Self-cleaning control method for cleaning equipment, cleaning equipment and cleaning system

Abstract

The present application discloses a self-cleaning control method for a cleaning device, a cleaning device and a cleaning system, wherein the cleaning device includes a sewage tank, a rotating component located inside the sewage tank and a first motor connected to the rotating component, a second motor located outside the sewage tank for generating negative pressure, a liquid storage component and a liquid spray component connected to the liquid storage component, a cleaning component and a third motor connected to the cleaning component, the method comprising: obtaining a self-cleaning start signal of the cleaning device, the self-cleaning start signal being used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, starting the third motor to rotate the cleaning component, starting the liquid spray component to spray liquid to the cleaning component; closing the liquid spray component to stop spraying liquid to the cleaning component; starting the second motor to suck the liquid that has cleaned the cleaning component into the sewage tank; starting the first motor to rotate the rotating component to separate water and gas from the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor.

Description

Technical field

[0001] The present application relates to the field of smart home, and in particular to a self-cleaning control method for a cleaning device, a cleaning device, and a cleaning system. [Background Technology]

[0002] Currently, when using cleaning equipment (for example, a floor scrubber), the main motor generates negative pressure, sucking liquid near the cleaning element (e.g., a roller brush) into a wastewater tank. This suction also draws in some gas, which carries some of the liquid with it, forming water vapor. If not promptly addressed, the water vapor can enter the main motor, causing damage.

[0003] It can be seen that the self-cleaning control method of the cleaning equipment in the related art has the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor. [Summary of the invention]

[0004] The embodiments of the present application provide a self-cleaning control method for a cleaning device, a cleaning device, and a cleaning system, so as to at least solve the problem in the related art that the main motor is easily damaged due to water vapor sucked into the sewage tank entering the main motor.

[0005] According to one aspect of an embodiment of the present application, a self-cleaning control method for a cleaning device is provided, wherein the cleaning device includes a sewage tank, a rotating component located inside the sewage tank and a first motor connected to the rotating component, a second motor located outside the sewage tank for generating negative pressure, a liquid storage component and a liquid spray component connected to the liquid storage component, a cleaning component and a third motor connected to the cleaning component, the method comprising the following steps: obtaining a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, starting the third motor to rotate the cleaning component, starting the liquid spray component to spray liquid to the cleaning component; closing the liquid spray component to stop spraying liquid to the cleaning component; starting the second motor to suck the liquid that has cleaned the cleaning component into the sewage tank; wherein the method further includes: starting the first motor to rotate the rotating component to separate the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor.

[0006] According to another aspect of the embodiment of the present application, a self-cleaning control method for a cleaning device is also provided, wherein the cleaning device includes a first sewage tank, a rotating component located inside the first sewage tank and a first motor connected to the rotating component, a second motor located outside the first sewage tank for generating negative pressure, a liquid storage component and a liquid spray component connected to the liquid storage component, a cleaning component and a third motor connected to the cleaning component, a base station matched with the cleaning device includes a base station motor and a second sewage tank, and the first sewage tank and the second sewage tank are connected by a sewage pipe; the method includes the following steps: the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device The device enters a self-cleaning mode; in response to the self-cleaning start signal, the cleaning device starts the third motor to rotate the cleaning member, starts the liquid spraying member to spray liquid to the cleaning member; closes the liquid spraying member to stop spraying liquid to the cleaning member; starts the second motor to suck the liquid that has cleaned the cleaning member into the first sewage tank; wherein, the method further includes: the cleaning device starts the first motor to rotate the rotating part to separate the water and gas in the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor; the base station motor generates negative pressure by sucking the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

[0007] According to another aspect of the embodiments of the present application, a cleaning device is also provided, including: a sewage tank; a rotating part located inside the sewage tank; a first motor connected to the rotating part; a second motor located outside the sewage tank for generating negative pressure; a liquid storage part; a liquid spraying part connected to the liquid storage part; a cleaning part; and a third motor connected to the cleaning part; a control device for obtaining a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, starting the third motor to rotate the cleaning part, starting the liquid spraying part to spray liquid to the cleaning part; closing the liquid spraying part to stop spraying liquid to the cleaning part; starting the second motor to suck the liquid that has cleaned the cleaning part into the sewage tank; wherein the control device is also used to start the first motor to rotate the rotating part to separate the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor.

[0008] According to another aspect of the embodiments of the present application, a cleaning system is further provided, comprising: a cleaning device and a base station matched with the cleaning device, wherein the cleaning device comprises: a first sewage tank; a rotating component located inside the first sewage tank and a first motor connected to the rotating component; a second motor located outside the first sewage tank for generating negative pressure; a liquid storage component and a liquid spray component connected to the liquid storage component; a cleaning component and a third motor connected to the cleaning component; a first control device; wherein the first control device is used to obtain a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to work so that the cleaning component Rotate, start the liquid spraying part to spray liquid to the cleaning part; close the liquid spraying part to stop spraying liquid to the cleaning part; start the second motor to work to suck the liquid that has cleaned the cleaning part into the first sewage tank; wherein, the first control device is also used to start the first motor to rotate the rotating part to separate the water and gas in the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor; the base station includes a base station motor; a second sewage tank connected to the first sewage tank through a sewage pipe; a second control device; wherein, the second control device is used to control the base station motor to generate negative pressure to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

[0009] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the self-cleaning control method of the cleaning device when running.

[0010] According to another aspect of an embodiment of the present application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the self-cleaning control method of the cleaning equipment through the computer program.

[0011] In an embodiment of the present application, a method of driving a rotating component on the top of the sewage tank to rotate by a motor to separate water and gas is adopted, and a self-cleaning start signal of the cleaning device is obtained, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, a third motor (for example, a roller brush motor) is started to work so that the cleaning member rotates, and a liquid spraying member is started to spray liquid to the cleaning member; the liquid spraying member is closed to stop spraying liquid to the cleaning member; the second motor (a motor for generating negative pressure, for example, a main motor) is started to work to suck the liquid that has cleaned the cleaning member into the sewage tank; the first motor (for example, a separation motor) is started to rotate The components rotate to separate the water vapor from the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor. Since the rotating components in the sewage tank are driven to rotate by the first motor to separate the water vapor from the gas-liquid mixture in the sewage tank, the separated water is thrown onto the wall of the sewage tank under the action of centrifugal force, which can prevent the water vapor in the sewage tank from entering the main motor, achieves the technical effect of reducing the possibility of damage to the main motor and improving the safety of the main motor operation, and solves the problem of the main motor being easily damaged due to the water vapor inhaled into the sewage tank entering the main motor in the self-cleaning control method of the cleaning equipment in the related art.

Brief Description of the Drawings

[0012] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] Figure 1 is a schematic diagram of a hardware environment of an optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0015] Figure 2 is a flow chart of an optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0016] Figure 3 is a schematic diagram of a partial structure of an optional cleaning device according to an embodiment of the present application;

[0017] Figure 4 is a schematic diagram of an optional impeller structure according to an embodiment of the present application;

[0018] Figure 5is a schematic structural diagram of an optional cleaning device according to an embodiment of the present application;

[0019] Figure 6 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0020] Figure 7 is a schematic diagram of an optional reversal of the front and rear roller brushes according to an embodiment of the present application;

[0021] Figure 8 is a schematic diagram of an optional forward and backward rotation of the front and rear roller brushes according to an embodiment of the present application;

[0022] Figure 9 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0023] Figure 10 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0024] Figure 11 is a schematic structural diagram of an optional cleaning system according to an embodiment of the present application;

[0025] Figure 12 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application;

[0026] Figure 13 This is a structural block diagram of an optional electronic device according to an embodiment of the present application. [Specific implementation method]

[0027] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0028] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. Furthermore, those skilled in the art should be aware that the following definitions of forward and reverse rotation are as follows: For the purposes of this application, the direction of rotation of the roller brush during normal operation of the cleaning device is referred to as forward, and the opposite direction is referred to as reverse.

[0029] According to one aspect of the embodiment of the present application, a self-cleaning control method for a cleaning device is provided. Optionally, in this embodiment, the self-cleaning control method for the cleaning device can be applied to Figure 1 The hardware environment shown in FIG. 1 is composed of a terminal device 102, a cleaning device 104 and a base station 106. Figure 1As shown, the terminal device 102 can be connected to the cleaning device 104 and / or the base station 106 through a network to control the cleaning device 104, for example, to bind with the cleaning device 104 and configure the cleaning function of the cleaning device 104. The cleaning device 104 and the base station 106 can be connected through a network, or directly connected through an interface and a socket to determine the current status of the other party (for example, power status, working status, location information, etc.) and can also charge the other party.

[0030] The aforementioned network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: a wide area network, a metropolitan area network, and a local area network. The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, and infrared. The network used by the terminal device 102 to communicate with the cleaning device 104 and / or the base station 106 may be the same as or different from the network used by the cleaning device 104 to communicate with the base station 106. The terminal device 102 is not limited to a PC, mobile phone, tablet computer, etc. The cleaning device 104 may include, but is not limited to, a floor scrubber robot, an intelligent floor scrubber, an intelligent sweeper that combines washing and mopping, etc. The base station 106 may be the base station of the cleaning device 104, such as the base station of a floor scrubber robot or a floor sweeper robot.

[0031] The self-cleaning control method for a cleaning device according to an embodiment of the present application may be executed individually by the terminal device 102, the cleaning device 104, or the base station 106, or may be executed jointly by at least two of the terminal device 102, the cleaning device 104, and the base station 106. The self-cleaning control method for a cleaning device according to an embodiment of the present application may be executed by the terminal device 102 or the cleaning device 104, or by a client installed thereon.

[0032] Taking the cleaning device 104 as an example to execute the self-cleaning control method of the cleaning device in this embodiment, Figure 2 This is a flow chart of an optional self-cleaning control method for a cleaning device according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0033] Step S202 : obtaining a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode.

[0034] The self-cleaning control method of the cleaning device in this embodiment can be applied in the following scenarios: during the self-cleaning process of the cleaning device, the liquid used for self-cleaning is sucked into the sewage tank. When the cleaning device needs to be self-cleaned (for example, after completing regional cleaning, detecting that the degree of dirtiness of the cleaning parts is too high, or other scenarios), the cleaning device can obtain the self-cleaning start signal of the cleaning device. The above-mentioned self-cleaning start signal can be used to start the cleaning device to enter the self-cleaning mode. In the self-cleaning mode, the cleaning device can perform a self-cleaning operation. The above-mentioned self-cleaning start signal can be automatically generated by the cleaning device, or it can be triggered by the user.

[0035] The cleaning device may issue a self-cleaning prompt when an area is cleaned, when the cleaning parts of the cleaning device are too dirty, or in other situations. After receiving the prompt, the user may trigger the generation of a self-cleaning start signal. The user may trigger the generation of the self-cleaning start signal in a variety of ways, and the cleaning device may correspondingly receive the self-cleaning start signal in a variety of ways.

[0036] For example, a user can perform a trigger operation on a specific area on the touch screen of the cleaning device. The cleaning device can generate a self-cleaning start signal in response to the detected trigger operation. For another example, the user can trigger the generation of a self-cleaning start signal by performing a trigger operation on a specific area in the device operation interface of a terminal device associated with the cleaning device, and send the generated self-cleaning start signal to the cleaning device via the network, and the cleaning device can receive the self-cleaning start signal. For another example, the user can trigger the sending of a self-cleaning start signal to the cleaning device by operating a button or corresponding area on a remote control device, and the cleaning device can receive the self-cleaning start signal sent by the remote control device.

[0037] Optionally, the self-cleaning start signal may be obtained by other means, and the triggering operation may include but is not limited to at least one of the following: a click operation, a double-click operation, a slide operation, or other operations. In this embodiment, the method for obtaining the self-cleaning start signal is not limited.

[0038] Step S204 , in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid onto the cleaning member.

[0039] The cleaning equipment includes a liquid storage part (for example, a clean water tank) and a liquid spraying part (for example, a liquid distributor, a water pump, etc.) connected to the liquid storage part, a cleaning part (for example, a roller brush, a rag, etc.) and a third motor (for example, a roller brush motor) connected to the cleaning part, wherein the cleaning part is a component used by the cleaning equipment for area cleaning, which can rotate at a certain speed under the drive of the third motor, and the liquid spraying part can spray the liquid stored in the liquid storage part onto the cleaning part to clean the cleaning part.

[0040] The cleaning equipment may include a sewage tank, which may include a box body and a box cover. The bottom of the box body may also have a connector (for example, a sewage suction pipe) that allows liquid to be sucked into the sewage tank. The box body and the box cover are detachable structures, so that the box body and the box cover can be disassembled and the sewage in the box body can be poured out. A filter component may be provided on the box cover of the cleaning equipment. The filter component may be located on the box cover of the sewage tank, or provided on the main body of the cleaning equipment and connected to the box cover of the sewage tank. The filter component may be a HEPA (High efficiency particular air filter, HEPA, high efficiency air filter), filter cotton, etc., or other filter components. The filter component can first filter the gas sucked into the sewage tank and then discharge it into the air to reduce the possible impact on the air.

[0041] A second motor can be provided on the outside of the sewage tank. The second motor can generate negative pressure to suck the liquid on the surface to be cleaned into the sewage tank. It can be called the main motor of the cleaning equipment (it can be a negative pressure generator). If no other components are provided, since part of the liquid is atomized under the action of negative pressure and the like and mixed with the inhaled gas, the second motor inhales a gas-liquid mixture into the sewage tank. If the gas-liquid mixture is not processed, the gas-liquid mixture may enter the second motor, causing the second motor to be damaged by the inhaled gas-liquid mixture. In addition, the gas-liquid mixture will also reach the filter component, and excessive liquid will wet the filter component, affecting the filtering effect of the filter component.

[0042] In this embodiment, a rotating component and a first motor connected to the rotating component can be disposed within the sewage tank. The first motor can be disposed on the sewage tank lid. After the first motor is energized and starts normally, it drives the rotating component to rotate. The rotating component can be an impeller, a stirring wheel, or other component capable of separating water and gas through rotation. Accordingly, the first motor can be referred to as a separation motor. When the first motor drives the rotating component to rotate, the rotating component drives the gas-liquid mixture drawn into the sewage tank to rotate. Under the action of centrifugal force, the liquid and gas are separated, and the liquid is thrown onto the inner wall of the sewage tank. The gas can be discharged into the air through the filter component, thereby achieving water and gas separation.

[0043] For example, Figure 3 As shown, the floor scrubber may include a sewage tank 30, a main motor 31 and a HEPA assembly 32. The sewage tank 30 may include a separation motor 33 and an impeller 34. The structure of the impeller 34 may be as follows: Figure 4The separation motor 33 is used to drive the impeller 34 to rotate. When the floor scrubber is running, the impeller 34 and the main motor 31 can cooperate to separate water and gas through the rotation of the impeller 34, so as to achieve a better water and gas separation effect.

[0044] In response to the self-cleaning start signal, the cleaning device can start the third motor to rotate the cleaning member and start the liquid spraying member to spray liquid onto the cleaning member to clean the cleaning member. By spraying liquid onto the cleaning member, the cleaning member can be cleaned, and by rotating the cleaning member, the cleaning member can be cleaned evenly, thereby improving the self-cleaning efficiency of the cleaning member.

[0045] Step S206: turning off the liquid spraying member to stop spraying liquid to the cleaning member.

[0046] In order to ensure the cleanliness of the cleaning member after self-cleaning, the self-cleaning operation can include one or more rounds of spraying liquid to the cleaning member by the liquid spraying member, and the amount of liquid sprayed or the time of spraying can be fixed. After the liquid spraying is completed, the liquid spraying member can be turned off to stop spraying liquid to the cleaning member.

[0047] Step S208: Start the second motor to pump the liquid that has cleaned the cleaning element into the sewage tank.

[0048] During the process of spraying liquid onto the cleaning element through the liquid spraying element, the second motor can be in an operating state, at which time, the second motor can be operated to spray liquid onto the cleaning element and to suck the liquid that has cleaned the cleaning element and other inhalable liquid into the sewage tank. To ensure the cleaning effect of the cleaning element, the second motor can be activated after the liquid spraying element is turned off. After activation, the second motor can suck the liquid that has cleaned the cleaning element into the sewage tank.

[0049] In step S210 , the first motor is started to rotate the rotating component to separate the gas-liquid mixture in the sewage tank from water. The first motor is started before the second motor.

[0050] In this embodiment, in the self-cleaning mode, the cleaning device can also start the first motor. After starting, the first motor can drive the rotating part to rotate to separate the gas-liquid mixture in the sewage tank from water and gas. When starting the first motor, the cleaning device can directly start the second motor. Since the speed of the first motor has a process from zero to stable, correspondingly, the current passing through the first motor has a process from large to small. If the second motor is started directly after starting the first motor, since the operating state of the first motor that has just started is unstable, it cannot be guaranteed that the gas-liquid mixture sucked into the sewage tank can be effectively separated. In this embodiment, the first motor can be controlled to start before the second motor, and the first motor can also be controlled to shut down later than the second motor.

[0051] For example, the main motor generates negative pressure to draw wastewater into the wastewater tank. The water-vapor separator motor then starts, rotating the impeller and moving baseplate to achieve water-vapor separation. Starting the separator motor before the main motor prevents water vapor from entering the main motor due to motor failure, which could shorten its service life. The separator motor shuts down after the main motor to ensure separation efficiency and prevent water vapor from entering the main motor.

[0052] Through the above steps S202 to S210, a self-cleaning start signal of the cleaning device is obtained, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid to the cleaning member; the liquid spraying member is closed to stop spraying liquid to the cleaning member; the second motor is started to suck the liquid that has cleaned the cleaning member into the sewage tank; the first motor is started to rotate the rotating part to separate the water vapor from the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor, which solves the problem of the self-cleaning control method of the cleaning device in the related art that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor, reduces the possibility of damage to the main motor, and improves the safety of the main motor operation.

[0053] In an exemplary embodiment, during the self-cleaning operation corresponding to the self-cleaning mode, the starting order of the third motor and the first motor can be configured as needed, and the third motor can be started before the first motor, or the first motor can be started before the third motor.

[0054] As an optional embodiment, the third motor is used to drive the cleaning element to rotate. The first motor is a separation motor, driving the rotating component to separate the gas-liquid mixture in the sewage tank. The gas-liquid mixture in the sewage tank is primarily drawn in by the negative pressure generated by the second motor. The second motor can be activated after the liquid spraying element stops spraying liquid into the cleaning element. To ensure rational resource utilization, the third motor can be controlled to start before the first motor.

[0055] As another optional implementation, considering that the gas-liquid mixture in the sewage tank may also be brought in during the rotation of the cleaning element, in order to ensure the comprehensiveness of water-gas separation and improve the safety of the second motor operation, the first motor can be controlled to start before the third motor.

[0056] Through this embodiment, the starting sequence of the first motor and the third motor is configured as needed, which can improve the flexibility of the self-cleaning process.

[0057] In an exemplary embodiment, after obtaining the self-cleaning start signal of the cleaning device, the method further includes:

[0058] S11, obtaining a target state parameter of the sewage tank, wherein the target state parameter represents an installation state of the sewage tank;

[0059] S12 , when it is determined according to the target state parameter that the sewage tank is not installed, issuing a first prompt message through the cleaning device, wherein the first prompt message is used to prompt that the sewage tank is not installed.

[0060] In this embodiment, the sewage tank can be a detachable structure that can be connected to the main body of the cleaning device via a connector (e.g., a contact, etc.) to supply power to the components in the sewage tank. Energizing the first motor can refer to supplying power to the connector connected to the sewage tank, or in other words, energizing the connector. To prevent sewage from splashing due to an uninstalled sewage tank, after receiving the self-cleaning start signal, a target state parameter of the sewage tank can be first detected. This parameter can be used to indicate the installation status of the sewage tank.

[0061] Optionally, the target state parameter can be represented in a variety of ways. For example, the voltage of a current sampling resistor (which can be a first resistor) connected in series with the first motor on the sewage tank can be detected to obtain a first voltage value. The first voltage value can be the target state parameter. If the first voltage value is not zero, it indicates that the sewage tank has been installed. Otherwise, it indicates that the sewage tank has not been installed. For another example, image acquisition can be performed through an image acquisition device, and target recognition can be performed on the acquired image. The identified installation status of the sewage tank is the target state parameter. The target state parameter is not limited in this embodiment.

[0062] If the target state parameters determine that the sewage tank is not installed, the cleaning device may issue a first prompt message through a speaker, text or symbols on a touch screen, or other means to indicate that the sewage tank is not installed. In addition, within a first time period after the first prompt message is issued, the cleaning device may continue to obtain the target state parameters until the target state parameters determine that the sewage tank is installed, or until the first time period reaches (the end of) the first time period.

[0063] Correspondingly, in response to the self-cleaning start signal, starting the third motor includes:

[0064] S13 , in a case where it is determined according to the target state parameter that the sewage tank has been installed, in response to a self-cleaning start signal, controlling the cleaning device to perform a self-cleaning operation.

[0065] If it is determined according to the target state parameter that the sewage tank has been installed, the self-cleaning mode can be entered in response to the self-cleaning start signal. In the self-cleaning mode, the third motor can be started to work.

[0066] Through this embodiment, by detecting whether the sewage tank is installed, low self-cleaning efficiency due to sewage overflow can be avoided, and the occurrence of damage to the cleaning equipment can be reduced.

[0067] In an exemplary embodiment, the execution process of the self-cleaning mode includes one or more cleaning time periods, and different time periods are used to implement different self-cleaning functions. The one or more cleaning time periods may include at least one of the following time periods in a sequential order:

[0068] (1) First cleaning period

[0069] During the first cleaning period, the third motor and the liquid spraying element are in operation, while the first and second motors can be turned off. This period is mainly used to clean the cleaning element. For example, the self-cleaning process may include a roller brush cleaning period, during which the roller brush motor (also known as the floor brush motor) and the water pump are in operation, while the separation motor and the main motor can be turned off.

[0070] (2) Second cleaning period

[0071] During the second cleaning time period, the first, second, and third motors are all running, and the liquid spraying element can be turned off. During the portion of the second cleaning time period adjacent to the first cleaning time period, the first and second motors can be started and the liquid spraying element can be turned off. The order in which the first and second motors are started can be similar to that in the aforementioned embodiment, and the liquid spraying element can be turned off before starting the first and second motors, after starting a portion of the first and second motors, or after starting the first and second motors, although this is not limited in this embodiment.

[0072] For example, the self-cleaning process may include a pipe cleaning period, which may be located after the roller comb cleaning period. During the pipe cleaning period, the floor brush motor continues to work, the water pump stops first, the separation motor runs, and the main motor runs later.

[0073] (3) The third cleaning period

[0074] During the third cleaning time period, the third motor and the liquid spraying element operate, while the first and second motors are deactivated. During the portion of the third cleaning time period adjacent to the second cleaning time period, the first and second motors may be deactivated and the liquid spraying element activated. The order in which the first and second motors are deactivated may be similar to that in the aforementioned embodiment, and the liquid spraying element may be activated before, after, or after the first and second motors are deactivated, although this is not limited in this embodiment.

[0075] Optionally, during the third cleaning time period and the first cleaning time period, the operating parameters of the various components in the cleaning equipment may be the same or different, and the different operating parameters may include but are not limited to at least one of the following: operating time, operating parameters of one or more motors from the first motor to the third motor (operating direction, operating power, operating time, etc.), and spray parameters of the spray part (spraying amount, spraying time, etc.).

[0076] For example, the self-cleaning process may include an intelligent detection period, which may be located after the pipeline cleaning period. During the intelligent detection period, the floor brush motor continues to work, the water pump works, the main motor stops, and the separation motor stops.

[0077] (4) Fourth cleaning period

[0078] During the fourth cleaning time period, the first motor, the second motor and the third motor are all running, and the liquid spraying part is turned off. Similar to the aforementioned second cleaning time period, in the part of the fourth cleaning time period adjacent to the third cleaning time period, there may be a process of starting the first motor and the second motor and turning off the liquid spraying part. What has been explained will not be repeated here. During the fourth cleaning time period and the second cleaning time period, the operating parameters of the various components in the cleaning equipment may be the same or different, and the different operating parameters may include but are not limited to at least one of the following: operating time, operating parameters of one or more motors from the first motor to the third motor (operating direction, operating power, operating time, etc.).

[0079] Specifically, the first cleaning time period is a roller brush cleaning time period, the second cleaning time period is a pipeline cleaning time period, the third cleaning time period is an intelligent detection time period, and the fourth cleaning time period is a deep cleaning time period.

[0080] For example, the self-cleaning process may include a deep cleaning period, which may be located after the smart detection period. During the deep cleaning period, the floor brush motor continues to work, the water pump stops first, the separation motor runs, and the main motor runs later.

[0081] It should be noted that at least part of steps S204 to S210 may be performed during the first to fourth cleaning periods, i.e., steps S204 to S210 may be performed at least once during the self-cleaning process. The third and fourth cleaning periods may or may not be performed, for example, depending on the degree of contamination of the cleaning element.

[0082] According to this embodiment, by configuring the self-cleaning process to include one or more cleaning time periods, the flexibility of the self-cleaning configuration can be improved, and the efficiency of the self-cleaning can be improved.

[0083] The following is an explanation of the self-cleaning control method of the cleaning device in the embodiment of the present application with reference to an optional example. In this optional example, the cleaning device is a floor scrubber, and the first motor is a separation motor (i.e., a water-gas separation motor, such as Figure 5 As shown), the second motor is the main motor (or called the main motor), the cleaning part is the roller brush, the third motor is the roller brush motor, the liquid storage part is the clean water tank, the liquid spraying part is the water pump, and the rotating part is the impeller.

[0084] In order to solve the problem of water-gas separation motor electronic control logic and main motor water spraying, this optional example provides a water-gas separation roller brush self-cleaning electronic control solution, combined with Figure 6 As shown, the process of the self-cleaning control method of the cleaning device in this optional example may include the following steps:

[0085] Step S602, start self-cleaning and determine whether the sewage tank is installed. If yes, execute step S604; otherwise, execute step S612.

[0086] If there is water in the clean water tank and the dirty water tank is not full, the roller brush executes the self-cleaning logic; otherwise, it executes the alarm logic.

[0087] Step S604: cleaning the roller brush during the roller brush cleaning period.

[0088] Step S606: During the pipeline cleaning period, pipeline cleaning is performed.

[0089] Step S608: During the intelligent detection period, intelligent detection is performed. The intelligent detection here may be detecting the cleanliness of the cleaning member or re-cleaning the roller brush.

[0090] Step S610: Perform deep cleaning during the deep cleaning period.

[0091] Step S612: an alarm is issued, indicating that the sewage tank is not installed.

[0092] After the self-cleaning is completed, the main motor and the roller brush motor can be controlled to stop first, and then the separation motor can be controlled to stop.

[0093] Through this optional example, the separation motor drives the impeller to separate the water vapor entering the sewage tank, thereby preventing the water vapor from entering the main motor and ensuring the safety of the main machine operation.

[0094] In an exemplary embodiment, the method further includes:

[0095] S21, in a first cleaning time period, the cleaning member is driven to rotate in a forward direction by the third motor, and a first amount of liquid is sprayed onto the cleaning member by the liquid spraying member to clean the cleaning member.

[0096] During the first cleaning time period, the cleaning member may be driven by the third motor to rotate in the forward direction, and the liquid spraying member may spray a first amount of liquid onto the cleaning member to clean the cleaning member.

[0097] For example, as shown in Table 1, during the roller brush cleaning period, the roller brush motor can rotate normally for 20 seconds, the speed of the roller brush motor is 550r / S, and the spray part pumps water for the roller brush at 200g / min. At this time, the main motor (also called the dust suction motor) stops working.

[0098] Table 1

[0099]

[0100] Correspondingly, the cleaning device may have multiple cleaning gears, as shown in Table 2, and different gears may correspond to different main motor powers.

[0101] Table 2

[0102]

[0103] According to this embodiment, by driving the cleaning member to rotate in the forward direction and pumping water to the cleaning member, the cleaning member can be cleaned conveniently and the cleaning efficiency of the cleaning member can be improved.

[0104] In an exemplary embodiment, the method further includes:

[0105] S31, during the second cleaning time period, controls the liquid spraying member to stop spraying liquid onto the cleaning member, controls the first motor to start, controls the second motor to start after a certain delay, and continuously drives the cleaning member to rotate through the third motor to clean the transmission pipe, wherein the transmission pipe is a pipe that transmits the liquid sucked in by the second motor to the sewage tank.

[0106] During the second cleaning time period, the cleaning element can be continuously driven to rotate by the third motor. At the same time, the liquid spraying element can be controlled to stop spraying liquid to the cleaning element first, and then the first motor can be controlled to start. After a certain delay, the operation of the first motor has basically stabilized, and the second motor can be controlled to start. At this time, the liquid after cleaning the cleaning element can be sucked into the sewage tank. The sucked-in liquid can clean the transmission pipe (also called the sewage suction pipe) that transmits the liquid sucked by the second motor to the sewage tank.

[0107] Through this embodiment, after controlling the separation motor to start, delaying the main motor to start for a certain period of time can ensure the separation efficiency and prevent water vapor from entering the main motor.

[0108] In an exemplary embodiment, continuously driving the cleaning element to rotate by a third motor includes:

[0109] S41 , after the cleaning member is driven by the third motor to rotate in the forward direction for a first preset time period, the cleaning member is driven by the third motor to rotate alternately in the forward and reverse directions at least once.

[0110] The third motor can continuously drive the cleaning member to rotate in one direction. In order to ensure the cleanliness of the sewage suction pipe, the cleaning member can first be driven by the third motor to rotate in the forward direction for a first preset time (for example, 10 seconds, or other time), and the speed of the cleaning member can be set as needed, for example, it can be 550r / S or other speeds; then, the cleaning member is driven by the third motor to rotate alternately in the forward and reverse directions at least once, and the speed of the cleaning member can be set as needed, and its value can be less than the speed within the first preset time, for example, it can be 50r / S or other speeds, and the speeds of forward rotation and reverse rotation can be the same or different.

[0111] The cleaning member may include a front cleaning member and a rear cleaning member. Within a first preset time period, the front cleaning member and the rear cleaning member may be controlled to rotate along a first direction, where the first direction is a forward direction of the front cleaning member and a reverse direction of the rear cleaning member. Alternatively, the front cleaning member may be controlled to rotate along the first direction and the rear cleaning member may be controlled to rotate along a second direction, where the first direction is a forward direction of the front cleaning member and the second direction is a reverse direction of the first direction and a forward direction of the rear cleaning member. When the cleaning member is driven by a third motor to rotate alternately in forward and reverse directions, forward rotation may be: controlling the front cleaning member to rotate along the first direction and controlling the rear cleaning member to rotate along the second direction, and reverse rotation may be: controlling the front cleaning member to rotate along the second direction and controlling the rear cleaning member to rotate along the first direction.

[0112] For example, as shown in Table 1, the roller brush can be controlled to rotate normally for 10 seconds. During the normal rotation process, the speed of the roller brush motor is 550 r / s, the water pumping volume of the spraying element is 0, and the power of the main motor is 120 W. After the normal rotation for 10 seconds, the roller brush can be controlled to rotate alternately in forward and reverse directions.

[0113] According to this embodiment, the cleaning member is controlled to rotate normally for a certain period of time, and then the cleaning member is controlled to rotate alternately in forward and reverse directions when the operating parameters of the member are switched and the operation is stable, thereby ensuring the cleanliness of the sewage suction pipe.

[0114] In an exemplary embodiment, driving the cleaning element to rotate alternately in forward and reverse directions at least once by the third motor includes:

[0115] S51, driving the cleaning element by the third motor to perform at least one of the following steps of alternating forward and reverse rotation:

[0116] driving the cleaning element to rotate in the reverse direction for a second preset time period by the third motor, wherein the motor power of the second motor is the first power during the second preset time period;

[0117] The cleaning element is driven by the third motor to rotate forward for a third preset time period, wherein in a first sub-time period of the third preset time period, the motor power of the second motor is a second power, and in a second sub-time period of the third preset time period, the motor power of the second motor is a third power, wherein the second power is greater than the third power.

[0118] When the cleaning element is driven by the third motor to perform an alternating forward and reverse rotation, it can first rotate in the reverse direction and then in the forward direction, or it can first rotate in the forward direction and then in the reverse direction; the speed of reverse rotation, the speed of forward rotation, the power of the second motor during reverse rotation, and the power of the second motor during forward rotation can be set as needed, and the speed of reverse rotation and the speed of forward rotation can be the same or different, fixed or variable; the power of the second motor during reverse rotation and the power of the second motor during forward rotation can be the same or different, fixed or variable.

[0119] In this embodiment, the cleaning element can be driven by the third motor to perform a forward and reverse alternating rotation in the following manner:

[0120] The cleaning element is driven by the third motor to rotate in the opposite direction for a second preset time period (for example, 5s). During the second preset time period, the motor power of the second motor is the first power (for example, 150W), and the rotation speed of the cleaning element can be set as needed, for example, it can be 50r / S or other rotation speeds.

[0121] For example, as shown in Table 1, the roller brush motor first controls the front roller brush to reverse and the rear roller brush to reverse for 5 seconds (e.g. Figure 7 As shown), in the process of controlling the front roller brush reversal and the rear roller brush reversal, the speed of the roller brush motor is 50r / S, the water pumping volume of the spray part is 0, and the power of the main motor is 150W.

[0122] The cleaning element is driven by the third motor to rotate forward for a third preset time period. In the first sub-time period of the third preset time period, the motor power of the second motor is the second power (for example, 250W), and the rotational speed of the cleaning element can be set as needed, for example, it can be 50r / S or other rotational speeds; in the second sub-time period of the third preset time period, the motor power of the second motor is the third power (for example, 150W), the second power is greater than the third power, and the rotational speed of the cleaning element can be set as needed, for example, it can be 50r / S or other rotational speeds.

[0123] For example, as shown in Table 1, the roller brush motor can control the front roller brush to rotate forward and the rear roller brush to rotate forward for 10 seconds (e.g. Figure 8 As shown), in the first 5 seconds of controlling the forward rotation of the front and rear roller brushes, the speed of the roller brush motor is 50r / S, the water pumping volume of the spray component is 0, and the power of the main motor is 250W; in the last 5 seconds of controlling the forward rotation of the front and rear roller brushes, the speed of the roller brush motor is 50r / S, the water pumping volume of the spray component is 0, and the power of the main motor is 150W.

[0124] Through this embodiment, when cleaning the sewage suction pipe, the second motor uses different powers to generate negative pressure, which can adapt to the amount of sewage to be sucked in, thereby improving the rationality of the pipe cleaning.

[0125] In an exemplary embodiment, the method further includes:

[0126] S61, in a third cleaning time period, the cleaning member is driven to rotate in a forward direction by the third motor, and the liquid spraying member sprays a second amount of liquid onto the cleaning member.

[0127] During the third cleaning time period, the cleaning member can be driven by the third motor to rotate forward, and the liquid spraying member can spray a second amount of liquid onto the cleaning member to clean the cleaning member. The second amount of liquid can be the same as or different from the first amount of liquid, which is not limited in this embodiment.

[0128] For example, as shown in Table 1, during the intelligent detection period, the roller brush motor can rotate normally for 20 seconds, the speed of the roller brush motor is 550r / S, and the spray part pumps water for the roller brush at 200g / min. At this time, the main motor stops working.

[0129] According to this embodiment, by driving the cleaning member to rotate in the forward direction and pumping water to the cleaning member, the cleaning member can be cleaned conveniently and the cleaning efficiency of the cleaning member can be improved.

[0130] In an exemplary embodiment, the method further includes:

[0131] S71, during the fourth cleaning time period, control the liquid spraying member to stop spraying liquid onto the cleaning member, control the first motor to start, and after a certain delay, control the second motor to start, and continuously drive the cleaning member to rotate through the third motor to clean the cleaning member again.

[0132] Similar to the aforementioned second cleaning time period, in the fourth cleaning time period, the cleaning element can be continuously driven to rotate by the third motor. At the same time, the liquid spraying element can be controlled to stop spraying liquid to the cleaning element first, and then the first motor can be controlled to start. After a certain delay, the operation of the first motor has basically stabilized, and the second motor can be controlled to start. At this time, the liquid after cleaning the cleaning element can be sucked into the sewage tank, and the sucked liquid can be used to transport the liquid sucked by the second motor to the sewage tank through the transmission pipe (also called the sewage suction pipe) for cleaning again.

[0133] Through this embodiment, after controlling the separation motor to start, delaying the main motor to start for a certain period of time can ensure the separation efficiency and prevent water vapor from entering the main motor.

[0134] In an exemplary embodiment, continuously driving the cleaning element to rotate by a third motor includes:

[0135] S81, after the cleaning member is driven by the third motor to rotate in the forward direction for a fourth preset time period, the cleaning member is driven by the third motor to rotate alternately in the forward and reverse directions at least once.

[0136] Similar to the aforementioned embodiment, when the cleaning member is continuously driven to rotate by the third motor, the cleaning member can first be driven by the third motor to rotate forward for a fourth preset time period (for example, 10s, or other time periods), and the rotation speed of the cleaning member can be set as needed, for example, it can be 550 or other speeds; then, the cleaning member is driven by the third motor to rotate alternately in forward and reverse directions at least once, and the rotation speed of the cleaning member can be set as needed, and its value can be less than the rotation speed within the fourth preset time period, for example, it can be 50r / S or other speeds, and the rotation speeds of forward rotation and reverse rotation can be the same or different.

[0137] For example, as shown in Table 1, during the deep cleaning phase, the roller brush can be controlled to rotate normally for 10 seconds. During this normal rotation, the roller brush motor speed is 550 r / s, the water pumping volume of the spray element is 0, and the main motor power is 120 W. After 10 seconds of normal rotation, the roller brush can be controlled to rotate alternately in forward and reverse directions.

[0138] Through this embodiment, by first controlling the cleaning member to rotate normally for a certain period of time, and then controlling the cleaning member to rotate alternately in forward and reverse directions when the operation parameters of the member are switched and the operation is stable, the cleanliness of the self-cleaning device can be ensured.

[0139] In an exemplary embodiment, driving the cleaning element to rotate alternately in forward and reverse directions at least once by the third motor comprises:

[0140] S91, driving the cleaning element by the third motor to perform at least one of the following steps of alternating forward and reverse rotation:

[0141] driving the cleaning member to rotate in the reverse direction for a fifth preset time period by the third motor, wherein during the fifth preset time period, the speed of the cleaning member is the first speed, and the motor power of the second motor is the fourth power;

[0142] The cleaning element is driven by the third motor to rotate forward for a sixth preset time period, wherein, in the third sub-time period of the sixth preset time period, the rotation speed of the cleaning element is the second rotation speed, in the fourth sub-time period of the sixth preset time period, the rotation speed of the cleaning element is the third rotation speed, in the fifth sub-time period of the sixth preset time period, the motor power of the second motor is the fifth power, and in the sixth sub-time period of the sixth preset time period, the motor power of the second motor is the sixth power.

[0143] Similar to the aforementioned embodiment, when the cleaning element is driven by the third motor to perform an alternating forward and reverse rotation, it can first rotate in the reverse direction and then in the forward direction, or it can first rotate in the forward direction and then in the reverse direction; the speed of reverse rotation, the speed of forward rotation, the power of the second motor during reverse rotation, and the power of the second motor during forward rotation can be set as needed, and the speed of reverse rotation and the speed of forward rotation can be the same or different, fixed or variable; the power of the second motor during reverse rotation and the power of the second motor during forward rotation can be the same or different, fixed or variable.

[0144] In this embodiment, the cleaning element can be driven by the third motor to perform a forward and reverse alternating rotation in the following manner:

[0145] The cleaning element is driven by the third motor to rotate in reverse for a fifth preset time period (for example, 5s). During the fifth preset time period, the rotation speed of the cleaning element is the first rotation speed (for example, 50r / S or other rotation speeds), and the motor power of the second motor is the fourth power (for example, 150W).

[0146] For example, as shown in Table 1, the roller brush motor first controls the front roller brush and the rear roller brush to reverse for 5s. During the process of controlling the front roller brush and the rear roller brush to reverse, the speed of the roller brush motor is 50r / S, the water pumping volume of the spray part is 0, and the power of the main motor is 150W.

[0147] The cleaning element is driven by the third motor to rotate forward for the sixth preset time period. In the third sub-time period of the sixth preset time period, the rotation speed of the cleaning element is the second rotation speed. In the fourth sub-time period of the sixth preset time period, the rotation speed of the cleaning element is the third rotation speed. In the fifth sub-time period of the sixth preset time period, the motor power of the second motor is the fifth power (for example, 250W). In the sixth sub-time period of the sixth preset time period, the motor power of the second motor is the sixth power (for example, 150W). Here, the third sub-time period of the sixth preset time period and the fifth sub-time period of the sixth preset time period may be the same or different, the second rotation speed may be less than the third rotation speed, and the fifth power may be less than the sixth power.

[0148] For example, as shown in Table 1, at the deep cleaning node, the roller brush motor can control the front and rear roller brushes to rotate forward for 20 seconds. During these 20 seconds, the water pumping volume of the spray component is 0; in the first 2 seconds of controlling the front and rear roller brushes to rotate forward, the speed of the roller brush motor is 50 r / S, and in the next 18 seconds, the speed of the roller brush motor is 550 r / S; in the first 5 seconds of controlling the front and rear roller brushes to rotate forward, the power of the main motor is 250 W, and in the next 15 seconds, the power of the main motor is 150 W.

[0149] Through this embodiment, when deep cleaning the cleaning equipment, the second motor uses different powers to generate negative pressure, and the cleaning element rotates at different speeds, which can adapt to the amount of sewage to be sucked in and improve the cleanliness of the equipment self-cleaning.

[0150] It should be noted that the aforementioned preset durations, sub-durations, power of the second motor and speed of the cleaning element are merely examples. The actual values ​​can be configured as needed. The configured values ​​can be arbitrary or can be values ​​that satisfy the aforementioned size relationship. This is not limited in this embodiment.

[0151] In an exemplary embodiment, the method further includes:

[0152] S101 , after performing a self-cleaning operation corresponding to a self-cleaning mode, starting a drying component of the cleaning device, and driving the cleaning element to rotate alternately in forward and reverse directions at least once by a third motor to dry the cleaning element.

[0153] After the self-cleaning operation is completed, in order to prevent the cleaning parts from becoming moldy and smelly due to being too wet, thereby affecting the service life of the cleaning parts, the drying component of the cleaning device can be started, and the cleaning parts can be driven by the third motor to rotate alternately in forward and reverse directions at least once to dry the cleaning parts.

[0154] When drying the cleaning element, the cleaning element can be first controlled to rotate in the reverse direction to fluff the cleaning material on the cleaning element, and then the cleaning element can be rotated in the forward direction to stabilize the operation of the cleaning device. Optionally, when drying the cleaning element, the cleaning element can maintain a stable rotation speed (i.e., the same rotation speed is used for forward and reverse rotation, for example, 50r / s), and the component voltage of the drying component can also be maintained at a stable voltage value (i.e., the same voltage is used for forward and reverse rotation, for example, 2.5V), to improve the convenience of drying the cleaning element.

[0155] Optionally, when starting the drying component and performing forward and reverse rotation, a component voltage higher than that during forward and reverse rotation can be used; if the drying process is shut down halfway, the cleaning component can be controlled to rotate forward for a certain period of time before being shut down.

[0156] For example, the drying process of the roller brush is shown in Table 3. The front and rear rollers can be controlled to rotate in reverse first, and then in forward direction. If the drying process is stopped midway, the rollers can be controlled to rotate forward for 5 seconds before stopping.

[0157] Table 3

[0158]

[0159] According to this embodiment, after the self-cleaning operation is completed, the cleaning element is dried by the drying component, thereby preventing the cleaning element from becoming moldy and smelly due to being too wet, and prolonging the service life of the cleaning element.

[0160] In an exemplary embodiment, the method further includes:

[0161] S111 , after performing the self-cleaning operation corresponding to the self-cleaning mode, controlling the second motor to turn off, and after a certain delay, controlling the first motor to turn off.

[0162] After the self-cleaning operation is completed, in order to ensure effective water-gas separation, the second motor can be controlled to shut down first. Since the second motor does not stop immediately, the water-gas mixture will still be sucked into the sewage tank, which can keep the first motor working normally. After a certain delay, the first motor can be controlled to shut down.

[0163] Through this embodiment, by controlling the main motor to shut down first and then controlling the separation motor to shut down, the water-gas separation effect can be ensured and the safety of the main motor operation can be improved.

[0164] In an exemplary embodiment, during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further includes:

[0165] S121, energizing the first motor to start the first motor;

[0166] S122, when detecting that the current passing through the first motor is less than or equal to a first current threshold, determining that the first motor reaches a normal operating state;

[0167] S123, when detecting that the current passing through the first motor is greater than or equal to a second current threshold, determining that the first motor is in an abnormal operating state;

[0168] S124, controlling the first motor to stop running, and sending a second prompt message through the cleaning device, wherein the second prompt message is used to prompt that an abnormality occurs in the first motor.

[0169] During the execution of the self-cleaning operation corresponding to the self-cleaning mode, when it is necessary to start the first motor, the first motor can be powered on to start the first motor. After the first motor is powered on, the operating state of the first motor can be determined by detecting the current of the first motor: detecting the current passing through the first motor; when the current of the first motor is less than or equal to the first current threshold, it is determined that the first motor has reached a normal operating state. The current of the first motor can be detected by a current sampling resistor connected in series with the first motor on the cleaning device. The current is collected according to the current sampling resistor to obtain the current of the first motor. In order to ensure the stable operation of the first motor, it can be determined that the first motor has reached a normal operating state when it is detected that the time when the current of the first motor is less than or equal to the first current threshold reaches a first time threshold.

[0170] Optionally, after the first motor is powered on, an operational abnormality of the first motor may be detected, and the abnormal state may be, but is not limited to, a stall or other abnormality. Detecting the abnormality of the first motor may be achieved by detecting the current passing through the first motor: detecting the current passing through the first motor; when the current of the first motor is greater than or equal to a second current threshold (for example, a stall current), or the time for the current of the first motor to be greater than or equal to the second current threshold reaches a second time threshold, determining that an abnormality has occurred in the first motor. The current of the first motor may be detected by the aforementioned current sampling resistor connected in series with the first motor. Current is collected based on the current sampling resistor to obtain the current of the first motor.

[0171] If an abnormality is detected in the first motor, the first motor can be directly controlled to stop running to ensure the safe operation of the first motor. Optionally, a prompt message can be issued through a speaker, text or symbols on the touch screen, or other means to prompt the abnormality of the first motor.

[0172] Through this embodiment, by detecting the separation motor and, after detecting an abnormality, controlling the separation motor to stop running and issuing an abnormality prompt message, the safety of the separation motor operation can be improved and the timeliness of the abnormality prompt can be improved.

[0173] In an exemplary embodiment, during the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further includes:

[0174] S131, when the liquid level in the sewage tank reaches the target liquid level, issuing a third prompt message through the cleaning device, wherein the third prompt message is used to indicate that the liquid in the sewage tank is full;

[0175] S132, controlling the second motor to stop running, and after a certain delay, controlling the first motor to stop running.

[0176] In order to avoid excessive liquid in the sewage tank causing re-absorption of liquid, which may lead to liquid overflow, the liquid level in the sewage tank can also be determined in a variety of ways.

[0177] For example, the voltage of a current sampling resistor (i.e., a second resistor) connected in parallel with the first motor on the sewage tank can be detected to obtain a second voltage value. The sewage tank cover can be provided with two electrodes, which can be used to detect the liquid level in the sewage tank. If the liquid level in the sewage tank exceeds the target liquid level, the electrode is conductive, the resistance after being connected in parallel with the current sampling resistor is small, and the second voltage value is less than the first voltage threshold, indicating that the liquid in the sewage tank is full. If the liquid level in the sewage tank does not reach the target liquid level, the electrode is not conductive, and the second voltage value is greater than the first voltage threshold, indicating that the liquid in the sewage tank is not full.

[0178] For another example, a photoelectric sensor may be installed in a sewage tank. The photoelectric sensor may include a transmitter and a receiver. The transmitter and receiver may be arranged at relative positions on the outside or inside of the sewage tank to ensure that the light signal emitted by the transmitter is received by the receiver. The transmitter and receiver may be arranged at the target liquid level. If the liquid level in the sewage tank reaches the target liquid level, the signal strength of the light signal received by the receiver (which can be represented by a voltage value converted from the light signal received by the receiver) is weak (less than a signal strength threshold, for example, less than a voltage threshold), indicating that the sewage tank is full. Otherwise, the signal strength of the light signal received by the receiver is strong (greater than or equal to the signal strength threshold, for example, greater than or equal to the voltage threshold), indicating that the sewage tank is not full.

[0179] If it is determined that the liquid in the sewage tank is full, that is, the target liquid level has been reached and further liquid cannot be sucked in, otherwise the liquid will overflow, thereby affecting the cleaning effect of the area, the cleaning device may issue a third prompt message through a speaker, text or symbols on the touch screen, or other means to indicate that the sewage tank is full.

[0180] Furthermore, to prevent sewage from overflowing and contaminating the ground, the second motor can be stopped. At this point, no operation can be performed on the first motor, meaning it continues to operate normally. To conserve power, the first motor can be stopped simultaneously, or the first and second motors can be stopped sequentially.

[0181] Optionally, to avoid incomplete water-gas separation due to the simultaneous shutdown of the first and second motors, or due to the first motor stopping first (it takes a certain amount of time for the motor to completely stop after power is turned off), the first motor can be controlled to operate normally for a certain period of time after the second motor stops. After a certain delay (for example, 5 seconds), it can be considered that the second motor has completely stopped rotating and no longer draws sewage into the sewage tank. Water-gas separation is no longer required through the first motor, and the first motor can be controlled to stop running. Here, controlling the motor to stop running can mean stopping the power supply to the motor.

[0182] Through this embodiment, when it is detected that the liquid in the sewage tank is full, the main motor is controlled to stop first and then the separation motor is stopped, thereby ensuring the effect of water-gas separation.

[0183] The following describes the self-cleaning control method for a cleaning device in an embodiment of the present application with reference to an optional example. In this optional example, the cleaning device is a floor scrubber, the first motor is a separation motor, the second motor is a main motor, the cleaning element is a roller brush, the third motor is a roller brush motor, the liquid storage element is a clean water tank, the liquid spraying element is a water pump, and the rotating element is an impeller.

[0184] In order to solve the problem of water-gas separation motor electronic control logic and main motor water spraying, this optional example provides a solution of active separation using a single water tank and self-cleaning logic, which can achieve better water-gas separation effect while using only a single sewage tank for self-cleaning. Figure 6 As shown, Figure 9 FIG. 1 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application, such as Figure 9 As shown, the process of the method may include the following steps:

[0185] Step S902: Power on the separation motor.

[0186] Step S904, determining whether the sewage tank is installed, if yes, executing step S910, otherwise, executing step S906.

[0187] Step S906: Alarm to indicate that the water tank is not installed.

[0188] Step S908: The separation motor is powered off.

[0189] Step S910: The roller brush motor is started and the roller brush rotates.

[0190] Step S912: start the water pump and spray water.

[0191] Step S914: After a time delay or a quantitative water spraying, the water pump stops. The quantitative water spraying can be used to clean the roller brush.

[0192] Step S916, start the main motor.

[0193] The main motor starts and uses the clean water from cleaning the roller brush to clean the sewage pipe and the inner wall of the sewage tank.

[0194] Step S918, delay.

[0195] Step S920: The main motor stops.

[0196] Step S922, loop several times.

[0197] Step S924: the roller brush motor stops and the roller brush stops rotating.

[0198] After the cycle is completed, the roller brush motor can be controlled to stop to control the roller brush to stop rotating.

[0199] Step S926: the separation motor stops.

[0200] Through this optional example, when a single water tank is used for self-cleaning, the water and gas separation can be ensured to be complete, thus preventing the HEPA components from getting wet and improving the self-cleaning efficiency.

[0201] According to another aspect of the embodiment of the present application, a self-cleaning control method for a cleaning device is also provided. Optionally, in this embodiment, the self-cleaning control method for the cleaning device can be applied to Figure 1 The hardware environment shown is composed of the terminal device 102, the cleaning device 104 and the base station 106. It has been described above and will not be repeated here.

[0202] The self-cleaning control method of the cleaning device in the embodiment of the present application can be performed jointly by the cleaning device 104 and the base station 106 . Figure 10 FIG. 1 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application, such as Figure 10 As shown, the process of the method may include the following steps:

[0203] In step S1002, the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, the cleaning device starts the third motor to rotate the cleaning member, starts the liquid spraying member to spray liquid to the cleaning member; turns off the liquid spraying member to stop spraying liquid to the cleaning member; starts the second motor to pump the liquid that has cleaned the cleaning member into the first sewage tank; the cleaning device starts the first motor to rotate the rotating part to separate the water from the gas-liquid mixture in the first sewage tank, and the first motor starts before the second motor.

[0204] The self-cleaning control method for a cleaning device in this embodiment can be applied in the following scenarios: During the self-cleaning process of the cleaning device, the liquid used for self-cleaning is sucked into the sewage tank of the cleaning device, and the base station motor on the base station sucks the liquid in the sewage tank of the cleaning device through the connector (e.g., a sewage pipe) between the sewage tank of the cleaning device and the sewage tank of the base station into the sewage tank of the base station. Unless otherwise specified, the structure and processing logic of the cleaning device are similar to those in the aforementioned embodiments. For the cleaning device, the sewage tank on the cleaning device is the first sewage tank.

[0205] In this embodiment, the cleaning device can receive a self-cleaning signal, which is used to start the cleaning device into self-cleaning mode. In response to the self-cleaning signal, the third motor is activated to rotate the cleaning element, the liquid spraying element is activated to spray liquid onto the cleaning element, the liquid spraying element is closed to stop spraying liquid onto the cleaning element, the second motor is activated to pump the liquid that has cleaned the cleaning element into the first sewage tank, and the first motor is activated to rotate the rotating component to separate the gas-liquid mixture in the first sewage tank. The first motor is activated before the second motor. The manner in which the cleaning device performs the above steps is similar to that in the previous embodiment and will not be described in detail here.

[0206] In step S1004, the base station motor generates negative pressure to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

[0207] During the self-cleaning process of the cleaning device, if it is detected that the first sewage tank is full (the detection method is the same or similar to that in the previous embodiment), a prompt message can be sent to the user to inform him that the sewage tank is full, and the user is required to manually clean the liquid in the first sewage tank. Before the user has finished cleaning the first sewage tank and placed it on the cleaning device, the cleaning device is in a waiting state, which reduces the efficiency of self-cleaning.

[0208] In this embodiment, a base station motor and a second sewage tank can be provided on the base station corresponding to the cleaning device. The first and second sewage tanks can be connected via a connector such as a sewage pipe. The base station motor can generate negative pressure to draw liquid from the first sewage tank into the second sewage tank through the connector. One end of the sewage pipe can be connected to the bottom of the first sewage tank, and the other end can be connected to the bottom, side, top, or other location of the second sewage tank.

[0209] In addition, a sewage valve can be provided at the location where the sewage pipe is connected to the first sewage tank and / or the second sewage tank. The sewage valve can be opened and closed by an electric switch, thereby controlling whether the liquid in the first sewage tank is allowed to be discharged into the second sewage tank through the sewage pipe.

[0210] For example, during the self-cleaning process, the base station's motor generates negative pressure, sucking liquid from the first tank through the drainage pipe into the second tank. This automatically drains the wastewater from the first tank into the second tank, eliminating the need for the user to manually clean the first tank, thus improving self-cleaning efficiency.

[0211] Optionally, considering the portability of the cleaning device and the smoothness of the self-cleaning process, the second sewage tank may have a larger volume than the first sewage tank. For example, the volume of the second sewage tank may be greater than that of the first sewage tank.

[0212] Through the above steps S1002 to S1004, the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid to the cleaning member; the liquid spraying member is closed to stop spraying liquid to the cleaning member; the second motor is started to suck the liquid that has cleaned the cleaning member into the first sewage tank; the first motor is started to rotate the rotating component to separate the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor; the base station motor on the base station matched with the cleaning device generates negative pressure by sucking the liquid in the first sewage tank into the second sewage tank through the sewage pipe, thereby solving the problem that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor in the self-cleaning control method of the cleaning device in the related art, reducing the possibility of damage to the main motor and improving the safety of the main motor operation.

[0213] In an exemplary embodiment, after the cleaning device controls the liquid spraying component to stop performing the liquid spraying operation, the base station can start the base station motor; after the cleaning device controls the second motor to stop running, the base station controls the base station motor to stop running after a certain delay.

[0214] During the self-cleaning process, the base station motor can cooperate with the second motor to draw sewage from the first sewage tank into the second sewage tank. After the liquid spraying component stops spraying, the base station can start the base station motor. Once started, the base station motor can draw sewage from the first sewage tank into the second sewage tank. For a certain period of time after starting the base station motor, the base station motor can be controlled to operate normally. After a certain delay, it can be determined that the liquid in the first sewage tank has been completely drawn into the second sewage tank, at which point the base station motor can be controlled to stop. Here, stopping the motor can mean stopping power to the motor.

[0215] Through this embodiment, by sucking the sewage generated by self-cleaning into the sewage tank of the cleaning equipment, and at the same time controlling the base station motor to discharge the liquid sucked into the sewage tank of the cleaning equipment into the sewage tank of the base station, the self-cleaning efficiency of the cleaning equipment can be improved, as well as the self-cleaning effect of the cleaning equipment can be improved.

[0216] In an exemplary embodiment, after obtaining the self-cleaning start signal, the sewage valve of the sewage pipe can be opened, the base station can start the base station motor, and after a certain delay, control the base station motor to stop running.

[0217] After receiving the self-cleaning start signal, the cleaning device can directly perform self-cleaning operations. However, after performing area cleaning, liquid may remain in the first sewage tank, resulting in a reduction in the available capacity of the first sewage tank. The liquid in the first sewage tank can be drained into the second sewage tank of the base station before performing self-cleaning operations.

[0218] The cleaning device first opens the drain valve on the sewage pipe. The base station then activates the base station motor, which generates negative pressure to draw liquid from the first sewage tank through the sewage pipe into the second sewage tank. After the base station motor runs for a certain period of time, it is assumed that all the liquid in the first sewage tank has been drawn into the second sewage tank, and the base station motor is controlled to stop.

[0219] During the operation of the second motor, the base station motor may remain in operation. After the second motor is controlled to stop operating, the base station motor may be controlled to stop operating. Alternatively, the base station motor may be controlled to continue operating for a period of time to ensure that the liquid in the first sewage tank has been completely sucked into the second sewage tank, and then the base station motor may be controlled to stop operating.

[0220] For example, Figure 11 As shown, except Figure 3In addition to the components shown in the figure, the floor scrubber may also include a drain valve 111 (which functions similarly to the drain valve described above), a water pump 112, a roller brush 113, and a drain pipe 114. The base station, which mates with the main unit of the floor scrubber, includes a base sewage tank 115 and a base motor 116. During the self-cleaning process, the water pump 112 sprays water onto the roller brush 113 to perform the self-cleaning operation. The main motor 33 generates negative pressure to draw the wastewater generated by the self-cleaning operation into the sewage tank 30. Simultaneously, the separation motor 33 drives the impeller 34 to rotate, performing water-gas separation. Simultaneously, the pipe valve 111 can be open, and the base motor 116 generates negative pressure, discharging the wastewater in the sewage tank 30 through the drain pipe 114 into the base sewage tank 115.

[0221] Through this embodiment, before starting the self-cleaning operation, the liquid in the sewage tank of the cleaning device is first discharged into the sewage tank of the base station, which can improve the smoothness of the self-cleaning process.

[0222] The following describes the self-cleaning control method for a cleaning device in an embodiment of the present application with reference to an optional example. In this optional example, the cleaning device is a floor scrubber, the first motor is a separation motor, the second motor is a main motor, the cleaning element is a roller brush, the third motor is a roller brush motor, the liquid storage element is a clean water tank, the liquid spraying element is a water pump, and the rotating element is an impeller.

[0223] This optional example provides a solution for active separation using two water tanks and combined with self-cleaning logic. When the active impeller is used for separation in the sewage tank, the impeller and the main motor work together to achieve a better water-gas separation effect. Figure 12 As shown, Figure 12 FIG. 1 is a flow chart of another optional self-cleaning control method for a cleaning device according to an embodiment of the present application, such as Figure 12 As shown, the process of the method may include the following steps:

[0224] Step S1202: Power on the separation motor.

[0225] Step S1204, determine whether the sewage tank is installed, if yes, execute step S1210, otherwise, execute step S1206.

[0226] Step S1206: Alarm to indicate that the water tank is not installed.

[0227] Step S1208: The separation motor is powered off.

[0228] Step S1210, start opening the sewage valve.

[0229] Step S1212, delay.

[0230] Step S1214, start the base station motor.

[0231] Step S1216, delay.

[0232] The delayed operation can ensure that the sewage in the water tank has been pumped to the sewage tank of the base station through the sewage pipe by the base station motor.

[0233] Step S1218: The base station motor stops.

[0234] Step S1220: The roller brush motor is started and the roller brush rotates.

[0235] Step S1222: start the water pump and spray water.

[0236] Step S1224: After a delay or a quantitative water spray, the water pump stops.

[0237] Step S1226, start the base station motor.

[0238] Step S1228, start the main motor.

[0239] The dual motors are started, and the clean water from cleaning the roller brushes is used to clean the sewage pipes and the inner walls of the sewage tank, and finally the water is pumped to the base station sewage tank through the sewage pipe.

[0240] Step S1230, delay.

[0241] Step S1232: the main motor stops.

[0242] Step S1234, delay.

[0243] Step S1236: the base station motor stops.

[0244] Step S1238, loop several times.

[0245] In step S1240, the roller brush motor stops and the roller brush stops rotating.

[0246] Step S1242, the separation motor stops.

[0247] Step S1244, close the sewage valve.

[0248] Through this optional example, two water tanks are used for self-cleaning. While ensuring the water-gas separation of the sewage generated by self-cleaning, more sewage is stored. This can solve the problem of using a single water tank for self-cleaning, where the user needs to frequently deal with the sewage in the water tank due to the small volume of the single water tank. This can improve the self-cleaning efficiency of the floor scrubber.

[0249] It should be noted that the cleaning device proposed in this application is applicable to both single-roller devices with one roller brush and double-roller devices with two roller brushes, which will not be discussed in detail here.

[0250] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0251] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory, Read-Only Memory) / RAM (Random Access Memory, Random Access Memory), a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0252] According to another aspect of the embodiment of the present application, a cleaning device for implementing the self-cleaning control method of the cleaning device is also provided. In this embodiment, the cleaning device can be applied to Figure 1 The hardware environment shown is composed of a terminal device 102, a cleaning device 104 and a base station 106. It has been described and will not be repeated here. The cleaning device includes:

[0253] Sewage tank;

[0254] Rotating parts located inside the sewage tank;

[0255] a first motor connected to the rotating component;

[0256] a second motor located outside the sewage tank for generating negative pressure;

[0257] Liquid storage parts;

[0258] A liquid spraying component connected to the liquid storage component;

[0259] cleaning parts; and,

[0260] a third motor connected to the cleaning member;

[0261] a control device configured to obtain a self-cleaning start signal from the cleaning device, wherein the self-cleaning start signal is configured to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning element, start the liquid spraying element to spray liquid onto the cleaning element, turn off the liquid spraying element to stop spraying liquid onto the cleaning element, and start the second motor to pump liquid that has cleaned the cleaning element into the sewage tank;

[0262] The control device is further used to start the first motor to rotate the rotating component to separate the gas-liquid mixture in the sewage tank from water, and the first motor is started before the second motor.

[0263] It should be noted that the above-mentioned control device can be a controller, control unit, etc. on the cleaning equipment, which can be used to control other components on the cleaning equipment to perform the self-cleaning control method of the cleaning equipment described in any of the above-mentioned embodiments. The manner of controlling each component to perform self-cleaning is similar to that in the above-mentioned embodiments, and has been explained, so it will not be repeated here.

[0264] Through the above-mentioned cleaning device, a self-cleaning start signal of the cleaning device is obtained, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid to the cleaning member; the liquid spraying member is closed to stop spraying liquid to the cleaning member; the second motor is started to suck the liquid that has cleaned the cleaning member into the sewage tank; the first motor is started to rotate the rotating part to separate the water vapor from the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor, which solves the problem of the self-cleaning control method of the cleaning device in the related art that the main motor is easily damaged due to the water vapor sucked into the sewage tank entering the main motor, reduces the possibility of damage to the main motor, and improves the safety of the main motor operation.

[0265] According to another aspect of the embodiment of the present application, a cleaning system for implementing the self-cleaning control method of the cleaning device is also provided. In this embodiment, the cleaning system can be applied to Figure 1 The hardware environment shown is composed of terminal device 102, cleaning device 104 and base station 106. It has been described and will not be repeated here. The cleaning system may include: cleaning device, base station matching the cleaning device, wherein,

[0266] The cleaning device includes: a first sewage tank; a rotating component located inside the first sewage tank and a first motor connected to the rotating component; a second motor located outside the first sewage tank for generating negative pressure; a liquid storage component and a liquid spray component connected to the liquid storage component; a cleaning component and a third motor connected to the cleaning component; and a first control device.

[0267] The first control device is configured to obtain a self-cleaning start signal, wherein the self-cleaning start signal is configured to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning member, start the liquid spraying member to spray liquid onto the cleaning member; turn off the liquid spraying member to stop spraying liquid onto the cleaning member; start the second motor to pump liquid that has cleaned the cleaning member into the first sewage tank; start the first motor to rotate the rotating member to separate water from the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor;

[0268] The base station includes a base station motor; a second sewage tank connected to the first sewage tank via a sewage pipe; a second control device;

[0269] The second control device is used to control the base station motor to generate negative pressure so that the liquid in the first sewage tank is sucked into the second sewage tank through the sewage pipe.

[0270] It should be noted that the above-mentioned first control device can be a controller, control unit, etc. on the cleaning device, which can be used to control other components on the cleaning device to execute the self-cleaning control method of the cleaning device described in any of the above-mentioned embodiments. The manner of controlling each component to execute self-cleaning is similar to that in the above-mentioned embodiments, and has been explained, so it will not be repeated here. The above-mentioned second control device can be a controller, control unit, etc. on the base station, which can be used to control other components on the base station to execute the self-cleaning control method of the cleaning device described in any of the above-mentioned embodiments. The manner of controlling each component to execute self-cleaning is similar to that in the above-mentioned embodiments, and has been explained, so it will not be repeated here.

[0271] Through the above-mentioned cleaning system, the cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter the self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid to the cleaning member; the liquid spraying member is closed to stop spraying liquid to the cleaning member; the second motor is started to suck the liquid that has cleaned the cleaning member into the first sewage tank; the first motor is started to rotate the rotating component to separate the water vapor from the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor; the base station motor on the base station matched with the cleaning device generates negative pressure and the liquid in the first sewage tank is sucked into the second sewage tank through the sewage pipe, which solves the problem of the main motor being easily damaged due to the water vapor sucked into the sewage tank entering the main motor in the self-cleaning control method of the cleaning device in the related art, reduces the possibility of damage to the main motor, and improves the safety of the main motor operation.

[0272] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of any of the above-mentioned self-cleaning control methods for cleaning equipment in the embodiments of the present application.

[0273] Optionally, in this embodiment, the above-mentioned storage medium may be located on at least one network device among the multiple network devices in the network shown in the above-mentioned embodiment.

[0274] As an optional embodiment, the storage medium is configured to store program codes for executing the following steps:

[0275] S1, obtaining a self-cleaning start signal of a cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode;

[0276] S2, in response to the self-cleaning start signal, starting the third motor to rotate the cleaning member and starting the liquid spraying member to spray liquid onto the cleaning member;

[0277] S3, closing the liquid spraying member to stop spraying liquid to the cleaning member;

[0278] S4, starting the second motor to suck the liquid that has cleaned the cleaning element into the sewage tank;

[0279] S5, starting the first motor to rotate the rotating component to separate the gas-liquid mixture in the sewage tank from water, and the first motor is started before the second motor.

[0280] As another optional embodiment, the storage medium is configured to store program codes for executing the following steps:

[0281] S1: The cleaning device receives a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, the liquid spraying member is started to spray liquid onto the cleaning member, the liquid spraying member is turned off to stop spraying liquid onto the cleaning member; the second motor is started to pump liquid that has cleaned the cleaning member into a first sewage tank; the first motor is started to rotate the rotating member to separate water from the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor;

[0282] S2, the base station motor on the base station matched with the cleaning device generates negative pressure to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

[0283] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0284] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0285] According to another aspect of an embodiment of the present application, an electronic device for implementing the self-cleaning control method of the cleaning equipment is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0286] Figure 13 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 13 As shown, it includes a processor 1302, a communication interface 1304, a memory 1306 and a communication bus 1308, wherein the processor 1302, the communication interface 1304 and the memory 1306 complete communication with each other through the communication bus 1308, wherein,

[0287] Memory 1306, for storing computer programs;

[0288] The processor 1302 is configured to execute the computer program stored in the memory 1306 to implement the following steps:

[0289] S1, obtaining a self-cleaning start signal of a cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode;

[0290] S2, in response to the self-cleaning start signal, starting the third motor to rotate the cleaning member and starting the liquid spraying member to spray liquid onto the cleaning member;

[0291] S3, closing the liquid spraying member to stop spraying liquid to the cleaning member;

[0292] S4, starting the second motor to suck the liquid that has cleaned the cleaning element into the sewage tank;

[0293] S5, starting the first motor to rotate the rotating component to separate the gas-liquid mixture in the sewage tank from water, and the first motor is started before the second motor.

[0294] Optionally, the processor 1302 is further configured to implement the following steps when executing a computer program stored in the memory 1306:

[0295] S1: The cleaning device receives a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, the liquid spraying member is started to spray liquid onto the cleaning member, the liquid spraying member is turned off to stop spraying liquid onto the cleaning member; the second motor is started to pump liquid that has cleaned the cleaning member into a first sewage tank; the first motor is started to rotate the rotating member to separate water from the gas-liquid mixture in the first sewage tank, and the first motor is started before the second motor;

[0296] S2, the base station motor on the base station matched with the cleaning device generates negative pressure to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

[0297] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 13 The communication interface is used for communication between the electronic device and other devices.

[0298] The aforementioned memory may include RAM, or may include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0299] The above-mentioned processor can be a general-purpose processor, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0300] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0301] It can be understood by those skilled in the art that Figure 13 The structure shown is for illustration only. The device for implementing the self-cleaning control method of the above-mentioned cleaning device may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 13 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 13 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 13 Different configurations shown.

[0302] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0303] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0304] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above-mentioned computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application.

[0305] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0306] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, and can be electrical or other forms.

[0307] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the purpose of the solution provided in this embodiment.

[0308] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0309] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A self-cleaning control method for a cleaning device, characterized in that: The cleaning device includes a sewage tank, a rotating component located inside the sewage tank and a first motor connected to the rotating component, a second motor located outside the sewage tank for generating negative pressure, a liquid storage component and a liquid spray component connected to the liquid storage component, a cleaning component and a third motor connected to the cleaning component, and the method includes the following steps: Obtaining a self-cleaning start signal of the cleaning device, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; In response to the self-cleaning start signal, the third motor is started to rotate the cleaning member, and the liquid spraying member is started to spray liquid toward the cleaning member; closing the liquid spraying member to stop spraying liquid to the cleaning member; Starting the second motor to suck the liquid cleaned by the cleaning element into the sewage tank; The method further comprises: starting the first motor to rotate the rotating component to separate water from the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor; During the self-cleaning operation corresponding to the self-cleaning mode, the third motor starts before the first motor, or the first motor starts before the third motor; The execution process of the self-cleaning mode includes at least one of the following time periods in a sequential order: a first cleaning time period, wherein during the first cleaning time period, the third motor and the liquid spraying member are in operation, and the first motor and the second motor are in operation; a second cleaning time period, wherein during the second cleaning time period, the first motor, the second motor, and the third motor are all running, and the liquid spraying member is closed; a third cleaning time period, wherein during the third cleaning time period, the third motor and the liquid spraying member are in operation, and the first motor and the second motor are in operation; A fourth cleaning time period, wherein, during the fourth cleaning time period, the first motor, the second motor, and the third motor are all running, and the liquid spraying member is closed.

2. The method according to claim 1, characterized in that The method further comprises: During the first cleaning time period, the cleaning member is driven to rotate in the forward direction by the third motor, and the liquid spraying member sprays a first amount of liquid onto the cleaning member to clean the cleaning member.

3. The method according to claim 1, characterized in that The method further comprises: During the second cleaning time period, the liquid spraying member is controlled to stop spraying liquid onto the cleaning member, the first motor is controlled to start, and after a certain delay, the second motor is controlled to start, and the cleaning member is continuously driven to rotate by the third motor to clean the transmission pipe, wherein the transmission pipe is a pipe that transmits the liquid sucked in by the second motor to the sewage tank.

4. The method according to claim 3, characterized in that The method of continuously driving the cleaning element to rotate by the third motor includes: After the cleaning member is driven by the third motor to rotate in the forward direction for a first preset time period, the cleaning member is driven by the third motor to rotate alternately in the forward and reverse directions at least once.

5. The method according to claim 4, characterized in that The step of driving the cleaning element to rotate alternately in forward and reverse directions at least once by the third motor comprises: The cleaning element is driven by the third motor to perform at least one of the following steps of alternating forward and reverse rotation: driving the cleaning element to rotate in the reverse direction for a second preset time period by the third motor, wherein the motor power of the second motor is the first power during the second preset time period; The cleaning element is driven by the third motor to rotate forward for a third preset time period, wherein, in a first sub-time period of the third preset time period, the motor power of the second motor is a second power, and in a second sub-time period of the third preset time period, the motor power of the second motor is a third power, wherein the second power is greater than the third power.

6. The method according to claim 1, wherein The method further comprises: In the third cleaning time period, the cleaning member is driven by the third motor to rotate in the forward direction, and the liquid spraying member sprays a second amount of liquid onto the cleaning member.

7. The method according to claim 1, characterized in that The method further comprises: During the fourth cleaning time period, the liquid spraying member is controlled to stop spraying liquid onto the cleaning member, the first motor is controlled to start, and after a certain delay, the second motor is controlled to start, and the cleaning member is continuously driven to rotate by the third motor to clean the cleaning member again.

8. The method according to claim 7, characterized in that The method of continuously driving the cleaning element to rotate by the third motor includes: After the cleaning member is driven by the third motor to rotate in the forward direction for a fourth preset time period, the cleaning member is driven by the third motor to rotate alternately in the forward and reverse directions at least once.

9. The method according to claim 8, characterized in that The step of driving the cleaning element to rotate alternately in forward and reverse directions at least once by the third motor comprises: The cleaning element is driven by the third motor to perform at least one of the following steps of alternating forward and reverse rotation: driving the cleaning member to rotate in the reverse direction for a fifth preset time period by the third motor, wherein during the fifth preset time period, the speed of the cleaning member is a first speed, and the motor power of the second motor is a fourth power; The cleaning member is driven by the third motor to rotate forward for a sixth preset time period, wherein, in the third sub-time period of the sixth preset time period, the rotation speed of the cleaning member is the second rotation speed, in the fourth sub-time period of the sixth preset time period, the rotation speed of the cleaning member is the third rotation speed, in the fifth sub-time period of the sixth preset time period, the motor power of the second motor is the fifth power, and in the sixth sub-time period of the sixth preset time period, the motor power of the second motor is the sixth power.

10. The method according to claim 1, characterized in that The method further comprises: After the self-cleaning operation corresponding to the self-cleaning mode is performed, the drying component of the cleaning device is started, and the third motor drives the cleaning element to rotate alternately in forward and reverse directions at least once to dry the cleaning element.

11. The method according to claim 1, wherein The method further comprises: After the self-cleaning operation corresponding to the self-cleaning mode is performed, the second motor is controlled to be turned off, and after a certain delay, the first motor is controlled to be turned off.

12. The method according to claim 1, characterized in that After obtaining the self-cleaning start signal of the cleaning device, the method further includes: obtaining a target state parameter of the sewage tank, wherein the target state parameter indicates an installation state of the sewage tank; and when it is determined according to the target state parameter that the sewage tank is not installed, issuing a first prompt message through the cleaning device, wherein the first prompt message is used to prompt that the sewage tank is not installed; The starting of the third motor in response to the self-cleaning start signal includes: when it is determined according to the target state parameter that the sewage tank has been installed, controlling the cleaning device to perform the self-cleaning operation in response to the self-cleaning start signal.

13. The method according to claim 1, wherein During the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further includes: energizing the first motor to start the first motor; When detecting that the current passing through the first motor is less than or equal to a first current threshold, determining that the first motor reaches a normal operating state; When it is detected that the current passing through the first motor is greater than or equal to a second current threshold, it is determined that the first motor is in an abnormal operating state; the first motor is controlled to stop running, and a second prompt message is issued through the cleaning device, wherein the second prompt message is used to indicate that an abnormality has occurred in the first motor.

14. The method according to any one of claims 1 to 13, characterized in that During the process of performing the self-cleaning operation corresponding to the self-cleaning mode, the method further includes: When the liquid level of the liquid in the sewage tank reaches the target liquid level, the cleaning device sends a third prompt message, wherein the third prompt message is used to prompt that the liquid in the sewage tank is full; The second motor is controlled to stop running, and after a certain delay, the first motor is controlled to stop running.

15. A self-cleaning control method for a cleaning device, characterized in that: The cleaning device includes a first sewage tank, a rotating component located inside the first sewage tank and a first motor connected to the rotating component, a second motor located outside the first sewage tank for generating negative pressure, a liquid storage component and a liquid spray component connected to the liquid storage component, a cleaning component and a third motor connected to the cleaning component, a base station matched with the cleaning device includes a base station motor and a second sewage tank, and the first sewage tank and the second sewage tank are connected via a sewage pipe; the method includes the following steps: The cleaning device obtains a self-cleaning start signal, wherein the self-cleaning start signal is used to start the cleaning device to enter a self-cleaning mode; In response to the self-cleaning start signal, the cleaning device starts the third motor to rotate the cleaning member, starts the liquid spraying member to spray liquid onto the cleaning member, turns off the liquid spraying member to stop spraying liquid onto the cleaning member, and starts the second motor to pump the liquid that has cleaned the cleaning member into the first sewage tank. The method further includes: the cleaning device starts the first motor to rotate the rotating component to separate the gas-liquid mixture in the first sewage tank from water, and the first motor is started before the second motor; the third motor is started before the first motor, or the first motor is started before the third motor; the base station motor generates negative pressure to suck the liquid in the first sewage tank into the second sewage tank through the sewage pipe.

16. A cleaning device, characterized in that: include: Sewage tank; a rotating component located inside the sewage tank; a first motor connected to the rotating component; a second motor located outside the sewage tank for generating negative pressure; Liquid storage parts; a liquid spraying member connected to the liquid storage member; cleaning parts; as well as, a third motor connected to the cleaning member; a control device configured to obtain a self-cleaning start signal from the cleaning device, wherein the self-cleaning start signal is configured to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning member, start the liquid spraying member to spray liquid onto the cleaning member, turn off the liquid spraying member to stop spraying liquid onto the cleaning member, and start the second motor to pump liquid that has cleaned the cleaning member into the sewage tank; Wherein, the control device is also used to start the first motor to rotate the rotating component to separate the water and gas in the gas-liquid mixture in the sewage tank, and the first motor is started before the second motor; the third motor is started before the first motor, or the first motor is started before the third motor.

17. A cleaning system, characterized in that: include: A cleaning device and a base station matched with the cleaning device, wherein: The cleaning device includes: a first sewage tank; a rotating component located inside the first sewage tank and a first motor connected to the rotating component; a second motor located outside the first sewage tank for generating negative pressure; a liquid storage component and a liquid spray component connected to the liquid storage component; a cleaning component and a third motor connected to the cleaning component; and a first control device. wherein the first control device is configured to obtain a self-cleaning start signal, wherein the self-cleaning start signal is configured to start the cleaning device to enter a self-cleaning mode; in response to the self-cleaning start signal, start the third motor to rotate the cleaning member, start the liquid spraying member to spray liquid onto the cleaning member; turn off the liquid spraying member to stop spraying liquid onto the cleaning member; and start the second motor to pump liquid that has cleaned the cleaning member into the first sewage tank; The first control device is further configured to start the first motor to rotate the rotating component to separate the gas-liquid mixture in the first sewage tank into water and gas, and the first motor is started before the second motor; the third motor is started before the first motor, or the first motor is started before the third motor; The base station includes a base station motor; a second sewage tank connected to the first sewage tank via a sewage pipe; and a second control device; The second control device is used to control the base station motor to generate negative pressure so that the liquid in the first sewage tank is sucked into the second sewage tank through the sewage pipe.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 15 when executed.

19. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 15 through the computer program.

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