Control method of cleaning apparatus, cleaning apparatus, and storage medium

Abstract

The embodiment of the application provides a kind of cleaning equipment control method, cleaning equipment and storage medium, first power component forms negative pressure inside recovery pipeline, to make recovery pipeline collect dirt at the place of cleaning piece, dirt sensor is equipped inside recovery pipeline and / or at cleaning piece;Method includes: when cleaning equipment cleans the surface to be cleaned, the dirt value at the dirt sensor is obtained by dirt sensor;When dirt value is greater than or equal to preset dirt threshold value, control cleaning equipment to run at least preset time length with frequency increasing state, to enhance the cleaning ability of cleaning equipment to the inside of the recovery pipeline and / or the cleaning piece;When the time length that dirt value is greater than or equal to preset dirt threshold value in preset time length is greater than or equal to time length threshold value, it is judged that cleaning equipment needs to carry out self-cleaning process.Can prevent secondary pollution to the surface to be cleaned when cleaning equipment cleans the surface to be cleaned.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a control method for cleaning equipment, cleaning equipment, and storage medium. Background Technology

[0002] With the development of technology, cleaning equipment such as floor scrubbers and sweepers have begun to enter people's lives, relatively reducing their workload. These cleaning devices primarily collect dirt through pipes. However, due to the limited internal cross-sectional area of ​​these pipes, they can become clogged when there is a lot of dirt on the ground, preventing further collection and even causing dirt to fall back onto the floor, resulting in secondary pollution. Furthermore, when the dirt includes substances like soy sauce and foam, the dirt adhering to the cleaning components can easily cause secondary pollution to the floor, negatively impacting the user experience. Summary of the Invention

[0003] This application provides a control method for cleaning equipment, cleaning equipment, and storage medium, which can prevent dirt on the cleaning components and / or dirt in the recovery pipe from causing secondary pollution to the surface to be cleaned when the cleaning equipment cleans the surface to be cleaned.

[0004] In a first aspect, embodiments of this application provide a control method for a cleaning device, the cleaning device including a cleaning component, a recovery pipe, and a first power assembly, wherein the first power assembly creates a negative pressure inside the recovery pipe to collect dirt from the cleaning component, and a dirt sensor is provided inside the recovery pipe and / or at the cleaning component; the method includes:

[0005] When the cleaning equipment cleans the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor.

[0006] When the dirt value is greater than or equal to a preset dirt threshold, the cleaning equipment is controlled to operate in a frequency-up mode for at least a preset time, and at least one operating parameter of the cleaning equipment in the frequency-up mode is greater than the operating parameter in the non-frequency-up mode.

[0007] When the duration of the dirt value being greater than or equal to the dirt threshold within the preset time period is greater than or equal to the time threshold, it is determined that the cleaning equipment needs to perform self-cleaning.

[0008] Secondly, embodiments of this application provide a control method for a cleaning device, the cleaning device including a cleaning component, a recovery pipe, and a first power assembly, wherein the first power assembly creates a negative pressure inside the recovery pipe to collect dirt from the cleaning component, and a dirt sensor is provided inside the recovery pipe and / or at the cleaning component; the method includes:

[0009] When the cleaning equipment cleans the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor.

[0010] When the dirt value is greater than or equal to a preset dirt threshold, and the duration for which the dirt value is greater than or equal to the dirt threshold within a preset time period is greater than or equal to a time period threshold, it is determined that the cleaning equipment needs to perform self-cleaning.

[0011] Thirdly, this application provides a cleaning device, which includes a cleaning component, a recycling pipe, and a first power component. The first power component creates a negative pressure inside the recycling pipe to collect dirt from the cleaning component. A dirt sensor is provided inside the recycling pipe and / or at the cleaning component.

[0012] The cleaning device further includes a processor and a memory, the memory being used to store a computer program; the processor being used to execute the computer program and, when executing the computer program, to implement the steps of the aforementioned control method for the cleaning device.

[0013] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the above-described method.

[0014] This application provides a control method, cleaning device, and storage medium for a cleaning device. When the dirt level inside the cleaning device's recovery pipe and / or at the cleaning component is greater than or equal to a preset dirt threshold, the cleaning device is controlled to operate in a frequency-increased state for at least a preset duration to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe. When the duration for which the detected dirt level is greater than or equal to the dirt threshold reaches the preset duration threshold, i.e., the frequency-increased state fails to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe, it is determined that the cleaning device needs to perform self-cleaning. This prevents secondary contamination of the surface to be cleaned by the dirt adhering to the cleaning component and / or dirt in the recovery pipe when the cleaning device cleans the surface to be cleaned.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of a control method for a cleaning device provided in an embodiment of this application;

[0018] Figure 2 This is a schematic diagram of a cleaning device provided in an embodiment of this application;

[0019] Figure 3 This is a schematic diagram of a cleaning device in one embodiment;

[0020] Figure 4 This is a flowchart illustrating a method for controlling a cleaning device in one embodiment;

[0021] Figure 5 This is a flowchart illustrating a control method for a cleaning device according to another embodiment of this application.

[0022] Explanation of reference numerals in the attached figures:

[0023] 110. Cleaning component; 120. Recycling pipe; 130. First power unit; 140. Dirt sensor; 150. Second power unit; 160. Liquid supply unit; 101. Processor; 102. Memory; 10. Chassis; 20. Body; 201. Wastewater tank. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0026] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application.

[0028] The cleaning equipment involved in this application refers to mechanical equipment designed for cleaning, which may be cleaning robots or handheld cleaning equipment, including but not limited to: vacuum cleaners, floor scrubbers, wet / dry vacuum cleaners, sweepers, mops, sweeper-mop combos, etc.

[0029] Figure 2 The diagram shows a structural schematic of a cleaning device provided in an embodiment of this application. The cleaning device includes a cleaning component 110, a recovery pipe 120, and a first power assembly 130. The first power assembly 130 creates a negative pressure inside the recovery pipe 120, causing the recovery pipe 120 to collect dirt from the cleaning component 110. For example, the recovery pipe 120 can collect dirt from the cleaning component 110, and can also collect dirt from surfaces near the cleaning component 110 that need cleaning.

[0030] Please combine Figure 2 See Figure 3 When the cleaning equipment is a floor scrubber, the cleaning equipment also includes a chassis 10 and a body 20. The body 20 is rotatably connected to the chassis 10, for example, by a hinge, which enables the cleaning equipment to clean the surface from multiple angles.

[0031] like Figure 3 As shown, the cleaning component 110 is mounted on the chassis 10. Exemplarily, the cleaning component 110 includes a rolling cleaning component, but it is not limited to this; for example, the cleaning component 110 on the chassis 10 may include a rotating cleaning component, etc. The rolling cleaning component is mounted on the chassis 10, and its axial direction is perpendicular to the forward direction of the cleaning device when cleaning the surface to be cleaned; when the cleaning device cleans the surface to be cleaned, the axial direction of the rotating cleaning component is perpendicular to the surface to be cleaned.

[0032] For example, such as Figure 3 As shown, the cleaning component 110 also includes a second power assembly 150, which is used to drive the cleaning component 110 to rotate.

[0033] Optionally, the cleaning equipment also includes a liquid supply assembly 160, which is used to supply cleaning fluid to the cleaning component 110. The cleaning fluid includes clean water and may also include cleaning substances such as detergent and / or disinfecting and sterilizing substances to wet the cleaning component 110. The wetted cleaning component 110 can clean the surface to be cleaned and can also be disinfected and sterilized.

[0034] A recycling pipe 120 and a first power assembly 130 are mounted on the body 20. One end of the recycling pipe 120 has a suction port at the cleaning component 110. The negative pressure generated inside the recycling pipe 120 collects dirt from the cleaning component 110 through the suction port. For example, the body 20 is also equipped with a wastewater tank 201, which can store solid and liquid dirt collected by the recycling pipe 120. Optionally, the wastewater tank 201 may include a solid-liquid separation chamber and a wastewater chamber that are interconnected through a through-hole or pipe. The solid-liquid separation chamber can be used to separate solid waste and liquid waste, and the liquid waste flows to the wastewater chamber.

[0035] Taking a floor scrubber as the cleaning equipment and a roller brush as the cleaning component 110, after the floor scrubber is turned on, the liquid supply component 160 will continuously supply water to the roller brush, and the roller brush will also rotate, forming friction with the surface to be cleaned, and collecting the solid-liquid mixture of dirt at the suction port; the first power component 130 works in the recovery pipe 120 to generate negative pressure, and the negative pressure generated inside the recovery pipe 120 will draw the solid-liquid mixture through the suction port into the wastewater tank 201.

[0036] For example, the first power component 130 includes a blower and / or a vacuum pump. The blower operates to generate negative pressure in the wastewater tank 201, which in turn creates negative pressure inside the recovery pipe 120. The vacuum pump provides negative pressure to the wastewater tank 201, and this negative pressure in the wastewater tank 201 creates negative pressure inside the recovery pipe 120. Optionally, the vacuum pump provides negative pressure to the wastewater chamber of the wastewater tank 201, which can quickly separate liquid waste from the solid-liquid separation chamber to the wastewater chamber and prevent liquid waste in the wastewater chamber from flowing back into the solid-liquid separation chamber. The solid-liquid separation chamber and the wastewater chamber are relatively independent. This arrangement allows liquid waste to be contained in the wastewater chamber, maintaining a certain distance between the liquid waste and the blower, and minimizing the risk of liquid waste being sucked into the blower.

[0037] In some implementations, the cleaning equipment can also be used in conjunction with a base (or base station) for user convenience. For example, the base can be used to charge cleaning equipment such as floor scrubbers. When the floor scrubber's battery level falls below a threshold during cleaning, it can be placed on the base to recharge. The base can also clean the cleaning components 110 of the cleaning equipment. For instance, after the floor scrubber's rolling cleaning components have been used to clean the surface, they often become dirty and require cleaning. This can be achieved by placing the floor scrubber on the base for self-cleaning.

[0038] In other implementations, the floor scrubber may not be placed on the base for self-cleaning; for example, it may be placed in a water tank for self-cleaning.

[0039] Optionally, the base may also include a cleaning part drying device (e.g., a fan for the base) that provides cool or hot air so that the floor scrubber can be dried after the base has self-cleaned.

[0040] In related technologies, users typically decide whether to control cleaning equipment such as floor scrubbers to perform self-cleaning. For example, when cleaning a relatively clean surface, the cleaning equipment may cause secondary contamination, making the surface dirty again. If the user notices this secondary contamination, the equipment may automatically initiate self-cleaning, which lacks sufficient intelligence and negatively impacts the user experience. Alternatively, if the cleaning equipment is a robot, it usually performs self-cleaning at set intervals. However, these timed self-cleaning cycles sometimes don't match the level of dirt. For instance, if the surface is very dirty, the timer might not have expired, leading to secondary contamination; conversely, if the surface is clean, the timer might expire immediately, reducing cleaning efficiency and wasting resources. Furthermore, while some technologies can detect pipe blockages and trigger alarms and stop operation upon detection, requiring user removal, this process is cumbersome and interrupts the cleaning process, further impacting the user experience.

[0041] In order to solve at least one of the above-mentioned technical problems, the inventors of this application have improved the cleaning equipment and the control method of the cleaning equipment to at least prevent dirt on the cleaning component 110 and / or dirt in the recovery pipe 120 from causing secondary pollution to the surface to be cleaned when the cleaning equipment cleans the surface to be cleaned.

[0042] In this embodiment of the application, a dirt sensor 140 is provided inside the recycling pipe 120 and / or at the cleaning component 110. For example, Figure 2 As shown, the dirt sensor 140 is installed inside the recovery pipe 120. During cleaning, dirt flows through the recovery pipe 120, and the dirt sensor 140 inside the recovery pipe 120 acquires the detection data of the flowing dirt, thus obtaining the sensor data of the dirt sensor 140. Optionally, the dirt sensor 140 can also be installed on the chassis 10 or on the cleaning component 110 to detect the dirt condition on the cleaning component 110. It should be noted that installing the dirt sensor 140 inside the recovery pipe 120 can minimize the introduction of uncontrollable variables and avoid missed detections.

[0043] The dirt sensor 140 is used to detect the physical properties of dirt. The dirt sensor 140 includes, but is not limited to, at least one of the following: a sensor for detecting the acoustic properties of dirt, a sensor for detecting the electrical properties of dirt, and a sensor for detecting the optical properties of dirt. Among these, the acoustic property sensor for detecting dirt, such as an ultrasonic sensor, can determine the type of dirt by emitting ultrasonic waves and receiving the ultrasonic waves reflected back from the dirt; the electrical property sensor for detecting dirt can be a method that uses resistance to determine conductivity, or a capacitive sensor that determines the capacitance change in the space of the recycling pipe 120 caused by different levels of dirt; and the optical property sensor for detecting other properties can be, for example, a camera that can identify the type of dirt using artificial intelligence (AI), a spectrometer that identifies the type of dirt by recognizing the reflection spectrum of the dirt, or an infrared photocell sensor that identifies the type and degree of dirt, etc.

[0044] For example, the dirt sensor 140 includes an infrared photodiode sensor, which includes at least one transmitting tube and at least one receiving tube. The transmitting tube and the receiving tube of the infrared photodiode sensor are respectively arranged on opposite sides or on the same side within the recycling pipe 120; the light signal emitted by the transmitting tube is attenuated by dirt or refracted by dirt such as viscous liquid, resulting in fluctuations, which are ultimately reflected in the change of the signal received by the receiving tube, thus obtaining sensor data.

[0045] Specifically, such as Figure 2 As shown, the cleaning device also includes a processor 101 and a memory 102; the memory 102 is used to store a computer program; the processor 101 is used to execute the computer program and, when executing the computer program, implement the steps of the control method of the cleaning device according to the embodiments of this application.

[0046] For example, processor 101 and memory 102 are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0047] Specifically, the processor 101 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0048] Specifically, the memory 102 can be a Flash chip, a read-only memory 102 (ROM), a disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0049] The processor 101 is used to execute a computer program stored in the memory 102 and to perform the steps of the control method for cleaning the device while executing the computer program.

[0050] The control method for the cleaning equipment provided in the embodiments of this application will be described in detail below.

[0051] like Figure 1 As shown, a control method for a cleaning device according to an embodiment of this application includes steps S110 to S130.

[0052] Step S110: When the cleaning equipment is cleaning the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor.

[0053] For example, when the cleaning equipment cleans the surface to be cleaned, sensor data of the dirt sensor is obtained according to a preset sampling period and / or sampling rate; the sensor data can be directly used as the dirt value at the dirt sensor; or the dirt value of the cleaning equipment at the dirt sensor can be determined according to the sensor data.

[0054] When the dirt sensor is installed inside the recycling pipe, the dirt value can reflect the degree of dirt in the recycling pipe; when the dirt sensor is installed at the cleaning component, the dirt value can reflect the degree of dirt on the cleaning component.

[0055] For example, the sensor data of the dirt sensor when the cleaning equipment is turned on can also be obtained as dirt reference data; the dirt value of the cleaning equipment at the dirt sensor can be determined based on the difference between the sensor data when the cleaning equipment cleans the surface to be cleaned and the dirt reference data.

[0056] When the cleaning equipment is turned on, the recovery pipe is usually free of dirt; that is, the dirt baseline data is the sensor data under these conditions. Optionally, when the dirt sensor data is within a preset range when the cleaning equipment is turned on, this sensor data is used as the dirt baseline data to avoid using the sensor data under dirty conditions as the dirt baseline data when there is a lot of dirt in the recovery pipe and / or at the cleaning component. Optionally, when the dirt sensor data exceeds the preset range when the cleaning equipment is turned on, a preset dirt baseline data can be used. This preset dirt baseline data could be, for example, the sensor data of the dirt sensor during the previous turn of the cleaning equipment, and this sensor data is within the preset range.

[0057] When the cleaning equipment is cleaning the surface to be cleaned, and there is dirt in the recovery pipe, the sensor data obtained by the dirt sensor may differ from the dirt reference data, such as the signal received by the receiving tube of the infrared photocell sensor being different. If, at certain times, the sensor data obtained by the dirt sensor when the cleaning equipment is cleaning the surface to be cleaned is the same as the dirt reference data, it can be determined that there is currently no dirt in the recovery pipe.

[0058] For example, the dirt value of the cleaning device at the dirt sensor is determined based on the difference between the sensor data obtained when the cleaning device cleans the surface to be cleaned and the dirt reference data, i.e., the dirt value inside the recovery pipe and / or the cleaning component; for example, the larger the absolute value of the difference, the larger the dirt value, i.e., the greater the degree of dirt inside the recovery pipe and / or the cleaning component.

[0059] Optionally, the dirt value can be the sensor data of the dirt sensor itself, or the difference between the sensor data and the dirt reference data, or the dirt level corresponding to the difference range, or the dirt level corresponding to the range of the sensor data itself. For ease of explanation, this application embodiment mainly uses the dirt value corresponding to the dirt level of the difference range as an example; for example, multiple difference ranges are preset, and the larger the maximum difference in the difference range, the higher the dirt level corresponding to that difference range.

[0060] The soiling level can be used to determine the soiling status inside the recovery pipe and / or at the cleaning component. Taking three soiling levels as an example, these levels are arranged from least to most soiled as State 0, State 1, and State 2, where State 0 represents clean (little soiling), State 1 represents somewhat soiled (some soiling), and State 2 represents very soiled (a lot of soiling). The soiling level can include at least seven levels, where levels 0 to 3 can be classified as State 0, levels 4 to 6 as State 1, and levels 7 and beyond as State 2. However, this is not a limitation; for example, it could include only two soiling levels, or four or more.

[0061] Step S120: When the dirt value is greater than or equal to a preset dirt threshold, control the cleaning device to operate in a frequency-up mode for at least a preset time, wherein at least one operating parameter of the cleaning device in the frequency-up mode is greater than the operating parameter in the non-frequency-up mode.

[0062] In some implementations, such as Figure 3 As shown, the cleaning equipment further includes a second power component and / or a liquid supply component, wherein the second power component is used to drive the cleaning component to rotate, and the liquid supply component is used to provide cleaning fluid to the cleaning component.

[0063] The cleaning equipment operates at least one parameter in the frequency-up state that is greater than the operating parameter in the non-frequency-up state, so that the cleaning equipment can enhance its cleaning ability on the inside of the recovery pipe and / or the cleaning components in the frequency-up state.

[0064] For example, controlling the cleaning device to operate in an up-frequency state includes at least one of the following: controlling the first power component to increase suction to increase the negative pressure inside the recovery pipe; controlling the second power component to increase the rotation speed of the cleaning component; controlling the liquid supply component to increase the amount of cleaning liquid supplied to the cleaning component and / or the recovery pipe; and controlling the liquid supply component to increase the content of cleaning substances in the cleaning liquid supplied to the cleaning component and / or the recovery pipe.

[0065] For example, increasing the fan speed (power) increases the negative pressure inside the recovery pipe. A higher negative pressure increases the airflow velocity within the recovery pipe, which in turn improves the removal of dirt. Increasing the rotation speed of the cleaning components improves their cleaning ability; for example, increasing the roller brush speed increases the scraping frequency of the brush blades on different parts of the brush, thus removing dirt more quickly and improving the cleanliness of the brush itself. Increasing the volume of cleaning fluid supplied to the cleaning components and / or recovery pipe, and / or the concentration of cleaning substances in the cleaning fluid, also improves the cleaning ability of the cleaning components and / or recovery pipe, enhancing their cleanliness. For example, it can dissolve and dilute viscous dirt adhering to the cleaning components and / or recovery pipe, cleaning them more quickly.

[0066] In some implementations, when the dirt value is greater than or equal to a preset dirt threshold, for example, when the dirt value corresponds to a dirt state of state 1 or state 2, it can be determined that there is enough dirt inside the recycling pipe and / or at the cleaning component, posing a risk of dirt clogging the recycling pipe or continuously adhering to the cleaning component and causing secondary pollution to the surface to be cleaned. By controlling the cleaning equipment to operate in the frequency-increased state, the cleaning ability of the cleaning equipment on the inside of the recycling pipe and / or the cleaning component can be enhanced, for example, by increasing the flow rate of dirt in the recycling pipe, which can prevent dirt from clogging the recycling pipe or reduce dirt on the cleaning component, thereby preventing dirt from clogging the recycling pipe or continuously adhering to the cleaning component and causing secondary pollution to the surface to be cleaned.

[0067] In some implementations, when the dirt value is less than a preset dirt threshold, the cleaning equipment can be controlled to operate in a non-frequency-increased state, such as a preset working state; for example, it can operate according to the current cleaning mode; for example, the first power component, the second power component, and the liquid supply component can be controlled according to the operating parameters corresponding to the current cleaning mode; when the cleaning equipment operates in a frequency-increased state, the corresponding components can be controlled with larger operating parameters.

[0068] Step S130: When the duration of the dirt value being greater than or equal to the dirt threshold within the preset duration is greater than or equal to the duration threshold, it is determined that the cleaning equipment needs to perform self-cleaning.

[0069] When the cleaning equipment is operated in frequency-up mode, the dirt value at the dirt sensor is continuously acquired. If, within a preset duration of operation in frequency-up mode, the determined dirt value is greater than or equal to the dirt threshold for a continuous duration or cumulative duration that reaches the threshold (e.g., the inside of the recovery pipe and / or the cleaning components remain in a high dirt state for an extended period during frequency-up mode operation), it can be determined that operating the cleaning equipment in frequency-up mode for the preset duration cannot effectively reduce or eliminate the risk of dirt clogging the recovery pipe or continuously adhering to the cleaning components, causing secondary contamination of the surface to be cleaned. Therefore, it can be determined that the cleaning equipment needs to perform self-cleaning. This self-cleaning process prevents dirt adhering to the cleaning components and / or dirt in the recovery pipe from causing secondary contamination of the surface to be cleaned when the cleaning equipment cleans the surface.

[0070] In some embodiments, the method further includes: when it is determined that the cleaning device needs to perform self-cleaning, controlling the cleaning device to perform self-cleaning, and / or outputting a self-cleaning prompt message to remind the user that the cleaning device needs to perform self-cleaning. When self-cleaning is required, the cleaning device can be stopped to force self-cleaning; alternatively, a prompt message can be sent while the cleaning device continues to operate, for example, it can continue to operate in an up-frequency state.

[0071] For example, the self-cleaning prompt information is used to prompt the user to place the cleaning device on the maintenance device, and / or control the cleaning device to move to the maintenance device. The maintenance device includes, for example, the aforementioned base, on which the cleaning device can be placed for self-cleaning.

[0072] For example, the self-cleaning prompt information can be output through at least one of the human-machine interaction components of the cleaning device, such as a display, indicator light, speaker, buzzer, etc.; of course, it is not limited to this, for example, the self-cleaning prompt information can be output through a device that is communicatively connected to the cleaning device, such as a terminal device, smart speaker, etc.

[0073] For example, after determining that the cleaning equipment needs to perform self-cleaning, the system controls the cleaning equipment to perform the self-cleaning process after detecting that the cleaning equipment has been placed or moved to the maintenance equipment, and / or after detecting a user's self-cleaning control operation. For instance, a user can control the cleaning equipment to perform the self-cleaning process by placing the cleaning equipment on the maintenance equipment and triggering the corresponding button on the cleaning equipment.

[0074] When the dirt level inside the cleaning device's recovery pipe and / or at the cleaning component is greater than or equal to a preset dirt threshold, the cleaning device is controlled to operate in a frequency-increased state for at least a preset duration to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe. When the duration for which the detected dirt level is greater than or equal to the dirt threshold reaches the preset duration threshold, i.e., the frequency-increased state fails to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe, it is determined that the cleaning device needs to perform self-cleaning. This is to prevent secondary contamination of the surface to be cleaned by the dirt adhering to the cleaning component and / or dirt in the recovery pipe when the cleaning device cleans the surface to be cleaned.

[0075] In some implementations, the dirt threshold includes a first dirt threshold and a second dirt threshold, wherein the second dirt threshold is greater than the first dirt threshold. For example, when the dirt value is greater than or equal to the first dirt threshold and less than the second dirt threshold, the dirt state corresponding to the dirt value can be determined as state 1; when the dirt value is greater than or equal to the second dirt threshold, the dirt state corresponding to the dirt value can be determined as state 2. For example, the aforementioned step S130 includes: when the dirt value is greater than or equal to the first dirt threshold, controlling the cleaning device to operate in an up-frequency state for at least a preset time.

[0076] For example, determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to a duration threshold includes: determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the first dirt threshold and less than the second dirt threshold within the preset duration is greater than or equal to a first duration threshold. The first duration threshold is less than or equal to the preset duration.

[0077] For example, if, during the preset duration of operation of the cleaning equipment in frequency-up mode, the duration of the dirt state being state 1 reaches a first duration threshold, such as 30 seconds, it can be determined that the cleaning equipment needs to perform self-cleaning. That is, when the inside of the recovery pipe and / or the cleaning components are in a relatively dirty state during the duration reaching the first duration threshold during frequency-up operation, the cleaning equipment needs to perform self-cleaning. Optionally, the first duration threshold is equal to the preset duration. When the dirt values ​​determined within the preset duration are all greater than or equal to the first dirt threshold and less than the second dirt threshold, it is determined that the cleaning equipment needs to perform self-cleaning.

[0078] For example, determining that the cleaning device needs to perform self-cleaning when the dirt value within the preset time period is greater than or equal to the dirt threshold is greater than or equal to the duration threshold includes: determining that the cleaning device needs to perform self-cleaning when the dirt value within the preset time period is greater than or equal to the second dirt threshold is greater than or equal to the second duration threshold; the second duration threshold is less than the first duration threshold.

[0079] For example, if the duration of the dirt state (state 2) in the preset time when the cleaning equipment is operating in frequency-up mode reaches a second time threshold (e.g., 5 seconds), it is determined that the cleaning equipment needs to perform self-cleaning. When the dirt state inside the recovery pipe and / or the cleaning components is very dirty during the preset time when the cleaning equipment is operating in frequency-up mode, the probability of secondary contamination of the surface to be cleaned due to dirt clogging the recovery pipe or continuous contamination on the cleaning components caused by frequency-up mode is low. Therefore, the need for self-cleaning can be determined when the duration of the dirt value being greater than or equal to the second dirt threshold is greater than or equal to the second time threshold. This allows for faster determination of whether self-cleaning is needed, preventing the need for self-cleaning after prolonged operation in frequency-up mode, thereby improving the intelligence and efficiency of the cleaning equipment.

[0080] For example, determining that the cleaning device needs to perform self-cleaning when the duration of the dirt value being greater than or equal to the second dirt threshold within the preset time period is greater than or equal to the second time period threshold includes: determining that the cleaning device needs to perform self-cleaning when the dirt value determined within at least a first time period of the preset time period is greater than or equal to the second dirt threshold, wherein the duration of the first time period is greater than or equal to the second time period threshold. Optionally, the duration of the first time period is, for example, 5 seconds; for example, if the cleaning device is running in a frequency-increased state, and the dirt state corresponding to the dirt value determined within 5 seconds is all in state 2, then it is determined that the cleaning device needs to perform self-cleaning; if the duration of the dirt state corresponding to the dirt value being in state 2 is less than 5 seconds, that is, the very dirty state is temporary, and the risk of dirt clogging the recycling pipe or continuously adhering to the cleaning parts and causing secondary pollution to the surface to be cleaned is low, then self-cleaning is not required, so that the surface to be cleaned can continue to be cleaned, thereby improving the cleaning efficiency of the surface to be cleaned.

[0081] For example, determining that the cleaning device needs to perform self-cleaning when the duration of the dirt value being greater than or equal to the second dirt threshold within the preset duration is greater than or equal to the second duration threshold includes: determining that the cleaning device needs to perform self-cleaning when the number of times the determined dirt value is greater than or equal to the second dirt threshold within the preset duration is greater than or equal to a preset number threshold, and / or the cumulative duration of the determined dirt value being greater than or equal to the second dirt threshold within the preset duration is greater than or equal to the second duration threshold. The cumulative duration of the dirt value being greater than or equal to the second dirt threshold can be determined by multiplying the number of times the dirt value is greater than or equal to the second dirt threshold by the duration of each determination of the dirt value (e.g., the determination cycle of the dirt value); or it can be determined by summing the durations of determination of the dirt value each time the dirt value is greater than or equal to the second dirt threshold. For example, when the cleaning equipment is running in a frequency-increased state, if the cumulative duration of the dirt state corresponding to the dirt value is state 2 reaches the second duration threshold, it is determined that the cleaning equipment needs to perform self-cleaning treatment. This can prevent the dirt from clogging the recycling pipe or continuously adhering to the cleaning parts and causing secondary pollution to the surface to be cleaned when the dirt state is frequently generated temporarily very dirty.

[0082] Optionally, the method further includes: when the duration for which the dirt value is less than the first dirt threshold within the preset time period is greater than or equal to a third time threshold, determining that the cleaning equipment does not need to perform self-cleaning, and further controlling the cleaning equipment to exit the frequency-increasing state; wherein, the third time threshold is greater than or equal to the difference between the preset time period and the first time threshold. When the duration for which the dirt value is less than the first dirt threshold within the preset time period is greater than or equal to the third time threshold, it can be determined that the dirt state inside the cleaning equipment's recovery pipe and / or at the cleaning component has been reduced to a clean or near-clean level, reducing or eliminating the risk of dirt clogging the recovery pipe or continuously adhering to the cleaning component and causing secondary pollution to the surface to be cleaned; by controlling the cleaning equipment to exit the frequency-increasing state in advance, compared to continuing to operate in the frequency-increasing state for at least the preset time, the consumption of electricity and cleaning fluid of the cleaning equipment can be saved.

[0083] In some implementations, step S130, when the dirt value is greater than or equal to a preset dirt threshold, controlling the cleaning device to operate in an up-frequency state for at least a preset duration includes: when the dirt value is greater than or equal to a first dirt threshold and less than a second dirt threshold, controlling the cleaning device to operate in an up-frequency state for at least a first preset duration. The first preset duration is, for example, 30 seconds. For example, determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to a duration threshold includes: when the determined dirt values ​​within at least a portion of the first preset duration are all greater than or equal to the first dirt threshold and less than the second dirt threshold, and the portion of the duration is greater than or equal to the corresponding duration threshold, such as the first duration threshold, determining that the cleaning device needs to perform self-cleaning. For example, the first duration threshold can be equal to the first preset duration. For instance, if the determined dirt values ​​are all greater than or equal to the first dirt threshold and less than the second dirt threshold within 30 seconds of the cleaning device operating in frequency-up mode, then it is determined that the cleaning device needs to perform self-cleaning.

[0084] In some implementations, step S130, where the dirt value is greater than or equal to a preset dirt threshold, controls the cleaning device to operate in an up-frequency state for at least a preset duration. This may further include: when the dirt value is greater than or equal to a second dirt threshold, controlling the cleaning device to operate in an up-frequency state for at least a second preset duration, where the second preset duration is less than the first preset duration. The second preset duration is, for example, 15 seconds. For example, determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to a duration threshold includes: when at least a portion of the second preset duration contains dirt values ​​greater than or equal to the second dirt threshold, and that portion of the duration is greater than or equal to a corresponding duration threshold, such as the second duration threshold, it is determined that the cleaning device needs to perform self-cleaning. For example, the second duration threshold can be less than a second preset duration. For instance, if the determined dirt values ​​are all greater than or equal to the second dirt threshold for 5 seconds within 15 seconds of the cleaning device operating in frequency-up mode, then the cleaning device is determined to need to perform self-cleaning.

[0085] When the dirt value determined in step S120 is greater than or equal to the first dirt threshold and less than the second dirt threshold, such as when the dirt state is relatively dirty (state 1), there is a high probability that increasing the frequency of operation will reduce or eliminate the risk of dirt clogging the recovery pipe or continuously adhering to the cleaning parts, causing secondary pollution to the surface to be cleaned. Longer periods of increased frequency operation can reduce the number of times the cleaning equipment needs to perform self-cleaning, thus improving the efficiency of the cleaning equipment. Conversely, when the dirt value determined in step S120 is greater than or equal to the second dirt threshold, such as when the dirt state is very dirty (state 2), a shorter period of increased frequency operation is sufficient to determine whether self-cleaning is needed. This also improves the efficiency of the cleaning equipment and prevents dirt from clogging the recovery pipe or continuously adhering to the cleaning parts, thus preventing secondary pollution to the surface to be cleaned.

[0086] In some embodiments, the frequency-increase state includes a first frequency-increase state and a second frequency-increase state, wherein at least one operating parameter of the cleaning device in the second frequency-increase state is greater than the operating parameter in the first frequency-increase state. That is, the cleaning capability of the cleaning device in the second frequency-increase state for cleaning the inside of the recovery pipe and / or the cleaning component is higher than that in the first frequency-increase state. For example, in the second frequency-increase state, the suction force of the first power component is greater than that in the first frequency-increase state; the rotational speed of the cleaning component in the second frequency-increase state is greater than that in the first frequency-increase state; and the liquid supply volume of the liquid supply component in the second frequency-increase state is greater than that in the first frequency-increase state. For example, controlling the cleaning device to operate in a frequency-increased state for at least a preset time when the dirt value is greater than or equal to a preset dirt threshold includes: controlling the cleaning device to operate in the first frequency-increased state for at least a preset time when the dirt value is greater than or equal to a first dirt threshold and less than a second dirt threshold; and controlling the cleaning device to operate in the second frequency-increased state for at least a preset time when the dirt value is greater than or equal to the second dirt threshold. By determining the corresponding frequency-increased state based on the dirt value, the intelligence of the cleaning device can be improved. For example, operating in a stronger frequency-increased state when the device is very dirty can reduce or eliminate the risk of dirt clogging the recovery pipe or continuously adhering to the cleaning parts, causing secondary pollution to the surface to be cleaned, thus reducing the number of times the cleaning device performs self-cleaning and improving the working efficiency of the cleaning device; operating in the first frequency-increased state when the device is relatively dirty can reduce the consumption of electricity and cleaning fluid during frequency-increased operation.

[0087] In some embodiments, the method further includes: during the self-cleaning process of the cleaning equipment, obtaining the dirt value of the wastewater after cleaning the cleaning components and / or the recycling pipe through the dirt sensor; when the dirt value of the wastewater determined in the last instance of the self-cleaning process is greater than or equal to a preset third dirt threshold, controlling the cleaning equipment to perform the self-cleaning process again. For example, the third dirt threshold is less than the first dirt threshold. When the dirt value of the wastewater is greater than or equal to the preset third dirt threshold at the end of the self-cleaning process, that is, when the wastewater after cleaning the cleaning components and / or the recycling pipe is still relatively dirty, it can be determined that the self-cleaning process has failed to effectively clean the dirt on the cleaning components and / or the recycling pipe, and there is still a risk of secondary contamination of the surface to be cleaned; by performing the self-cleaning process again, the dirt on the cleaning components and / or the recycling pipe can be cleaned again.

[0088] Optionally, the method further includes: after the cleaning equipment performs a preset number of self-cleaning processes, such as two, when the dirt value of the wastewater determined in the last self-cleaning process is greater than or equal to a preset third dirt threshold, outputting a manual cleaning prompt message to remind the user to manually clean the cleaning components and / or the recycling pipe. If, after multiple self-cleaning processes, the wastewater is still quite dirty after cleaning the cleaning components and / or the recycling pipe, it can be determined that the self-cleaning process cannot effectively remove the dirt from the cleaning components and / or the recycling pipe. For example, the dirt may have clogged the recycling pipe, and / or the dirt may be viscous and dilutable. In this case, the user can be prompted to clean manually to avoid affecting the use of the cleaning equipment.

[0089] In some implementations, please refer to Figure 4 A control method for a cleaning device includes: when the cleaning device is turned on to clean the surface to be cleaned, acquiring a dirt value at the dirt sensor via the dirt sensor. Determining the dirt state inside the recovery pipe and / or at the cleaning component based on a comparison of the dirt value with a first dirt threshold and a second dirt threshold. When the dirt state is relatively dirty (state 1), controlling the cleaning device to operate at an increased frequency for at least a first preset duration; and if the dirt states corresponding to the determined dirt values ​​within the first preset duration are all in state 1, outputting a self-cleaning prompt message. When the dirt state is very dirty (state 2), controlling the cleaning device to operate at an increased frequency for at least a second preset duration; and if the duration of state 2 within the second preset duration reaches a second duration threshold, outputting a self-cleaning prompt message. The cleaning device performs self-cleaning after being placed in a maintenance device. At the end of each self-cleaning process, it is determined whether the cleaning component and / or the recycling pipe are clean. If they are not clean and the number of self-cleaning processes has not reached the preset number, the self-cleaning process is performed again. When the preset number of self-cleaning processes has been reached and the cleaning component and / or the recycling pipe are not clean at the end of the last self-cleaning process, a manual cleaning prompt message is output.

[0090] The control method for the cleaning equipment provided in this application includes: when the cleaning equipment is cleaning a surface to be cleaned, obtaining a dirt value at the dirt sensor, i.e., the dirt value inside the recovery pipe and / or the cleaning component, through the dirt sensor; when the dirt value is greater than or equal to a preset dirt threshold, controlling the cleaning equipment to operate in a frequency-up mode for at least a preset duration, wherein at least one operating parameter of the cleaning equipment in the frequency-up mode is greater than the operating parameter in the non-frequency-up mode, so as to enhance the cleaning ability of the inside of the recovery pipe and / or the cleaning component; when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to the duration threshold, determining that the cleaning equipment needs to perform self-cleaning treatment. When the dirt level inside the cleaning device's recovery pipe and / or at the cleaning component is greater than or equal to a preset dirt threshold, the cleaning device is controlled to operate in a frequency-increased state for at least a preset duration to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe. When the duration for which the detected dirt level is greater than or equal to the dirt threshold reaches the preset duration threshold, i.e., the frequency-increased state fails to remove dirt adhering to the cleaning component and / or dirt in the recovery pipe, it is determined that the cleaning device needs to perform self-cleaning. This is to prevent secondary contamination of the surface to be cleaned by the dirt adhering to the cleaning component and / or dirt in the recovery pipe when the cleaning device cleans the surface to be cleaned.

[0091] Please refer to the above embodiments. Figure 5 , Figure 5 This is a flowchart illustrating a control method for a cleaning device provided in another embodiment of this application.

[0092] like Figure 5 As shown, the control method for the cleaning equipment includes steps S210 to S220.

[0093] Step S210: When the cleaning equipment is cleaning the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor;

[0094] Step S220: When the dirt value is greater than or equal to a preset dirt threshold, and the duration of the dirt value being greater than or equal to the dirt threshold within a preset time period is greater than or equal to a duration threshold, it is determined that the cleaning device needs to perform self-cleaning.

[0095] The control method for the cleaning equipment in this application embodiment determines that the cleaning equipment needs to perform self-cleaning when the dirt value inside the cleaning equipment's recovery pipe and / or at the cleaning component is greater than or equal to a preset dirt threshold, and the duration for which the dirt value is greater than or equal to the preset dirt threshold within a preset time period is greater than or equal to a time period threshold. The method can continue to detect the dirt value inside the recovery pipe and / or at the cleaning component within a preset time period after the dirt value is greater than or equal to the preset dirt threshold. If the duration for which the detected dirt value is greater than or equal to the dirt threshold within the preset time period reaches the time period threshold, i.e., the dirt on the cleaning component and / or the dirt in the recovery pipe has not been removed, the method determines that the cleaning equipment needs to perform self-cleaning. This is to prevent the dirt on the cleaning component and / or the dirt in the recovery pipe from causing secondary contamination to the surface to be cleaned when the cleaning equipment cleans the surface to be cleaned.

[0096] It should be noted that after determining in step S220 that the dirt value is greater than or equal to the preset dirt threshold, the cleaning equipment can be controlled to operate in a frequency-increased state for at least the preset duration. This is to effectively remove dirt from the cleaning components and / or the recovery pipes by operating in the frequency-increased state, thereby reducing the number of self-cleaning operations performed by the cleaning equipment. Alternatively, after determining in step S220 that the dirt value is greater than or equal to the preset dirt threshold, the cleaning equipment can continue to be controlled according to the operating parameters corresponding to the current cleaning mode. That is, without changing the operating parameters, simply extending the operating time is sufficient to remove dirt from the cleaning components and / or the recovery pipes. Sometimes, this method can also remove dirt from the cleaning components and / or the recovery pipes. Compared to operating in the frequency-increased state, this method can save on the energy consumption of the cleaning equipment and the consumption of cleaning fluid.

[0097] In some embodiments, the dirt threshold includes a first dirt threshold and / or a second dirt threshold, wherein the second dirt threshold is greater than the first dirt threshold; the step of determining that the cleaning device needs to perform self-cleaning when the dirt value is greater than or equal to a preset dirt threshold, and the duration for which the dirt value is greater than or equal to the dirt threshold within a preset time period is greater than or equal to a duration threshold, includes:

[0098] When the duration during which the dirt value is greater than or equal to the first dirt threshold and less than the second dirt threshold within the preset time period is greater than or equal to the first time threshold, it is determined that the cleaning equipment needs to perform self-cleaning; and / or

[0099] When the duration of the dirt value being greater than or equal to the second dirt threshold within the preset time period is greater than or equal to the second time threshold, it is determined that the cleaning device needs to perform self-cleaning; the second time threshold is less than the first time threshold.

[0100] When the inside of the recycling pipe and / or the cleaning component is very dirty, the probability of cleaning the dirt on the cleaning component and / or the dirt in the recycling pipe within the preset time is low. It can be determined that the cleaning equipment needs to perform self-cleaning when the duration of the dirt value being greater than or equal to the second dirt threshold is greater than or equal to the second duration threshold. That is, it can determine whether the cleaning equipment needs to perform self-cleaning more quickly, thereby improving the intelligence and working efficiency of the cleaning equipment.

[0101] For example, when the dirt value determined within at least a first time period of the preset time duration is greater than or equal to the second dirt threshold, it is determined that the cleaning device needs to perform self-cleaning. The duration of the first time period is greater than or equal to the second time duration threshold. That is, self-cleaning is only required when the surface is very dirty for a certain period of time. At the same time, if the dirty state is temporary, self-cleaning is not required, so that the surface to be cleaned can continue to be cleaned, thereby improving the cleaning efficiency of the surface to be cleaned.

[0102] For example, when the number of times the determined dirt value within the preset time period is greater than or equal to the second dirt threshold is greater than or equal to a preset number threshold, and / or the cumulative duration of the determined dirt value within the preset time period being greater than or equal to the second dirt threshold is greater than or equal to a second duration threshold, it is determined that the cleaning equipment needs to perform self-cleaning. This can prevent dirt from clogging the recovery pipe or continuously adhering to the cleaning parts and causing secondary pollution to the surface to be cleaned when frequent temporary very dirty conditions occur.

[0103] The specific principles and implementation methods of the cleaning equipment control method provided in this application embodiment are similar to those of the control method of the cleaning equipment provided in this application embodiment. Figure 1 The control method in the illustrated embodiment is similar and will not be described again here.

[0104] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the method described in any of the above embodiments.

[0105] The computer-readable storage medium can be an internal storage unit of the cleaning device described in any of the foregoing embodiments, such as the hard drive or memory of the cleaning device. The computer-readable storage medium can also be an external storage device of the cleaning device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the cleaning device.

[0106] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0107] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0108] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a cleaning component, a recovery pipe, and a first power assembly. The first power assembly creates a negative pressure inside the recovery pipe to collect dirt from the cleaning component. A dirt sensor is provided inside the recovery pipe and / or at the cleaning component. The method includes: When the cleaning equipment cleans the surface to be cleaned, the dirt value at the dirt sensor is obtained through the dirt sensor. When the dirt value is greater than or equal to a preset dirt threshold, the cleaning equipment is controlled to operate in a frequency-up mode for at least a preset time, and at least one operating parameter of the cleaning equipment in the frequency-up mode is greater than the operating parameter in the non-frequency-up mode. When the duration of the dirt value being greater than or equal to the dirt threshold within the preset time period is greater than or equal to the time threshold, it is determined that the cleaning equipment needs to perform self-cleaning. The dirt threshold includes a first dirt threshold and a second dirt threshold, wherein the second dirt threshold is greater than the first dirt threshold; The step of controlling the cleaning device to operate in a frequency-increased state for at least a preset duration when the dirt value is greater than or equal to a preset dirt threshold includes: controlling the cleaning device to operate in a frequency-increased state for at least a first preset duration when the dirt value is greater than or equal to a first dirt threshold and less than a second dirt threshold; the step of determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to a duration threshold includes: determining that the cleaning device needs to perform self-cleaning when the determined dirt value within at least a portion of the first preset duration is greater than or equal to the first dirt threshold and less than the second dirt threshold, and the duration of the portion is greater than or equal to the first duration threshold; and / or The step of controlling the cleaning device to operate in a frequency-increased state for at least a preset duration when the dirt value is greater than or equal to a preset dirt threshold includes: controlling the cleaning device to operate in a frequency-increased state for at least a second preset duration when the dirt value is greater than or equal to a second dirt threshold; the step of determining that the cleaning device needs to perform self-cleaning when the duration for which the dirt value is greater than or equal to the dirt threshold within the preset duration is greater than or equal to a duration threshold includes: determining that the cleaning device needs to perform self-cleaning when the dirt value determined within at least a portion of the second preset duration is greater than or equal to the second dirt threshold, and the duration of the portion is greater than or equal to the second duration threshold. The second preset duration is less than the first preset duration.

2. The control method according to claim 1, characterized in that, The second duration threshold is less than the first duration threshold.

3. The control method according to claim 1, characterized in that, When the dirt value determined within at least a portion of the second preset time period is greater than or equal to the second dirt threshold, and the portion of time is greater than or equal to the second time threshold, it is determined that the cleaning equipment needs to perform self-cleaning, including: When the number of times the determined dirt value within the second preset time period is greater than or equal to the second dirt threshold is greater than or equal to the preset number threshold, and / or the cumulative duration of the determined dirt value within the second preset time period being greater than or equal to the second dirt threshold is greater than or equal to the second duration threshold, it is determined that the cleaning equipment needs to perform self-cleaning treatment.

4. The control method according to claim 1, characterized in that, The method further includes: When the duration for which the dirt value is less than the first dirt threshold within the preset duration is greater than or equal to the third duration threshold, the cleaning device is controlled to exit the frequency boost state, and the third duration threshold is greater than or equal to the difference between the preset duration and the first duration threshold.

5. The control method according to any one of claims 1-4, characterized in that, The frequency boosting state includes a first frequency boosting state and a second frequency boosting state, wherein at least one operating parameter of the cleaning device in the second frequency boosting state is greater than the operating parameter in the first frequency boosting state; When the dirt value is greater than or equal to a preset dirt threshold, controlling the cleaning equipment to operate in an up-frequency state for at least a preset time includes: When the dirt value is greater than or equal to the first dirt threshold and less than the second dirt threshold, the cleaning device is controlled to run in the first frequency-up state for at least a preset time. When the dirt value is greater than or equal to the second dirt threshold, the cleaning device is controlled to operate in the second frequency-up state for at least a preset time.

6. The control method according to any one of claims 1-4, characterized in that, The cleaning equipment further includes a second power component and / or a liquid supply component, wherein the second power component is used to drive the cleaning component to rotate, and the liquid supply component is used to provide cleaning liquid to the cleaning component; The control of the cleaning equipment to operate in an up-frequency state includes at least one of the following: Control the first power component to increase suction to increase the negative pressure inside the recovery pipe; Control the second power component to increase the rotational speed of the cleaning component; Control the liquid supply assembly to increase the amount of cleaning fluid supplied to the cleaning component and / or the recovery pipeline; The liquid supply assembly is controlled to increase the content of cleaning substances in the cleaning fluid supplied to the cleaning component and / or the recovery pipeline.

7. The control method according to any one of claims 1-4, characterized in that, The method further includes: When it is determined that the cleaning equipment needs to perform self-cleaning, the system controls the cleaning equipment to perform self-cleaning and / or outputs a self-cleaning prompt message to remind the user that the cleaning equipment needs to perform self-cleaning.

8. The control method according to any one of claims 1-4, characterized in that, The method further includes: When the cleaning equipment performs the self-cleaning process, the dirt value of the wastewater after cleaning the cleaning components and / or the recycling pipe is obtained by the dirt sensor; When the dirt value of the wastewater determined in the last self-cleaning process is greater than or equal to the preset third dirt threshold, the cleaning equipment is controlled to perform the self-cleaning process again.

9. The control method according to claim 8, characterized in that, The method further includes: After the cleaning equipment performs the self-cleaning process a preset number of times, when the dirt value of the wastewater determined in the last self-cleaning process is greater than or equal to a preset third dirt threshold, a manual cleaning prompt message is output to prompt the user to manually clean the cleaning components and / or the recycling pipe.

10. A cleaning device, characterized in that, The cleaning equipment includes a cleaning component, a recycling pipe, and a first power assembly. The first power assembly creates a negative pressure inside the recycling pipe to allow the recycling pipe to collect dirt from the cleaning component. A dirt sensor is provided inside the recycling pipe and / or at the cleaning component. The cleaning device further includes a processor and a memory, the memory being used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the steps of the control method for the cleaning equipment as described in any one of claims 1-9.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the steps of the control method for the cleaning equipment as described in any one of claims 1-9.

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