initial self-cleaning process of the sewage tank. Based on this, the number of flushes or the flushing time of the sewage tank are counted at the start of the flushing operation. When the number of flushes or the flushing time of the sewage tank reaches the preset first flushing count threshold or first flushing duration threshold, the sewage tank flushing operation is determined to be complete. Alternatively, in a scheme where the sewage tank is flushed using a flushing device, the base station can also detect whether the flushing device returns to its original position to determine whether the sewage tank flushing operation is complete. When the flushing device returns to its original position, the sewage tank flushing operation is determined to be complete. In the scheme where the sewage tank is flushed using a flushing device, the number of flushes can be determined based on the number of reciprocating movements of the flushing device. For example, one reciprocating movement can be counted as one flushing process, and the number of reciprocating movements is the number of flushes. Alternatively, one reciprocating movement can be counted as two flushing processes, and twice the number of reciprocating movements is the number of flushes, and so on. Of course, in the scheme of rinsing the sewage tank using a rinsing device, the rinsing time can also be counted, and the rinsing operation is determined to be over when the rinsing time reaches a first time threshold. Correspondingly, in the scheme of rinsing the sewage tank by injecting liquid into the sewage tank using a water storage tank, the time for injecting liquid from the water storage tank into the sewage tank (referred to as the water injection time) can be counted, and the sewage tank rinsing operation is determined to be over when the water injection time reaches a set first water injection time threshold. At this time, in specific implementation methods A1-A2, the base station can send a notification message to the cleaning equipment indicating that the sewage tank rinsing is complete, instructing the cleaning equipment to perform self-cleaning on the floor brush.

[0281] After the initial self-cleaning of the wastewater tank is completed, the floor brush is self-cleaned in step (4) in all the above specific implementation methods A1-A4. 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 wastewater tank has been emptied or cleaned. Therefore, it controls the clean water tank and the main motor to alternately perform water discharge and pumping operations on the cleaning components or receiving tank to achieve self-cleaning of the floor brush.

[0282] Specifically, the self-cleaning process of the floor brush includes two stages: the first stage and the second stage. In the first stage, the cleaning equipment controls the clean water tank to output a specified amount of liquid into the receiving tank during the initial water discharge operation. Specifically, the floor brush motor is controlled to turn on the water pump, allowing the clean liquid in the clean water tank to be sprayed into the receiving tank through the first water delivery pipeline (which includes the pipeline from the clean water tank to the nozzle on the cleaning assembly and the nozzle itself). After waiting for a third time period, the main motor is controlled to perform the first water pumping operation for a fourth time period, that is, the wastewater generated from soaking the floor brush is sucked back to the wastewater tank through the suction channel. This suction process lasts for a fourth time period. The purpose of waiting for the third time period is to allow the liquid to fully soak the floor brush. The specified amount of liquid output from the clean water tank in the first stage is to ensure that there is enough liquid to soak the floor brush.

[0283] In one optional embodiment, a threshold value for the initial liquid release from the water tank during the self-cleaning process of the floor brush can be preset. A water volume detection sensor is installed in the receiving groove of the base. This sensor detects whether the liquid release from the water tank reaches the preset threshold value. When the threshold value is reached, the water tank stops releasing clean liquid, indicating that the required amount of liquid has been reached to soak the floor brush. Alternatively, in another optional embodiment, a threshold value for the duration of the initial liquid release from the water tank during the self-cleaning process of the floor brush can be preset, such as a third duration threshold. When the duration of the water tank releasing clean liquid reaches the third duration threshold, the water tank stops releasing clean liquid, indicating that the required amount of liquid has been reached to soak the floor brush.

[0284] In the second stage, the control system alternates between the clean water tank and the main motor to perform water discharge and pumping operations according to their respective first and second durations. For example, the clean water tank performs water discharge operation according to the first duration, and then the main motor performs water pumping operation according to the second duration. The water pumping operation refers to the liquid released from the clean water tank being sucked into the sewage tank through the suction channel.

[0285] The water discharge and pumping operations are performed alternately multiple times until a pre-set second threshold number of times is reached, or the water discharge and pumping operations are performed alternately multiple times until a specified second time threshold is reached, or the water discharge and pumping operations are performed alternately multiple times until the wastewater tank is full again, thus completing the self-cleaning of the floor brush. The first and second time durations can be the same, for example, both 1 second or 3 seconds. Alternatively, the first and second time durations can be different; preferably, the second time duration is longer than the first time duration, for example, the first time duration can be 1 second and the second time duration is 2 seconds, or vice versa. Correspondingly, the value of the fourth time duration is not limited; for example, it can be 5 seconds or 7 seconds. Optionally, the fourth time duration can be longer than the second time duration, but it is not limited to this. The fourth time duration is related to the specified amount of water discharged initially; if the specified amount of water discharged initially is large, the fourth time duration is longer; if the specified amount of water discharged initially is small, the fourth time duration is shorter. Correspondingly, the longer the first duration, the more water needs to be pumped out, so the second duration is longer; the shorter the first duration, the less water needs to be pumped out, so the second duration is shorter.

[0286] In this embodiment, the value of the third duration is not limited; for example, it can be 3s, 5s, 10s, 20s, etc. This third duration can be a preset value or flexibly set according to the degree of dirt on the floor brush. A dirt level sensor can be installed on the floor brush to collect the degree of dirt and report it to the cleaning equipment's processing system. Alternatively, a camera can be installed on the cleaning equipment to capture images of the floor brush, which can then be recognized by the cleaning equipment or server to obtain the degree of dirt on the floor brush. After obtaining the degree of dirt on the floor brush, the third duration can be set based on this information; this third duration can also be referred to as the soaking time of the floor brush. Besides using a camera on the cleaning equipment to capture images of the floor brush, images can also be captured by a camera on a base station or a camera on another terminal device (such as a mobile phone with a cleaning equipment app installed) and uploaded to the server for image recognition; this is not limited.

[0287] During the self-cleaning process of the floor brush described above, the clean liquid released from the water tank soaks the cleaning components for a certain period of time, which can dissolve the dirt on the floor brush in advance, remove some hard-to-clean stains, and clean the floor brush better. In addition, by allowing a certain amount of time, the liquid released from the water tank can accumulate to a large amount, so that when the main motor is working, there is enough liquid to flush the suction channel (such as the hose), and to better clean the entire air duct.

[0288] Furthermore, the self-cleaning condition of the local brush ends when the wastewater tank is full of water again. This allows it to remove more dirt from the wastewater tank, reducing the burden on the subsequent secondary self-cleaning process, enhancing the cleaning effect, and saving water.

[0289] In one optional embodiment, an electrolyzed water preparation device is installed in the clean water tank. The cleaning device can control the electrolyzed water preparation device to prepare electrolyzed water for a period of time. Then, the floor brush motor turns on the water pump to spray a specified amount of electrolyzed water from the clean water tank through the nozzle on the cleaning component. Using electrolyzed water can not only soak and clean the floor brush, but also play a role in sterilization.

[0290] In this embodiment, when the self-cleaning condition of the floor brush is that the number of times the water discharge operation and the water pumping operation are alternately executed reaches a second threshold, the cleaning device can count the number of times the water discharge operation and the water pumping operation are alternately executed during the self-cleaning process of the floor brush. When the second threshold is reached, the self-cleaning operation of the floor brush is determined to be completed, and a notification message indicating that the floor brush self-cleaning is completed is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage tank. Alternatively, when the self-cleaning condition of the floor brush is that the time for the alternating execution of the water discharge operation and the water pumping operation reaches a second duration threshold, the cleaning device can count the time for the alternating execution of the water discharge operation and the water pumping operation during the self-cleaning process of the floor brush. When the second duration threshold is reached, the self-cleaning of the floor brush is determined to be completed, and a notification message indicating that the floor brush self-cleaning is completed is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the sewage tank. Alternatively, if the self-cleaning condition of the floor brush ends when the wastewater tank is full again, the cleaning equipment can also detect the status of the wastewater tank during the self-cleaning process of the floor brush. When it is determined that the wastewater tank is full again, the self-cleaning of the floor brush is determined to end, and a notification message indicating that the self-cleaning of the floor brush is completed is sent to the base station to instruct the base station to enter the secondary self-cleaning process of the wastewater tank.

[0291] After the self-cleaning operation of the floor brush is completed, the secondary self-cleaning process of the sewage tank is carried out in all the above specific embodiments A1-A4. However, the secondary cleaning process of the sewage tank is different in the above specific embodiments A1-A4. Specifically, in specific embodiments A1 and A3, steps (5)-(7) are executed in sequence, that is, the sewage tank is filled with water first, the sewage tank is emptied after the sewage tank is filled with water, and the sewage tank is rinsed after the sewage tank is emptied; in specific embodiments A2 and A4, steps (6) and (7) are executed in sequence, that is, the sewage tank is emptied first, and the sewage tank is rinsed after the sewage tank is emptied.

[0292] In specific implementation methods A1 and A3, considering that the self-cleaning of the floor brush usually does not leave the wastewater tank full, water can be directly added to the wastewater tank. For the method of adding water to the wastewater tank, please refer to the aforementioned method 1 and method 2, which will not be repeated here.

[0293] In specific implementation methods A1-A4, each includes step (6) emptying the sewage tank and step (7) rinsing the sewage tank. The specific implementation process and parameters involved in step (6) are the same as in step (2) above, and will not be repeated here. The specific implementation process of step (7) is the same as in step (3) above, and will not be repeated here. Step (7) is the sewage tank rinsing operation in the secondary self-cleaning process, while step (3) is the sewage tank rinsing operation in the primary self-cleaning process. The relevant rinsing parameters for the two steps can be the same or different.

[0294] For example, in the sewage tank flushing operation in step (7), the end condition for the flushing operation can be set as a third count threshold or a third duration threshold. Based on this, during the execution of step (7), when the sewage tank's discharge port is open, the base station controls the flushing device on the base station to start moving upwards until it extends into the sewage tank and reaches the designated position, and then starts reciprocating to flush the sewage tank. When the number of flushes reaches the set third count threshold or the flushing time reaches the set third duration threshold, the flushing action ends, and the flushing device returns to its original position. For example, the third count threshold can be 5 times, 8 times, 10 times, etc., and the third duration threshold can be 5s, 10s, 15s, etc., without limitation. Of course, during the execution of step (7), the base station can also detect whether the flushing device returns to its original position to determine whether the flushing action has ended. When the flushing device is detected to have returned to its original position, the flushing action is determined to be ended; otherwise, the action has not yet ended. In the method of rinsing the sewage tank using a flushing device, the number of flushing operations can be determined based on the number of reciprocating motions of the flushing device. For example, one reciprocating motion can be counted as one flushing process, and the number of reciprocating motions is the number of flushing operations. Alternatively, one reciprocating motion can be counted as two flushing processes, and twice the number of reciprocating motions is the number of flushing operations, and so on. Of course, in the method of rinsing the sewage tank using a flushing device, the flushing time can also be tracked, and the flushing operation is considered complete when the flushing time reaches a third time threshold. Similarly, in the method of rinsing the sewage tank by injecting liquid into the sewage tank from a water storage tank, the time for injecting liquid from the water storage tank into the sewage tank (referred to as the water injection time) can be tracked, and the sewage tank flushing operation is considered complete when the water injection time reaches a set second water injection time threshold.

[0295] Optionally, compared to the number of rinses or rinsing time in the initial self-cleaning process, the wastewater tank can be rinsed more times or for a longer time during the secondary self-cleaning process. For example, the third rinse threshold can be greater than the first rinse threshold, or the third rinsing time threshold can be greater than the first rinsing time threshold, or the second rinsing time threshold can be greater than the first rinsing time threshold, to ensure the cleaning effect on the wastewater tank. However, it is not limited to the third rinse threshold being greater than the first rinse threshold, or the third rinsing time threshold being greater than the first rinsing time threshold, or the second rinsing time threshold being greater than the first rinsing time threshold. If the number of rinses or the rinsing time is long enough in the initial self-cleaning process to achieve a certain cleaning effect on the wastewater tank, then fewer rinses, rinsing times, or rinsing times can be used in the secondary self-cleaning process, as long as it can ensure that the wastewater tank is cleaned thoroughly during the secondary self-cleaning process.

[0296] Furthermore, in the above specific implementations A1-A4, after executing step (7), the base station controls the movement mechanism of the sewage tank to move away from the sewage outlet, thereby closing the cover of the sewage outlet, locking the sewage tank, and then sending a notification message to the cleaning equipment that the whole machine cleaning is complete, so that the cleaning equipment knows that the whole machine self-cleaning has been completed.

[0297] Furthermore, such as Figure 8b In the illustrated embodiment, after cleaning the entire cleaning equipment, the process can proceed to step 34 to perform self-cleaning of the sewage trough on the base station. Specifically, as shown... Figure 9f As shown, a third water supply pipe 219 exists between the water storage tank 211 and the sewage trough 213. A switch valve is installed on the third water supply pipe 219. Optionally, this switch valve is located inside the water storage tank and is used to open or close the third water supply pipe 219. After the sewage tank is thoroughly cleaned, the base station controls the valve in the water storage tank 211 to open, releasing clean liquid from the tank. This clean liquid flows directly to the sewage trough 213 via the third water supply pipe 219 connected to the sewage trough, flushing the sewage trough 213. The flushed liquid then flows into the sewer through the sewer connection pipe connected to the sewage trough 213, achieving self-cleaning of the sewage trough. Figure 9f In the diagram, the gray arrows indicate the direction of liquid flow when flushing the drain tank.

[0298] In the above-described specific embodiments A1-A4, after rinsing the drain tank, a UV lamp installed on the base station can be turned on to sterilize the cleaning components. Optionally, the UV lamp is installed on the base station base and emits bactericidal ultraviolet light to irradiate and sterilize the cleaning components (specifically, the floor brush) to prevent bacterial growth on the floor brush; in addition, the UV lamp also has the function of heating and drying the cleaning components, accelerating the drying speed of the floor brush. Furthermore, a drying system can be added to the base. This system includes a heating module installed inside the base, a guide channel, and a row of air vents installed in the receiving tank, with the air vents connected to the guide channel; after the drying system is started, the heating module starts to work and generates hot air, which reaches the air vents through the guide channel and is blown out towards the cleaning components from the air vents. During the sterilization of the cleaning components by UV light, the cleaning components can be dried simultaneously.

[0299] It should be noted that during the aforementioned self-cleaning process, the cleaning equipment can also detect the water level in the clean water tank using a set of electrode plates inside the tank. The end of the electrode plate represents the fullness of the water tank. When the tank is full, the electrode plate generates an electrical signal indicating that the tank is full; when the tank is not full, this signal is not generated. The cleaning equipment can determine whether the water tank is full based on whether it receives this signal. When the water tank is not full, the cleaning equipment sends an indication message to the base station. Based on this message, the base station fills the water tank with water through the storage tank. Specifically, it opens the water inlet valve connected to the storage tank, allowing clean liquid from the storage tank to flow through the valve and the water inlet of the water tank into the tank, thus filling the tank with water. During this process, when the water level in the clean water tank exceeds the end of the electrode plate, the electrode plate generates an electrical signal indicating that the clean water tank is full and sends it to the cleaning equipment's processing system. The cleaning equipment determines whether the clean water tank is full based on whether it receives this electrical signal. During the water filling process, when the cleaning equipment receives the electrical signal generated by the electrode plate, it sends an indication that the clean water tank is full to the base station. The base station then closes the water filling valve based on this indication, thus stopping the water filling process.

[0300] In the above embodiment, when the water tank is not full, the base station needs to refill the water tank to keep it full, but this is not limited to this. For example, two sets of electrode plates can be installed inside the water tank. The end of the first set of electrode plates is lower than the end of the second set of electrode plates, that is, the end of the first set of electrode plates is closer to the bottom of the water tank, and the end of the second set of electrode plates is closer to the top of the water tank. The first set of electrode plates is used to detect the minimum water level in the water tank, and the second set of electrode plates is used to detect whether the water tank is full. When the water level in the water tank is lower than the end of the first set of electrode plates, the first set of electrode plates will disconnect, and the electrical signal generated by the first set of electrode plates will disappear. The cleaning device can determine that the water level in the water tank has fallen below the minimum water level based on the disappearance of this electrical signal, and then send a water refill request to the base station so that the base station can refill the water tank through the water storage tank. As water is continuously added, the water level in the clean water tank gradually rises. When it rises to the end of the second set of electrode plates, the second set of electrode plates will conduct and generate an electrical signal. At this time, the cleaning equipment can determine from the electrical signal that the water level in the clean water tank has exceeded the maximum water level, that is, it is in a full state. Then it sends a notification message to the base station that the clean water tank is full, so that the base station stops adding water to the clean water tank.

[0301] Alternatively, multiple sets of electrode plates can be set, with the ends of different electrode plates located at different positions in the water tank. This allows for multiple water level detections in the water tank, and determines whether water needs to be added to the water tank based on the results of each water level detection.

[0302] In the above specific implementation methods A1-A4, the reason for performing step (1) to fill the sewage tank with water before the sewage tank is full is that after the cleaning equipment performs floor cleaning, the sewage tank may be quite dirty, and there may be some solid garbage or garbage adhering to the tank wall. Filling the sewage tank with water first helps to wash the garbage off the tank wall or to discharge the drier and stickier garbage. Therefore, the sewage tank needs to be filled before emptying it to facilitate the discharge of dirt.

[0303] The reason for performing steps (1)-(3) before step (4) is that before self-cleaning the floor brush, the wastewater tank is emptied and preliminarily cleaned, the dirt collected from the floor by the cleaning equipment is discharged and the residual dirt in the wastewater tank is rinsed away, so that the wastewater tank reaches a relatively clean state. Then, the floor brush of the cleaning equipment is self-cleaned. At this time, the degree of dirt is generally lighter than the dirt collected from the floor, and it will be relatively easy to rinse the collection tank afterward, because the wastewater tank has been pre-cleaned, which makes it convenient to self-clean the floor brush. If the wastewater tank is full or nearly full, it is impossible to self-clean the floor brush or complete the self-cleaning of the floor brush in one go, resulting in low cleaning efficiency. On the other hand, since the user has not completed the floor cleaning task and the wastewater tank is full and / or the clean water tank is empty, the user may only need to empty the wastewater tank and fill the clean water tank, instead of self-cleaning the floor brush first. Therefore, steps (1)-(3) are performed before step (4).

[0304] In addition, in specific implementations A1 and A2, the reason for setting step (3) between steps (2) and (4) is that the cleaning equipment has performed floor cleaning. Although the sewage tank has been emptied in step (2), the degree of dirt recovered by the cleaning equipment may be heavy, and the sewage tank may still be dirty. Here, the dirt brought by the floor cleaning is washed away first. When the sewage tank is rinsed in step (7) after step (4), it will be easier to rinse the sewage tank clean.

[0305] It should be noted that, in the embodiments of this application, when a display screen is provided on the body of the cleaning device, the display screen can display the current stage of the whole cleaning process and the progress of the whole cleaning process (e.g., the specific steps to be performed). This stage information and step information can be sent to the cleaning device by the base station, and the cleaning device displays it on the display screen so that the user can understand the current cleaning stage and steps.

[0306] Figure 10 This is a schematic flowchart illustrating a self-cleaning method for cleaning equipment from the perspective of cleaning equipment, provided as an embodiment of this application. For example... Figure 10 As shown, the method includes:

[0307] 51. With the cleaning equipment connected to the base station, determine whether the sewage tank is full of water;

[0308] 52. Send an indication to the base station whether the sewage tank is full of water, so that the base station can perform the first self-cleaning of the sewage tank according to the indication;

[0309] 53. Upon receiving a cleaning instruction from the base station, the floor brush performs self-cleaning. The cleaning instruction is sent by the base station after determining that the first self-cleaning of the sewage tank has been completed.

[0310] 54. Send a notification message to the base station indicating that the ground brush self-cleaning is complete, so that the base station can continue to perform secondary self-cleaning on the sewage tank.

[0311] In an optional embodiment, the cleaning device is also provided with a clean water tank. The method further includes: when the floor brush is located in the receiving groove on the base station base, receiving a water injection command sent by the base station, controlling the clean water tank to inject water into the receiving groove through the first water supply pipe and to inject water into the sewage tank through the suction channel until the sewage tank is full of water, and the receiving groove is connected to the first water supply pipe and the suction channel.

[0312] In one optional embodiment, the self-cleaning of the floor brush includes: controlling the water tank to output a specified amount of liquid to the receiving tank during the first water discharge operation, and after waiting for a third time period, controlling the main motor to perform the first water pumping operation on the receiving tank for a fourth time period; controlling the water tank and the main motor to alternately perform water discharge and water pumping operations according to their respective first and second time periods until the self-cleaning end condition of the floor brush is met.

[0313] In an optional embodiment, the method further includes: detecting whether the water tank is full and sending an indication message to the base station indicating whether the water tank is full, so that the base station can fill the water tank with water.

[0314] For detailed implementation methods of the above steps, please refer to the description of the aforementioned system embodiments, which will not be repeated here.

[0315] In addition to the methods and systems described above, this application also provides a base station and a cleaning device. For details regarding the structure of the base station, please refer to... Figure 1a or Figure 1b or Figure 2 The embodiments shown will not be described again here. The controller in the base station executes the computer program stored in the memory, which can implement the various steps that can be executed by the base station in the above method embodiments. For a detailed description of each method step, please refer to the foregoing embodiments, which will not be described again here.

[0316] Similarly, for information on the structure of cleaning equipment, please refer to [link / reference]. Figure 1a or Figure 1b or Figure 2 The embodiments shown are not described in detail here. The processing system in the cleaning equipment can implement the various steps that can be performed by the cleaning equipment in the above method embodiments. For a detailed description of each method step, please refer to the foregoing embodiments, which will not be repeated here.

[0317] The following is a specific scenario example 1:

[0318] After the user completes floor cleaning using the cleaning equipment, they place the equipment back on the base station's base and dock with it. Upon detecting docking, the base station initiates the self-cleaning process for the entire cleaning equipment. The base station controls the water tank to fill the wastewater tank with clean water until it is full. It then controls the drive mechanism to open the cover on the wastewater tank's drain outlet to discharge wastewater, which flows into the sewer through the drain trough. After 10 seconds of discharge, the flushing device for rinsing the wastewater tank rises to a designated position inside the tank and begins repeated up-and-down movements, spraying clean water (e.g., using rotating nozzles or multiple nozzles spraying water in different directions) to reach all areas inside the wastewater tank. After rinsing the wastewater tank for 30 seconds, the flushing device returns to its initial position (reset). At this point, the drive mechanism for opening and closing the wastewater tank reverses its direction, closing the cover to shut off the wastewater tank. Finally, the cleaning equipment is notified to prepare for the floor brush's self-cleaning. The cleaning equipment begins preparing electrolyzed water in the clean water tank for 30 seconds. A certain amount of electrolyzed water is sprayed from the clean water tank through nozzles on the cleaning components. After soaking the roller brush for 15 seconds, the main motor operates for 3 seconds to draw wastewater into the wastewater tank. Next, the clean water tank sprays water into the receiving tank through nozzles for 1 second, driving the main motor for 1 second. This cycle is repeated several times until the main motor finally draws all the wastewater from the receiving tank into the wastewater tank, drying the floor brush and completing the self-cleaning of the floor brush and the entire air duct. Next, the motion mechanism is driven again towards the wastewater tank's drain outlet, opening the cover for wastewater discharge. After 10 seconds of discharge, the flushing device for rinsing the wastewater tank rises to a designated position inside the tank and begins rinsing. After rinsing the wastewater tank for 30 seconds, the flushing device returns to its initial position (reset). At this point, the motion mechanism used to open and close the wastewater tank reverses its direction, closing the cover to shut off the wastewater tank. Finally, the water storage tank on the base station drains water to flush the drain tank, completing the entire self-cleaning process. Throughout the process, users do not need to clean the cleaning equipment itself, thus keeping their hands clean.

[0319] It should be noted that when the cleaning equipment is connected to the base station, the base station will automatically initiate a full-device cleaning process for the cleaning equipment, but this is not limited to this. For example, after placing the cleaning equipment on the base station base, the user can issue a voice command to the base station and / or the cleaning equipment to initiate the full-device cleaning process. This voice command can be directed towards the base station, which will then send a control command to the cleaning equipment to initiate the cleaning process and cooperate with the base station to complete it; alternatively, the voice command can also be directed towards the cleaning equipment, which will then send a notification message to the base station to initiate the cleaning process and cooperate with the cleaning equipment to complete it; or the voice command can be directed towards both the cleaning equipment and the base station simultaneously, causing both to initiate the cleaning process at the same time. As another example, after placing the cleaning equipment on the base station base, the user can issue a command to initiate the full-device cleaning process to either the cleaning equipment or the base station via the self-cleaning button on the cleaning equipment's display or the base station's display, thereby initiating the full-device cleaning process. Of course, users can also initiate the whole-machine cleaning process by sending a command to the cleaning equipment or base station to start the whole-machine cleaning process through the physical button on the cleaning equipment or base station.

[0320] In addition to the above embodiments where the cleaning device 10 and base station 20 cooperate to perform a unified whole-machine cleaning process for self-cleaning of the cleaning device 10, the following embodiments can also be used to perform a whole-machine self-cleaning of the cleaning device 10. This whole-machine self-cleaning process is applied to... Figure 1a , Figure 1b or Figure 2 The self-cleaning system shown can be completed by the base station 20 and the cleaning device 10 working together. For example... Figure 11a As shown, the overall cleaning process includes:

[0321] Step 61: With the cleaning equipment connected to the base station, obtain the current water level status of the sewage tank;

[0322] Step 62: From the target whole machine cleaning processes corresponding to different water level states, determine the first target whole machine cleaning process that is suitable for the current water level state;

[0323] Step 63: Perform a full-machine self-cleaning of the cleaning equipment according to the first target full-machine cleaning process. Each target full-machine cleaning process includes the self-cleaning of the wastewater tank and the self-cleaning of the floor brush.

[0324] It should be noted that steps 61 and 62 above can be performed by the base station, and step 63 can be completed by the base station and the cleaning equipment working together. For details of the working process, please refer to the following detailed embodiments.

[0325] In this embodiment, the water level status of the sewage tank is divided into several categories, and there is no limitation on the categories and number of water level statuses. For example, the water level status of the sewage tank can be divided into three categories: empty tank, full tank, and partially full tank; or it can be divided into two categories: full tank and partially full tank; or it can be divided into two categories: water level greater than a set water level threshold (including full tank) and water level less than or equal to a set water level threshold (including empty tank). The set water level threshold can be 70%, 80%, 85%, or 90% of the water level in the sewage tank, and there is no limitation on this.

[0326] In this embodiment, different target whole-machine cleaning processes can be set for different water level states. A target whole-machine cleaning process refers to the final usable whole-machine cleaning process under that water level state. Each target whole-machine cleaning process includes self-cleaning of the wastewater tank and self-cleaning of the floor brush to achieve whole-machine self-cleaning of the cleaning equipment. For different target whole-machine cleaning processes, at least one of the self-cleaning processes—the self-cleaning of the wastewater tank and the self-cleaning of the floor brush—is different. The difference in the same self-cleaning process within different target whole-machine cleaning processes can be due to different operational steps, different operational parameters involved in the self-cleaning process, or both different operational steps and operational parameters.

[0327] The water level in the wastewater tank reflects the operating time of the cleaning equipment; generally, the longer the operating time, the higher the water level. The longer the operating time, the more severe the dirt buildup in the wastewater tank and the cleaning components (specifically, the floor brush within the cleaning components). In this embodiment, different target cleaning processes are set for different water levels, which is equivalent to configuring different cleaning processes for different levels of dirt. For example, in cases of mild dirt buildup (i.e., when the wastewater tank is low or not full), a cleaning process with fewer steps or relatively smaller parameters can be used; conversely, in cases of severe dirt buildup (i.e., when the wastewater tank is high or full), a cleaning process with more steps or relatively larger parameters can be used. This allows for the selection of different cleaning processes based on varying levels of dirt, satisfying the self-cleaning requirements of the entire unit while reducing unnecessary steps, saving power, and extending the lifespan of the cleaning equipment and the base station.

[0328] In this embodiment, when the cleaning equipment is connected to the base station, the base station obtains the current water level status of the sewage tank; then, from the target whole-machine cleaning processes corresponding to different water level statuses, it determines the target whole-machine cleaning process that is compatible with the current water level status. For ease of description and distinction, the target whole-machine cleaning process that is compatible with the current water level status is referred to as the first target whole-machine cleaning process; then, the cleaning equipment is self-cleaned according to the first target whole-machine cleaning process.

[0329] The detailed method by which the base station obtains the current water level status of the sewage tank is the same as or similar to the method used in the above embodiment to obtain whether the sewage tank is full. The cleaning equipment can detect the water level status using electrode plates for water level information detection and provide this information to the base station. It should be noted that in this embodiment, more sets of electrode plates can be installed in the sewage tank according to the number of water level status divisions to achieve detection of different water level statuses.

[0330] In one optional embodiment, the water level status of the wastewater tank can be divided into two categories: a first water level status and a second water level status. In one application scenario, the first water level status includes a full water level, and the second water level status includes a partially full water level. In another application scenario, the first water level status includes a water level greater than a set water level threshold (in this scenario, this status includes a full water level), and the second water level status includes a water level less than or equal to the set water level threshold (in this scenario, this status includes an empty tank).

[0331] Based on the above classification of water level states, the first target whole-machine cleaning process adapted to the current water level state is determined from the target whole-machine cleaning processes corresponding to different water level states, including:

[0332] When the current water level is at the first water level state, the target whole-machine cleaning process corresponding to the first water level state is determined as the first target whole-machine cleaning process; when the current water level is at the second water level state, the target whole-machine cleaning process corresponding to the second water level state is determined as the first target whole-machine cleaning process. The target whole-machine cleaning process corresponding to the first water level state and the target whole-machine cleaning process corresponding to the second water level state are not entirely the same; at least one of the operation steps and operation parameters may be different.

[0333] It should be noted that the overall cleaning process for the target machine at different water levels can include the same first-grained self-cleaning process, or it can include different first-grained self-cleaning processes. The following explanation is based on different scenarios:

[0334] In application scenario B1, the target machine cleaning process corresponding to different water level states includes, in sequence, the initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank. In this application scenario, the target machine cleaning process corresponding to the first water level state includes, in sequence, the initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank. The initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank are referred to as the first-level self-cleaning. From the perspective of the included first-level self-cleaning processes, the two target machine cleaning processes are the same; the difference lies in the fact that at least one of these three first-level self-cleaning processes (i.e., the initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank) is different. The difference in the self-cleaning process here mainly refers to the fact that for different target whole machine cleaning processes, the self-cleaning process of the same first granularity may be implemented differently in detail. This could be due to different operation steps included in the self-cleaning process, different operation parameters involved in the self-cleaning process, or both operation steps and operation parameters being different.

[0335] In the above application scenario B1, the wastewater tank is first self-cleaned under any water level. The wastewater in the wastewater tank is emptied through the first self-cleaning. This serves two purposes: cleaning the wastewater tank and ensuring that the wastewater tank has enough space to accommodate the wastewater generated during the self-cleaning process of the floor brush. This ensures that the self-cleaning process of the floor brush is completed in one go and is not interrupted by the wastewater tank being full, thereby improving the efficiency of the floor brush self-cleaning process and thus improving the overall self-cleaning efficiency of the machine.

[0336] In another application scenario, B2, the first level of self-cleaning process in the overall cleaning process will differ depending on the water level. Taking the first and second water level states mentioned above as examples, the overall cleaning process for the target machine corresponding to the first water level state includes: initial self-cleaning of the wastewater tank, self-cleaning of the floor brush, and secondary self-cleaning of the wastewater tank; the overall cleaning process for the target machine corresponding to the second water level state includes: self-cleaning of the floor brush and secondary self-cleaning of the wastewater tank.

[0337] In application scenario B2, when the wastewater tank is full or at a high water level, an initial self-cleaning process can be performed to empty the wastewater. This serves two purposes: cleaning the wastewater tank and ensuring sufficient space within it to accommodate the wastewater generated during the brush self-cleaning process. This ensures the brush self-cleaning process is completed in one go without interruption due to a full wastewater tank, improving the efficiency of the brush self-cleaning and consequently, the overall self-cleaning efficiency. Conversely, when the wastewater tank is at a low water level, indicating sufficient space to accommodate the wastewater generated during brush self-cleaning, the brush can be self-cleaned directly before the wastewater tank. Reducing the number of self-cleaning steps minimizes interaction between the base station and the cleaning equipment, further improving the overall self-cleaning efficiency.

[0338] The definitions and descriptions of the self-cleaning processes for each first granularity involved in application scenarios B1 and B2 above are the same as those for the self-cleaning processes of the same concept in the aforementioned embodiments, and can be found in the aforementioned embodiments, so they will not be repeated here. Based on the descriptions of the self-cleaning processes for each first granularity in the aforementioned embodiments, it can be seen that each first granularity self-cleaning process can have multiple different implementation methods, such as the specific implementation methods A1-A4 above. These different implementation methods can form multiple candidate whole-machine cleaning processes in this embodiment. That is to say, in this application embodiment, each water level state will correspond to multiple candidate whole-machine cleaning processes, and different candidate whole-machine cleaning processes are not completely the same.

[0339] Therefore, before determining the first target whole-machine cleaning process suitable for the current water level state from the target whole-machine cleaning processes corresponding to different water level states, it is necessary to determine the corresponding target whole-machine cleaning process from multiple candidate whole-machine cleaning processes for each water level state. The target whole-machine cleaning process is the whole-machine cleaning process ultimately used for each water level state. The process of determining the target whole-machine cleaning process for each water level state can be completed in advance, in real-time during the self-cleaning process of the cleaning equipment, or pre-determined before the equipment leaves the factory, so that the target whole-machine cleaning process corresponding to each water level state is directly built into the equipment when it leaves the factory.

[0340] For each water level state, the implementation method for determining the target whole machine cleaning process is the same or detailed. The implementation method for determining the target whole machine cleaning process for the first or second water level state is described below for application scenarios B1 and B2.

[0341] For application scenario B1, before determining the target whole-machine cleaning process adapted to the first water level state as the first target whole-machine cleaning process, the process further includes: determining the target whole-machine cleaning process corresponding to the first water level state from multiple candidate whole-machine cleaning processes corresponding to the first water level state. In application scenario B1, each candidate whole-machine cleaning process sequentially includes: the initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank; and for different candidate whole-machine cleaning processes, at least one of the self-cleaning processes—the initial self-cleaning of the wastewater tank, the self-cleaning of the floor brush, and the secondary self-cleaning of the wastewater tank—is different. This difference can be due to differences in the operational steps and / or the operational parameters involved in the self-cleaning process.

[0342] Furthermore, continuing with the above embodiments, the initial self-cleaning of the wastewater tank in each candidate whole-machine cleaning process may include either a wastewater tank emptying step or a wastewater tank emptying and rinsing step performed sequentially. Correspondingly, the secondary self-cleaning of the wastewater tank in each candidate whole-machine cleaning process may include either a wastewater tank filling, wastewater tank emptying, and wastewater tank rinsing step performed sequentially; or a wastewater tank emptying and wastewater tank rinsing step performed sequentially. In this embodiment, the self-cleaning steps of the floor brush can be considered to be the same for all water level states, but it is not limited to this.

[0343] Based on the above, by combining the methods for implementing the initial self-cleaning of the wastewater tank and the methods for implementing the secondary self-cleaning of the wastewater tank, multiple candidate whole-machine cleaning processes corresponding to the first water level state can be obtained, as follows:

[0344] Candidate whole machine cleaning process a1: includes (P1) emptying the sewage tank, (P2) rinsing the sewage tank, (P3) self-cleaning of the floor brush, (P4) filling the sewage tank with water, (P5) emptying the sewage tank and (P6) rinsing the sewage tank.

[0345] Candidate whole machine cleaning process a2: includes (P1) emptying the wastewater tank, (P3) self-cleaning of the floor brush, (P4) filling the wastewater tank with water, (P5) emptying the wastewater tank and (P6) rinsing the wastewater tank.

[0346] Candidate whole machine cleaning process a3: includes (P1) emptying the wastewater tank, (P3) self-cleaning of the floor brush, (P5) emptying the wastewater tank and (P6) rinsing the wastewater tank.

[0347] Candidate whole machine cleaning process a4: includes (P1) emptying the wastewater tank, (P2) rinsing the wastewater tank, (P3) self-cleaning of the floor brush, (P5) emptying the wastewater tank and (P6) rinsing the wastewater tank in sequence.

[0348] Therefore, the target whole-machine cleaning process corresponding to the first water level state can be determined from the above candidate whole-machine cleaning processes a1-a4. Detailed implementation methods for determining the target whole-machine cleaning process corresponding to the first water level state from multiple candidate whole-machine cleaning processes include, but are not limited to, the following:

[0349] Method C1: Display the first settings page, which includes detailed information on multiple candidate whole-machine cleaning processes corresponding to the first water level state. In response to a selection operation on the first settings page, the selected candidate whole-machine cleaning process is determined 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 state. The display format of the first settings page is not limited; it can be divided into different sub-areas or embedded with different tabs. Each tab or each sub-area displays the detailed information of one candidate whole-machine cleaning process.

[0350] The first settings page can be displayed on the base station's screen, the cleaning device's screen, or the screen of the terminal device where the APP bound to the cleaning device or base station is located. Displaying the first settings page on the cleaning device or terminal device's screen may involve the transmission of page information and details of the candidate whole-machine cleaning process; the transmission process is not limited.

[0351] Method C2: Determine the target cleaning intensity based on the water level value corresponding to the current water level state; determine the candidate whole-machine cleaning process that matches the target cleaning intensity from multiple candidate whole-machine cleaning processes corresponding to the first water level state, and use it as the target whole-machine cleaning process corresponding to the first water level state; wherein, the cleaning intensity corresponding to different candidate whole-machine cleaning processes is different.

[0352] In method C2, the cleaning intensity of multiple candidate whole-machine cleaning processes is differentiated. Specifically, the cleaning intensity of each candidate whole-machine cleaning process can be determined based on the number of operation steps and the magnitude of the operation parameters involved. Furthermore, the cleaning intensity can be divided into multiple levels based on the number of candidate whole-machine cleaning processes, such as Level 1, Level 2, Level 3, etc., from lowest to highest or vice versa. Generally, the more operation steps and the larger the operation parameters, the stronger the cleaning intensity corresponding to the candidate whole-machine cleaning process. In addition, in this embodiment, the base station can not only obtain the water level status of the wastewater tank but also the specific water level value corresponding to the water level status. For different water level values ​​under the same water level status, the working time of the cleaning equipment can be further differentiated. Different water level values ​​correspond to different working times; the higher the water level value, the longer the working time, the higher the degree of dirt, and the stronger the required cleaning intensity. Based on this, the water level value can be divided into a corresponding number of numerical ranges according to the number of candidate whole-machine cleaning processes, and then a correspondence between each water level value range and the cleaning intensity can be established. Then, based on the water level value corresponding to the current water level state, the corresponding relationship is queried to determine the water level value range corresponding to the current water level state, and the cleaning intensity corresponding to the water level value range is taken as the target cleaning intensity; from multiple candidate whole machine cleaning processes corresponding to the first water level state, the candidate whole machine cleaning process that matches the target cleaning intensity is determined and taken as the target whole machine cleaning process corresponding to the first water level state.

[0353] Method C3: Before the equipment leaves the factory, the target whole machine cleaning process corresponding to the first water level state is determined in advance from multiple candidate whole machine cleaning processes corresponding to the first water level state according to a certain method, and set in the base station or cleaning equipment.

[0354] For application scenario B1, before determining the target whole-machine cleaning process adapted to the second water level state as the second target whole-machine cleaning process, the process further includes: determining the target whole-machine cleaning process corresponding to the second water level state from multiple candidate whole-machine cleaning processes corresponding to the second water level state. This process is the same as the process of determining the target whole-machine cleaning process corresponding to the first water level state, and will not be described again.

[0355] It should be noted that in application scenario B1, the operational steps included in the target whole-machine cleaning process corresponding to different water level states may be the same. For example, the target whole-machine cleaning process corresponding to the first water level state is the aforementioned candidate whole-machine cleaning process a1, and the target whole-machine cleaning process corresponding to the second water level state is also the aforementioned candidate whole-machine cleaning process a1. In this case, the operational parameters involved in different target whole-machine cleaning processes are at least partially different. For example, during the process of filling the sewage tank with water, the number of water fillings, the water volume, or the water filling duration may be different. Similarly, during the process of rinsing the sewage tank, the number of rinsings and the rinsing duration may be different, thus forming different whole-machine cleaning processes. Further optionally, continuing with the above embodiments, the above operational parameters can be associated with the cleaning intensity corresponding to the whole-machine cleaning process, thereby forming whole-machine cleaning processes with different cleaning intensities, so as to facilitate the selection and use of the whole-machine cleaning process according to the required cleaning intensity.

[0356] For application scenario B2, before determining the target whole-machine cleaning process adapted to the first water level state as the first target whole-machine cleaning process, the process further includes: determining the target whole-machine cleaning process corresponding to the first water level state from multiple candidate whole-machine cleaning processes corresponding to the first water level state. Since the definition of the first water level state in application scenario B2 is the same as that in application scenario B1, the process of determining the target whole-machine cleaning process corresponding to the first water level state is also the same as that in application scenario B1, and will not be repeated here.

[0357] For application scenario B2, before determining the target whole-machine cleaning process adapted to the second water level state as the second target whole-machine cleaning process, the process further includes: determining the target whole-machine cleaning process corresponding to the second water level state from multiple candidate whole-machine cleaning processes corresponding to the second water level state. In application scenario B1, each candidate whole-machine cleaning process corresponding to the second water level state includes, in sequence: self-cleaning of the floor brush and self-cleaning of the wastewater tank; and for different candidate whole-machine cleaning processes, at least one of the self-cleaning processes of the floor brush and the wastewater tank is different. This difference can be due to differences in the operational steps and / or operational parameters involved in the self-cleaning process.

[0358] Furthermore, continuing with the above embodiments, the self-cleaning of the wastewater tank in each candidate whole-machine cleaning process corresponding to the second water level state may include sequentially performing wastewater tank emptying and wastewater tank rinsing steps; or sequentially performing wastewater tank filling, wastewater tank emptying, and wastewater tank rinsing steps; or sequentially performing wastewater tank emptying and wastewater tank rinsing steps when the wastewater tank is full; and sequentially performing wastewater tank filling, wastewater tank emptying, and wastewater tank rinsing steps when the wastewater tank is not full. In this embodiment, it can be considered that the operation steps included in the self-cleaning of the floor brush are the same for each water level state, but it is not limited thereto.

[0359] Based on the above, by combining the self-cleaning methods of the floor brush and the wastewater tank, multiple candidate whole-machine cleaning processes corresponding to the second water level state can be obtained, as follows:

[0360] Candidate whole machine cleaning process b1: includes (P3) self-cleaning of the floor brush, (P4) filling of the wastewater tank, (P5) emptying of the wastewater tank and (P6) rinsing of the wastewater tank in sequence;

[0361] Candidate whole machine cleaning process b2: includes (P3) self-cleaning of the floor brush, (P5) emptying of the wastewater tank and (P6) rinsing of the wastewater tank in sequence.

[0362] Furthermore, the target cleaning process corresponding to the second water level state can be determined from the aforementioned candidate cleaning processes b1-b2. The detailed implementation method for determining the target cleaning process corresponding to the second water level state from multiple candidate cleaning processes is the same as the detailed implementation method for determining the target cleaning process corresponding to the first water level state, and can be found in the aforementioned methods C1-C3, and will not be repeated here.

[0363] Following application scenarios B1 and B2 above, the first target whole-machine cleaning process may be any one of the candidate whole-machine cleaning processes a1-a4 and b1-b2 mentioned above, specifically determined by the target whole-machine cleaning process corresponding to the two water level states. The process of self-cleaning the cleaning equipment according to the first target whole-machine cleaning process is, in other words, the process of self-cleaning the cleaning equipment according to any one of the candidate whole-machine cleaning processes a1-a4 and b1-b2 mentioned above.

[0364] For example, when the target whole machine cleaning process corresponding to the first water level state is candidate whole machine cleaning process a1, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the first water level state, the process of self-cleaning the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P1) emptying the sewage tank, (P2) rinsing the sewage tank, (P3) self-cleaning of the floor brush, (P4) filling the sewage tank with water, (P5) emptying the sewage tank and (P6) rinsing the sewage tank.

[0365] For example, when the target whole machine cleaning process corresponding to the first water level state is candidate whole machine cleaning process a2, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the first water level state, the process of self-cleaning the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P1) emptying the sewage tank, (P3) self-cleaning of the floor brush, (P4) filling the sewage tank with water, (P5) emptying the sewage tank and (P6) rinsing the sewage tank.

[0366] For example, when the target whole machine cleaning process corresponding to the first water level state is candidate whole machine cleaning process a3, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the first water level state, the process of self-cleaning the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P1) emptying the sewage tank, (P3) self-cleaning of the floor brush, (P5) emptying the sewage tank and (P6) rinsing the sewage tank.

[0367] For example, when the target whole machine cleaning process corresponding to the first water level state is candidate whole machine cleaning process a4, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the first water level state, the process of self-cleaning the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P1) emptying the sewage tank, (P2) rinsing the sewage tank, (P3) self-cleaning of the floor brush, (P5) emptying the sewage tank and (P6) rinsing the sewage tank.

[0368] For example, when the target whole machine cleaning process corresponding to the second water level state is candidate whole machine cleaning process b1, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the second water level state, the whole machine self-cleaning process of the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P3) self-cleaning of the floor brush, (P4) filling of the sewage tank with water, (P5) emptying of the sewage tank and (P6) rinsing of the sewage tank.

[0369] For example, when the target whole machine cleaning process corresponding to the second water level state is candidate whole machine cleaning process b2, and the first target whole machine cleaning process is the target whole machine cleaning process corresponding to the second water level state, the process of self-cleaning the cleaning equipment according to the first target whole machine cleaning process includes: sequentially executing (P3) self-cleaning of the floor brush, (P5) emptying of the sewage tank and (P6) rinsing of the sewage tank.

[0370] For a detailed description of the above-mentioned implementation process of filling the sewage tank with water (P4), emptying the sewage tank (P5), rinsing the sewage tank (P6), and self-cleaning of the floor brush (P3), please refer to the aforementioned embodiments, which will not be repeated here.

[0371] Furthermore, in the above embodiments, the method further includes: performing self-cleaning on the sewage tank after the final sewage tank flushing operation. In application scenario B1, the final sewage tank flushing operation is the sewage tank flushing operation during the secondary self-cleaning process of the sewage tank; in application scenario B2, the final sewage tank flushing operation is the sewage tank flushing operation during the self-cleaning process of the sewage tank.

[0372] Alternatively, during the self-cleaning process, if the water tank is not full, the base station can add water to the water tank to make it full. For details of the implementation process, please refer to the aforementioned embodiments, which will not be repeated here.

[0373] Figure 11b This is a schematic flowchart illustrating another self-cleaning method for cleaning equipment, described from the perspective of cleaning equipment, as provided in an embodiment of this application. For example... Figure 11b As shown, the method includes:

[0374] 601. After confirming that the cleaning equipment is connected to the base station, check the current water level in the sewage tank;

[0375] 602. Send the current water level status of the sewage tank to the base station so that the base station can determine the first target whole machine cleaning process that is compatible with the current water level status from the target whole machine cleaning processes corresponding to different water level statuses.

[0376] 603. Cooperate with the base station to perform self-cleaning of the cleaning equipment according to the first target whole machine cleaning process. The whole machine cleaning process for each target includes self-cleaning of the sewage tank and self-cleaning of the floor brush.

[0377] In one optional embodiment, the cleaning equipment is self-cleaned in coordination with the base station according to the first target whole-machine cleaning process, including: self-cleaning the floor brush when a cleaning instruction is received from the base station, wherein the cleaning instruction is sent directly by the base station after determining the first target whole-machine cleaning process or after determining that the first self-cleaning of the sewage tank is completed; and sending a notification message to the base station that the floor brush self-cleaning is completed, so that the base station continues to self-clean the sewage tank according to the first target whole-machine cleaning process.

[0378] For detailed implementation methods of the above steps, please refer to the description of the aforementioned system embodiments, which will not be repeated here.

[0379] In addition to the methods and systems described above, this application also provides a base station and a cleaning device. For details regarding the structure of the base station, please refer to... Figure 1a or Figure 1b or Figure 2 The illustrated embodiment will not be described in detail here. The controller in the base station executes the computer program stored in the memory to achieve the above-mentioned functionality. Figure 11a The steps that can be executed by the base station in the method embodiment shown are described in detail in the foregoing embodiments, and will not be repeated here.

[0380] Similarly, for information on the structure of cleaning equipment, please refer to [link / reference]. Figure 1a or Figure 1b or Figure 2 The illustrated embodiment will not be described in detail here. The processing system in this cleaning equipment can achieve the above-described... Figure 11b The steps that can be performed by the cleaning equipment in the method embodiment shown are described in detail in the foregoing embodiments and will not be repeated here.

[0381] The following is a specific scenario example 2:

[0382] Assume the wastewater tank is in two states: full and partially full. A full tank corresponds to the intensive full-machine cleaning process, while a partially full tank corresponds to the standard or rapid full-machine cleaning process. Compared to the intensive full-machine cleaning process, the standard or rapid full-machine cleaning processes contain the same steps, but with fewer operational parameters. For example, in the intensive full-machine cleaning process, rinsing the wastewater tank takes 40 seconds, preparing electrolyzed water takes 40 seconds, soaking the floor brush takes 30 seconds, each water spray takes 5 seconds, and each main motor operation takes 5 seconds. In the standard or rapid full-machine cleaning process, rinsing the wastewater tank takes 30 seconds, preparing electrolyzed water takes 30 seconds, soaking the floor brush takes 15 seconds, each water spray takes 1 second, and each main motor operation takes 1 second.

[0383] Based on the above, after completing tasks such as floor cleaning with the cleaning equipment, the user places the cleaning equipment back on the base station's base and docks with the base station. Upon detecting docking with the cleaning equipment, the base station initiates a self-cleaning process for the entire cleaning device. The base station receives the water level status of the wastewater tank reported by the cleaning equipment; if the current water level is full, it selects and enters the advanced whole-device cleaning process; if the current water level is not full, it selects and enters the standard or fast whole-device cleaning process.

[0384] Taking the ultra-strong whole-machine cleaning process as an example, the process includes: the base station controls the water storage tank to fill the sewage tank with clean water until it is full; the control drive mechanism opens the cover on the sewage outlet of the sewage tank to discharge sewage, which flows into the sewer through the discharge trough; after 10 seconds of discharge, the driving flushing device for rinsing the sewage tank rises to a designated position inside the sewage tank and begins to move up and down repeatedly, spraying clean water (e.g., with rotating nozzles spraying water in all directions or with multiple nozzles spraying water in different directions) to rinse all parts of the sewage tank; after rinsing the sewage tank for 40 seconds, the flushing device returns to its initial position (i.e., reset); at this time, the drive mechanism for opening and closing the sewage tank moves in the opposite direction to close the cover and shut off the sewage tank. Then, the cleaning equipment is notified to prepare for the self-cleaning of the floor brush. The cleaning equipment begins preparing electrolyzed water in the clean water tank for 40 seconds. A certain amount of electrolyzed water is then sprayed from the clean water tank through nozzles on the cleaning components. After soaking the roller brush for 30 seconds, the main motor operates for 5 seconds to draw wastewater into the wastewater tank. Next, the clean water tank sprays water into the receiving tank through nozzles for 5 seconds, driving the main motor for another 5 seconds. This cycle is repeated several times until the main motor finally draws all the wastewater from the receiving tank into the wastewater tank, drying the floor brush and completing the self-cleaning of the floor brush and the entire air duct. Next, the motion mechanism is driven again towards the wastewater tank's drain outlet, opening the cover for wastewater discharge. After 10 seconds of discharge, the flushing device for rinsing the wastewater tank rises to a designated position inside the tank and begins rinsing. After rinsing for 40 seconds, the flushing device returns to its initial position (reset). At this point, the motion mechanism used to open and close the wastewater tank reverses its direction, closing the cover to shut off the wastewater tank. Finally, the water storage tank on the base station drains water to flush the drain trough, completing the entire self-cleaning process. Throughout the process, users do not need to clean the cleaning equipment itself, thus keeping their hands clean.

[0385] In another scenario, the base station receives the water level status of the wastewater tank reported by the cleaning equipment. It displays the current water level on its screen or the cleaning equipment's screen, allowing the user to select the desired whole-machine cleaning process. After viewing the current water level, the user can check the available whole-machine cleaning processes on the display screen. Specifically, this scenario includes: an intensive whole-machine cleaning process for a full water tank, and a standard or quick whole-machine cleaning process for a partially full water tank. The user selects the desired whole-machine cleaning process based on the current water level. If the water tank is full, the intensive whole-machine cleaning process can be selected; if the water tank is partially full, the standard or quick whole-machine cleaning process can be selected.

[0386] It should be noted that when users select a whole-machine cleaning process based on the current water level, they can choose a whole-machine cleaning process that is compatible with the current water level, or they can flexibly choose other whole-machine cleaning processes according to their own preferences or actual application conditions.

[0387] It should be noted that, in the embodiments described above or below in this application, the docking of the cleaning equipment and the base station mainly refers to the docking of related structures on the two devices in terms of position, and further includes the docking of communication signals between the two devices.

[0388] It should be noted that the execution subject of each step of the method provided in the above embodiments can be the same device, or the method can be executed by different devices. For example, the execution subject of steps 31 to 33 can be device A; or the execution subject of steps 31 and 32 can be device A, and the execution subject of step 32 can be device B; and so on.

[0389] Furthermore, in some of the processes described in the above embodiments and accompanying drawings, multiple operations appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or they may be executed in parallel. The operation numbers, such as 31, 32, etc., are merely used to distinguish different operations and do not represent any execution order. Additionally, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first" and "second" in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types.

[0390] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed, can implement the steps in the above method embodiments.

[0391] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0392] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0393] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0394] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0395] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0396] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0397] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0398] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0399] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for initiating self-cleaning of a device, the method comprising: The method is suitable for a base station, and comprises: detecting whether a cleaning device is located at a set position of the base station; detecting a communication link with the cleaning device; if the cleaning device is detected to be located at the set position and the communication link meets a communication requirement, determining that the base station and the cleaning device are successfully docked; sending an instruction to start a self-cleaning function to the cleaning device through the communication link; starting a cleaning function for assisting the cleaning device to self-clean when the instruction to start is received from the cleaning device through the communication link; wherein the determination that the communication link with the cleaning device is detected and meets the communication requirement comprises detecting that a wireless charging transmitting device on the base station starts to work and emits a wireless charging signal; and the sending of the instruction to the cleaning device through the communication link comprises sending the instruction to the cleaning device by changing a charging mode through the wireless charging transmitting device; the determination that the instruction to start is received from the cleaning device through the communication link comprises detecting that the cleaning device performs reverse wireless charging to the base station; under the reverse wireless charging, a wireless charging receiving device on the cleaning device is transformed from an original receiving end to a transmitting end for emitting the wireless charging signal, and the wireless charging transmitting device on the base station is transformed from an original transmitting end to a receiving end for receiving the wireless charging signal.

2. The method of claim 1, wherein, The detection of whether the cleaning device is located at the set position of the base station comprises: generating a docking-in signal when the trigger component on the cleaning device is sensed; if the docking-in signal still does not disappear for a first preset time duration, determining that the cleaning device is located at the set position.

3. The method of claim 2, wherein, The trigger component is a magnetic component. and the generation of the docking-in signal when the trigger component on the cleaning device is sensed comprises: turning on a sensing circuit when the magnetic component is sensed; generating the docking-in signal when it is monitored that there is a turn-on electrical signal on the sensing circuit.

4. The method according to any one of claims 1 to 3, characterized in that, The detection of the communication link with the cleaning device comprises any one of the following: detecting a charging signal on a charging circuit between a first charging positive electrode and a first charging negative electrode of the base station; if the charging signal is detected on the charging circuit, it is determined that the communication link with the cleaning device is established and meets the communication requirement, so as to transmit a communication signal through the charging circuit; monitoring whether a first electrical connection end for communication on the base station receives a communication signal from the cleaning device; if the communication signal from the cleaning device is monitored, it is determined that the communication link with the cleaning device is established and meets the communication requirement; detecting a wireless connection signal of the cleaning device; if the wireless connection signal of the cleaning device is detected, the communication link with the cleaning device is established, and the communication link is successfully established and meets the communication requirement; detecting a wireless charging transmitting device on the base station; If the wireless charging transmitting device is detected to be started and send wireless charging signal, it is determined that the communication link between the cleaning device and the base station is established and meets the communication requirement, so as to transmit the communication signal by the wireless charging transmitting device.

5. The method of claim 1, wherein, Also comprising: In response to the user inputting the instruction of starting the cleaning of the cleaning device, the steps of detecting whether the cleaning device is located at the set position and detecting the communication link between the cleaning device are triggered.

6. The method according to any one of claims 1 to 3, characterized in that, The cleaning function of assisting the cleaning device to self-clean is started, including at least one of the following functions: The function of starting to fill the dirty water tank on the cleaning device with water is started. The function of starting to discharge the dirty water in the dirty water tank on the cleaning device is started. After the dirty water in the dirty water tank is discharged, the function of starting to flush the dirty water tank is started. The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started. The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started.

7. A method of initiating a device self-cleaning, characterized in that, The method is suitable for the cleaning device, and the method comprises: Detecting the communication link between the cleaning device and the base station; Determining whether the cleaning device is located at the set position of the base station; If the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device is successfully docked with the base station; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started.

8. The method of claim 7, wherein, The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started. The method is suitable for the cleaning device, and the method comprises:

9. The method according to claim 7 or 8, characterized in that, Detecting the communication link between the cleaning device and the base station; Determining whether the cleaning device is located at the set position of the base station; If the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device is successfully docked with the base station; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started. The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started. The method is suitable for the cleaning device, and the method comprises: Detecting the communication link between the cleaning device and the base station; Determining whether the cleaning device is located at the set position of the base station; If the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device is successfully docked with the base station; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started. The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started. The method is suitable for the cleaning device, and the method comprises: Detecting the communication link between the cleaning device and the base station; Determining whether the cleaning device is located at the set position of the base station; If the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device is successfully docked with the base station; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started. The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started. The method is suitable for the cleaning device, and the method comprises: Detecting the communication link between the cleaning device and the base station; Determining whether the cleaning device is located at the set position of the base station; If the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device is successfully docked with the base station; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; When the instruction of starting the self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started; The function of starting to inject cleaning liquid into the clean water tank of the cleaning device is started. The function of starting to spray cleaning liquid to the cleaning execution member of the cleaning device to soak the cleaning execution member is started. After the cleaning execution member of the cleaning device completes self-cleaning, the function of starting to dry the cleaning execution member is started. detecting a charging signal on a charging circuit between a second charging positive electrode and a second charging negative electrode on the cleaning device; if the charging signal on the charging circuit is detected, it is determined that a communication link between the cleaning device and the base station is established and the communication link meets the communication requirement to transmit a communication signal by the charging circuit; monitoring whether a communication signal from the base station is received by a second electrical connection terminal for communication on the cleaning device; if the communication signal from the base station is monitored, it is determined that a communication link between the cleaning device and the base station is established and the communication link meets the communication requirement; detecting a wireless connection signal of the base station; if the wireless connection signal of the base station is detected, a communication link between the cleaning device and the base station is established, and the communication link is successfully established, which meets the communication requirement; detecting a wireless charging receiving device on the cleaning device; if the wireless charging signal is detected by the wireless charging receiving device, it is determined that a communication link between the cleaning device and the base station is established and the communication link meets the communication requirement to transmit a communication signal by the wireless charging receiving device.

10. The method of claim 7, wherein, Further comprising: in response to a user input instruction to start the self-cleaning function, starting the steps of detecting a communication link between the cleaning device and the base station and determining whether the cleaning device is located at a set position of the base station.

11. A cleaning system characterized by, Comprising: a base station for detecting whether a cleaning device is located at a set position of the base station; detecting a communication link between the cleaning device and the base station; if the cleaning device is detected to be located at the set position and the communication link meets the communication requirement, it is determined that the base station and the cleaning device are successfully docked; an instruction to start the self-cleaning function is sent to the cleaning device through the communication link; when the instruction to start sent by the cleaning device through the communication link is received, a cleaning function for assisting the cleaning device to self-clean is started; wherein determining that the communication link between the cleaning device and the base station is detected and the communication link meets the communication requirement includes: detecting that a wireless charging transmitting device on the base station starts to work and emits a wireless charging signal; and the base station sending the instruction to the cleaning device through the communication link includes: using the wireless charging transmitting device to send the instruction to the cleaning device by changing the charging mode; determining that the instruction to start sent by the cleaning device through the communication link includes: detecting that the cleaning device performs reverse wireless charging to the base station a cleaning device for starting a self-cleaning function in response to an instruction to start the self-cleaning function sent by the cleaning device.

12. A cleaning system characterized by, Comprising: a cleaning device for detecting a communication link between the cleaning device and a base station; determining whether the cleaning device is located at a set position of the base station; if the communication link meets the communication requirement and it is determined that the cleaning device is located at the set position, it is determined that the cleaning device and the base station are successfully docked; when an instruction to start a self-cleaning function sent by the base station through the communication link is received, the self-cleaning function is started. sending an activation instruction to the base station through the communication link; wherein the determining that the communication link between the base station is detected and meets the requirement comprises detecting that a wireless charging receiving device on the cleaning device receives a wireless charging signal; and the base station sending an instruction to activate the self-cleaning function to the cleaning device through the communication link comprises using a wireless charging transmitting device to send the instruction to the cleaning device by changing the charging mode; the cleaning device sending an activation instruction to the base station through the communication link comprises the cleaning device performing reverse wireless charging to the base station; under the reverse wireless charging, the wireless charging receiving device on the cleaning device is transformed from the original receiving end to the transmitting end for sending the wireless charging signal, and the wireless charging transmitting device on the base station is transformed from the original transmitting end to the receiving end for receiving the wireless charging signal; the base station is configured to activate a cleaning function to assist the cleaning device to self-clean in response to the activation instruction.

13. A base station, characterized by, comprising: a base station body and a base for carrying the cleaning device, a controller and a memory are arranged on the base station body; the memory is configured to store a computer program, and the controller is coupled to the memory and configured to execute the computer program to perform the steps in the method according to any one of claims 1 to 6.

14. A cleaning apparatus, characterized by comprising: a device body and a controller and a memory arranged on the device body; the memory is configured to store a computer program, and the controller is coupled to the memory and configured to execute the computer program to perform the steps in the method according to any one of claims 7 to 10.

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