Self-cleaning method of a cleaning device, device and storage medium

Abstract

The application relates to a self-cleaning method, device and storage medium of a cleaning device, and belongs to the technical field of computers. The method comprises the following steps: in the case that the cleaning device is docked with a base station, in response to a self-cleaning instruction of the cleaning device, a first self-cleaning action of the cleaning device is controlled to be executed, the first self-cleaning action comprises cleaning piece operation, negative pressure generator work and water spraying mechanism closing; after the first self-cleaning action is completed, a second self-cleaning action of the cleaning device is controlled to be executed. The problem that when the water spraying mechanism sprays water to the cleaning accessory in the initial stage of self-cleaning, due to the large water content of the cleaning accessory, too much liquid or foam generated by the cleaning accessory overflows the base station can be solved. Since the start of the negative pressure generator can suck sewage, the water content of the cleaning accessory can be reduced in the initial stage, so that the probability of liquid or foam overflowing the base station is reduced, and the self-cleaning effect of the cleaning device is improved.

Description

Technical Field

[0001] This application belongs to the field of computer technology, and specifically relates to a self-cleaning method, device, and storage medium for cleaning equipment. Background Technology

[0002] Cleaning equipment refers to electronic devices used to clean surfaces. Cleaning equipment typically includes cleaning components that operate and contact the surface during cleaning. After cleaning, the cleaning components are often heavily soiled and require cleaning.

[0003] Currently, the cleaning methods for cleaning components on cleaning equipment include: after the cleaning equipment is connected to the base station, the base station automatically performs self-cleaning on the cleaning component. In a typical self-cleaning method, after receiving a self-cleaning command for the cleaning component, the cleaning equipment rotates the cleaning component, and at the same time, the water pump on the cleaning equipment starts to spray water onto the cleaning component.

[0004] However, in the initial stage of self-cleaning, there may be too much liquid or foam in the cleaning component, causing the liquid or foam to overflow the base station, resulting in poor self-cleaning effect. Summary of the Invention

[0005] The technical problem to be solved by this application includes the problem that existing cleaning equipment produces liquid or foam or even overflows from the base station when the water spraying mechanism sprays water onto the cleaning components in the initial stage of self-cleaning, resulting in poor cleaning effect.

[0006] To address the aforementioned technical problems, this application provides a self-cleaning method for cleaning equipment, the cleaning equipment comprising a cleaning component, a water spraying mechanism for spraying water onto cleaning accessories of the cleaning component, and a negative pressure generator, the method comprising:

[0007] When the cleaning equipment is connected to the base station, in response to the self-cleaning command of the cleaning equipment, the cleaning equipment is controlled to perform a first self-cleaning action, which includes the operation of the cleaning component, the operation of the negative pressure generator, and the shutdown of the water spray mechanism.

[0008] After the first self-cleaning action is completed, the cleaning equipment is controlled to perform a second self-cleaning action, which includes the operation of the cleaning component, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism.

[0009] Optionally, controlling the cleaning device to perform a first self-cleaning action includes:

[0010] The duration for which the cleaning device performs the first self-cleaning action reaches a preset duration; or

[0011] The cleaning equipment is controlled to perform a first self-cleaning action until the moisture content of the cleaning component is less than a first moisture content threshold.

[0012] Optionally, controlling the cleaning device to perform a first self-cleaning action includes:

[0013] The negative pressure generator operates according to the first preset power control; and

[0014] The cleaning component operates according to the second preset power control.

[0015] Optionally, controlling the cleaning device to perform a first self-cleaning action includes:

[0016] Obtain a first operating power of the negative pressure generator based on the moisture content of the cleaning component; wherein the first operating power is positively correlated with the moisture content of the cleaning component; control the negative pressure generator to operate according to the first operating power; and

[0017] A second operating power of the cleaning component is obtained based on the moisture content of the cleaning component; wherein the second operating power is positively correlated with the moisture content of the cleaning component; and the cleaning component is controlled to operate according to the second operating power.

[0018] Optionally, controlling the cleaning device to perform a first self-cleaning action includes:

[0019] If the moisture content of the cleaning component is greater than the second moisture content threshold, the cleaning device is controlled to perform a first self-cleaning action.

[0020] If the moisture content of the cleaning component is less than or equal to the second moisture content threshold, the first self-cleaning action of the cleaning device is cancelled.

[0021] Optionally, the cleaning device and / or the base station further include a drying component, and the first self-cleaning action further includes: the drying component operating;

[0022] The drying assembly includes a heating assembly and / or a blowing assembly. Optionally, the method further includes:

[0023] When the moisture content of the cleaning component is greater than a third moisture content threshold, the drying component is controlled to operate.

[0024] Optionally, the method further includes:

[0025] The moisture content collected by the sensing components on the cleaning component is obtained;

[0026] or,

[0027] Obtain the operating parameters of the cleaning equipment when cleaning the surface to be cleaned; determine the moisture content based on the operating parameters.

[0028] Optionally, controlling the cleaning device to perform a second self-cleaning action includes:

[0029] The cleaning component is controlled to rotate at least once in a forward direction and at least once in a reverse direction.

[0030] Optionally, controlling the cleaning component to perform at least one forward rotation and at least one reverse rotation includes:

[0031] The cleaning component is controlled to rotate forward, the water spray mechanism is controlled to operate, and the negative pressure generator of the cleaning equipment is controlled to shut down, so as to clean the cleaning component.

[0032] When the forward rotation reaches the first preset time, the cleaning component is controlled to alternate between forward and reverse rotation, the water spray mechanism is controlled to close, and the negative pressure generator of the cleaning equipment is controlled to work to clean the pipes of the cleaning equipment.

[0033] When the cleaning time of the pipeline reaches the second preset time, the cleaning component is controlled to rotate forward, the water spray mechanism is controlled to turn on, and the negative pressure generator is turned off; then the cleaning component is controlled to alternately rotate forward and reverse, the water spray mechanism is controlled to turn off, and the negative pressure generator of the cleaning equipment is controlled to work, so as to deeply clean the cleaning equipment.

[0034] On the other hand, this application provides a cleaning device, which includes a cleaning component, a water spraying mechanism for spraying water, and a negative pressure generator;

[0035] A processor and a memory connected to the cleaning component, the water spraying mechanism, and the negative pressure generator are respectively connected to the processor. The memory stores a program, and when the processor executes the program, it implements the self-cleaning method of the cleaning equipment provided above.

[0036] In another aspect, this application also provides a computer-readable storage medium, characterized in that the storage medium stores a program, which, when executed by a processor, is used to implement the self-cleaning method of the cleaning device provided in the above aspects.

[0037] The self-cleaning method for cleaning equipment provided in this application, when the cleaning equipment is connected to a base station, responds to a self-cleaning command by controlling the cleaning equipment to perform a first self-cleaning action, which includes the operation of the cleaning component, the operation of the negative pressure generator, and the shutdown of the water spray mechanism; after the first self-cleaning action is completed, the cleaning equipment is controlled to perform a second self-cleaning action, which includes the operation of the cleaning component, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism. This method solves the problem that when the water spray mechanism is activated to spray water onto the cleaning accessories in the initial stage, the high water content of the cleaning accessories after cleaning results in excessive liquid or foam overflowing the base station; it also solves the problem of residual moisture in the cleaning tank. The increased moisture content of the cleaning accessories, leading to excessive liquid or foam overflowing from the base station during the initial water spraying phase, can be mitigated by using a negative pressure generator to pump out wastewater. This reduces the initial wastewater content in both the cleaning accessories and the base station's cleaning tank. Consequently, when water is sprayed onto the cleaning accessories later, especially if the user has added cleaning fluid to the tank, the liquid content will not be excessive, reducing the probability of secondary soiling caused by overflowing liquid or foam and improving the self-cleaning effect of the cleaning equipment. Simultaneously, it ensures that the moisture content of the cleaning components is not too low, thus reducing the amount of water needed for subsequent water spraying and minimizing energy consumption.

[0038] In addition, by stopping the first self-cleaning action when the moisture content is less than the first moisture content threshold, the cleaning equipment can adaptively determine the timing of stopping the first self-cleaning action based on the moisture content of the cleaning parts, thereby improving the intelligence level of the cleaning equipment.

[0039] In addition, by controlling the negative pressure generator and the cleaning component to work according to the first preset power and the second preset power respectively, it can be ensured that the water content of the cleaning component is not too high, thereby avoiding the problem of liquid or foam overflowing from the base station and causing secondary dirt on the ground when water is sprayed onto the cleaning accessory later; on the other hand, it can be ensured that the water content of the cleaning component is not too low, thereby avoiding the problem of excessive resource consumption caused by spraying a large amount of water onto the cleaning component later.

[0040] In addition, the intelligence level of the cleaning equipment can be improved by adjusting the first working power of the negative pressure generator and the second working power of the cleaning component based on the moisture content of the cleaning component.

[0041] In addition, by skipping the first self-cleaning action and directly executing the second self-cleaning action when the moisture content is less than or equal to the second moisture content threshold, the cleaning equipment can adaptively decide whether to skip the first self-cleaning action based on the moisture content of the cleaning attachments. This can improve self-cleaning efficiency and save resources consumed by the cleaning equipment.

[0042] In addition, by setting the first self-cleaning action to include the operation of the drying component, the drying component can assist in reducing the moisture content of the cleaning component, thereby further increasing the rate at which the moisture content of the cleaning component is reduced.

[0043] In addition, by controlling the drying component to operate when the moisture content of the cleaning component is greater than the third moisture content threshold, the cleaning equipment can adaptively decide whether to activate the drying component based on the moisture content of the cleaning component, thereby helping to reduce the moisture content of the cleaning component and improving the intelligence level of the cleaning equipment.

[0044] In addition, by calculating the moisture content based on the working parameters of the cleaning equipment when performing cleaning work, there is no need to install sensor components on the cleaning components, which simplifies the equipment structure.

[0045] In addition, by combining the forward and reverse rotation of the cleaning component during the second self-cleaning action, the cleaning component can be cleaned of debris when rotating forward, while the brush becomes relatively fluffy after reversing, which causes impurities in the gaps between the bristles to fall off, thus improving the cleaning effect of the cleaning component. At the same time, reversing can also clean the pipes on the cleaning equipment, further improving the control effect of the cleaning equipment. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art 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 from these drawings without creative effort.

[0047] Figures 1 to 4B This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0048] Figure 5 This is a flowchart of a control method for a cleaning device provided in one embodiment of this application;

[0049] Figure 6 This is a schematic diagram of the control operation of a cleaning device provided in one embodiment of this application;

[0050] Figure 7 This is a schematic diagram of the control operation of a cleaning device provided in another embodiment of this application;

[0051] Figure 8 This is a schematic diagram of the drying operation of a cleaning device provided in one embodiment of this application;

[0052] Figure 9 This is a block diagram of a control device for a cleaning equipment provided in one embodiment of this application;

[0053] Figure 10 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0054] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0055] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0056] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0057] In this application, cleaning equipment 100 refers to an electronic device capable of cleaning a surface to be cleaned. Cleaning equipment 100 includes, but is not limited to, sweeping machines, floor scrubbers, or wall cleaners. The surface to be cleaned varies depending on the cleaning equipment 100, and includes, but is not limited to, floors and walls.

[0058] Figure 1 This is a schematic diagram of the structure of a cleaning device 100 provided in one embodiment of this application. Figure 1 The following explanation uses a floor scrubber as an example of cleaning equipment 100. Figure 1 As can be seen, the cleaning equipment 100 includes at least a cleaning component 110, a water spraying mechanism, a negative pressure generator, and a controller (not shown in the figure).

[0059] Cleaning component 110 is a part of the cleaning equipment 100 suitable for cleaning the surface to be cleaned. Cleaning component 110 is generally located at the bottom of the cleaning equipment 100. Figure 1Taking the floor scrubber as an example, the cleaning component 110 is installed on the brush body 10. In other embodiments, the cleaning component 110 can also be installed at the front or rear of the cleaning equipment 100, etc. This embodiment does not limit the installation position of the cleaning component 110.

[0060] refer to Figure 2 The cleaning component 110 includes a cleaning attachment 111 and an attachment cover 112. The cleaning attachment 111 is adapted to contact the surface to be cleaned. When the cleaning device 100 is in operation, the cleaning attachment 111 rotates. The attachment cover 112 covers a portion of the surface of the cleaning attachment 111 to prevent dirt and / or water stains on the cleaning attachment 111 from splashing during rotation.

[0061] Schematic illustration: The cleaning attachment 111 includes a roller and bristles disposed on the roller. After the bristles come into contact with the surface to be cleaned, they can absorb dirt on the surface of the surface to be cleaned onto the bristles, thereby improving the cleaning ability of the cleaning component 110. Optionally, the cleaning attachment 111 includes, but is not limited to, a roller brush, a bristle brush, etc. This embodiment does not limit the implementation of the cleaning attachment 111.

[0062] Optionally, the connection between the fluff and the roller can be an integral part, or it can be attached to the outer periphery of the roller by Velcro, or other connection methods. This embodiment does not limit the connection method between the roller and the cleaning accessory 111.

[0063] Optionally, the number of cleaning accessories 111 can be one or at least two. When the number of cleaning accessories 111 is at least two, the different cleaning accessories 111 may be of the same or different types, and the different types of cleaning accessories 111 may have the same or different functions.

[0064] The cleaning attachment 111 is connected to a drive mechanism, which drives the cleaning component 110 to clean the surface to be cleaned or to perform self-cleaning on the cleaning attachment 111. The drive mechanism includes a drive motor.

[0065] Generally, there is a certain gap between the cleaning attachment 111 and the attachment cover 112. This avoids increased friction when the cleaning attachment 111 and the attachment cover 112 are connected, which would increase the load on the drive motor. By setting a gap to reduce friction, the load on the drive motor can be reduced, thus saving equipment resources of the cleaning equipment 100. At the same time, the gap between the cleaning attachment 111 and the attachment cover 112 also prevents dirt on the cleaning attachment 111 from getting stuck in the cleaning equipment 100, thereby ensuring the effective removal of dirt from the cleaning attachment 111.

[0066] In this embodiment, the direction in which the drive mechanism drives the cleaning attachment 111 to rotate when the cleaning device 100 performs cleaning work is taken as the positive direction, and the direction opposite to this rotation direction is taken as the negative direction.

[0067] Specifically, when the cleaning equipment 100 includes a cleaning attachment 111, if the cleaning attachment 111 rotates counterclockwise when the cleaning equipment 100 is performing cleaning work, then the counterclockwise direction is the positive direction and the clockwise direction is the negative direction.

[0068] When the cleaning device 100 includes at least two cleaning attachments 111, taking the cleaning device 100 having two cleaning attachments 111 as an example, if the first cleaning attachment 111 rotates counterclockwise when the cleaning device 100 is performing a cleaning operation, then for the first cleaning attachment 111, the counterclockwise direction is the positive direction, and the clockwise direction is the negative direction. If the second cleaning attachment 111 rotates clockwise when the cleaning device 100 is performing a cleaning operation, then for the second cleaning attachment 111, the clockwise direction is the positive direction, and the counterclockwise direction is the negative direction.

[0069] To improve the cleaning effect of the cleaning component 110, the cleaning equipment 100 is also equipped with a water spraying mechanism that sprays water onto the cleaning attachment 111 in the cleaning component 110. The water spraying mechanism sprays liquid from the water tank 202 on the cleaning equipment 100 onto the cleaning attachment 111, thereby wetting the cleaning attachment 111 to improve its cleaning effect and self-cleaning effect.

[0070] In one example, the water spraying mechanism includes a water supply pipe for delivering water to the cleaning accessory 111, and a water pump 203 mounted on the water supply pipe. Optionally, refer to... Figure 3 The water pump 203 is disposed within the floor brush body. In other embodiments, the water pump 203 may also be disposed within... Figure 1 In the main body 20 of the device shown, this embodiment does not limit the setting of the water pump 203.

[0071] Combination Figure 4A One end of the water supply pipe is connected to the water tank 202 (specifically, the clean water tank 202) in the cleaning equipment 100, and the other end is connected to the distributor 121 on the floor brush body 10. The distributor 121 is adapted to spray liquid onto the cleaning accessory 111.

[0072] The negative pressure generator is used to absorb dirt. The suction generated by the negative pressure generator draws dirt from the cleaning component 110 or the surface to be cleaned through the suction pipe.

[0073] Optionally, a negative pressure generator is installed in the equipment body 20 of the cleaning equipment 100. The cleaning equipment 100 has a suction pipe, and the negative pressure generator is mounted on the suction pipe. One end of the suction pipe is connected to the wastewater tank 201 of the cleaning equipment 100, and the other end faces the cleaning accessory 111. Specifically, refer to the reference... Figure 4A One end of the suction pipe is provided with a sewage suction port 101, so that the negative pressure generator can suck the dirt from the cleaning accessory 111 or the surface to be cleaned into the sewage tank 201 through the sewage suction port 101.

[0074] In this embodiment, the negative pressure generator can also use the suction force it generates to draw out the moisture on the cleaning accessory 111, thereby reducing the moisture content of the cleaning component 110.

[0075] The controller is used to control the cleaning equipment 100. The controller's control functions include: controlling the cleaning equipment 100 to perform cleaning work and controlling the cleaning equipment 100 to perform self-cleaning work.

[0076] The controller is connected to the drive mechanism, the water spray mechanism, and the negative pressure generator. When the controller controls the cleaning equipment 100 to perform cleaning work, it controls the start of the drive mechanism, the water spray mechanism, and the negative pressure generator. At this time, the drive mechanism drives the cleaning attachment 111 in the cleaning component 110 to rotate forward, so that the cleaning attachment 111 absorbs the dirt on the surface to be cleaned; the water spray mechanism sprays water onto the cleaning attachment 111 to wet the cleaning attachment 111, thereby improving the cleaning effect of the cleaning attachment 111; and the negative pressure generator absorbs the dirt generated by the cleaning attachment 111 during the cleaning process.

[0077] Optionally, the liquid sprayed by the water spraying mechanism onto the cleaning accessory 111 can be clean water or a cleaning solution mixed with a cleaning agent. This embodiment does not limit the type of liquid sprayed by the water spraying mechanism.

[0078] After the cleaning device 100 performs its cleaning work, if self-cleaning of the cleaning attachment 111 on the cleaning device 100 is required, the cleaning device 100 typically needs to be connected to the base station 200. The base station 200 provides the self-cleaning function for the cleaning device 100. In other embodiments, the base station 200 may also provide other auxiliary functions for the cleaning device 100, such as charging the cleaning device 100, adding water to the clean water tank 202 in the cleaning device 100, and draining the wastewater tank 201 in the cleaning device 100. This embodiment does not limit the auxiliary functions provided by the base station 200.

[0079] refer to Figure 4B The diagram shown illustrates the connection between the cleaning device 100 and the base station 200. Figure 4BAs can be seen, when the cleaning device 100 is connected to the base station 200, the cleaning accessory 111 is placed in the cleaning tank 42 of the base station 200, and there is a gap 41 between the cleaning tank 42 and the accessory cover 112. According to the cleaning process described above, the cleaning accessory 111 absorbs moisture during the cleaning process. Furthermore, if the wet cleaning accessory 111 is not cleaned promptly in the cleaning tank 42, moisture will remain in the tank, causing the cleaning accessory 111, which is then placed back into the tank 42, to absorb more water, resulting in an increased water content in the cleaning accessory 111. If water is sprayed directly onto the cleaning accessory 111 during the self-cleaning process after the cleaning device 110 is placed on the base station 200, the high water content of the cleaning accessory 111 may cause liquid or foam-mixed wastewater on the cleaning accessory 111 to overflow from the gap 41, resulting in the liquid or foam-mixed wastewater spilling outside the base station 200. This would cause secondary contamination of the surface to be cleaned and affect the self-cleaning effect of the cleaning device 100.

[0080] Based on the above technical problems, in this embodiment, the controller is used to: when the cleaning device 100 is connected to the base station 200, in response to the self-cleaning command of the cleaning device 100, control the cleaning device 100 to perform a first self-cleaning action, the first self-cleaning action including the operation of the cleaning component 110, the operation of the negative pressure generator, and the shutdown of the water spraying mechanism.

[0081] After the first self-cleaning action is completed, the control cleaning equipment 100 performs a second self-cleaning action, which includes the operation of the cleaning component 110, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism.

[0082] refer to Figure 4B During the first self-cleaning action, the negative pressure generator operates, creating negative pressure around the cleaning attachment (including the gap between the cleaning tank and the cleaning attachment). This causes dirt and moisture on the cleaning attachment, as well as dirt and moisture in the cleaning tank, to be drawn into the wastewater tank through the wastewater suction port. See the specific absorption path for details. Figure 4B As shown by the dotted arrow, this reduces the water content in the cleaning parts and cleaning tank, preventing the overflow of liquid or foam mixed wastewater.

[0083] In this embodiment, by activating the negative pressure transmitter first, instead of the water spray mechanism, the problem of excessive foam or liquid mixing with wastewater overflowing from the cleaning device 100 body caused by the high water content of the cleaning accessory 111 after cleaning is completed can be solved when the water spray mechanism is activated to spray water onto the cleaning accessory 111 in the initial stage. This also solves the problem of excessive liquid or foam overflowing from the base station 200 when water is sprayed onto the cleaning accessory 111 in the initial stage due to the increased water content caused by residual moisture in the cleaning tank 42. The negative pressure transmitter can draw in sewage upon activation. Therefore, the water content of the sewage in the cleaning accessory 111 and the cleaning tank 42 of the base station 200 can be reduced in the initial stage. This way, when water is sprayed onto the cleaning accessory 111 later, especially when the user adds cleaning fluid to the cleaning tank 42, the liquid content in the cleaning accessory 111 and the cleaning tank 42 will not be excessive. This reduces the probability of liquid or foam overflowing from the base station 200 and improves the self-cleaning effect of the cleaning equipment 100. At the same time, it also ensures that the water content of the cleaning component 110 is not too low, thereby ensuring that less water is consumed when spraying water onto the cleaning accessory 111 later, reducing energy consumption.

[0084] Optionally, in order to further improve the rate of reducing the moisture content of the cleaning accessory 111, the cleaning device 100 and / or base station 200 also include a drying component adapted to reduce the moisture content of the cleaning accessory 111.

[0085] In one example, the drying component includes a heating component, such as a drying component or a heating wire, which is used to evaporate the moisture on the cleaning accessory 111 by heating, thereby reducing the moisture content of the cleaning accessory 111.

[0086] And / or, the drying component includes a blowing component, such as a fan, which is used to remove moisture from the cleaning accessory 111 by means of airflow, thereby reducing the moisture content of the cleaning accessory 111.

[0087] Optionally, the cleaning device 100 can also determine whether to start the water spraying mechanism in the initial stage based on the moisture content of the cleaning accessory 111. In this case, a sensing component can also be set on the cleaning accessory 110 to detect the moisture content of the cleaning accessory 110.

[0088] The sensing components include, but are not limited to, humidity-sensitive resistors or humidity-sensitive capacitors. This embodiment does not limit the implementation method of the sensing components.

[0089] In actual implementation, the cleaning device 100 may also include other components required for operation, such as power supply components, moving components, and handles, which will not be listed in detail in this embodiment.

[0090] The self-cleaning method for the cleaning equipment provided in this application will be described below. The following embodiments use the application of this method to a controller in the cleaning equipment as an example. In actual implementation, this method can also be applied to other devices that are communicatively connected to the cleaning equipment. Other devices include, but are not limited to, mobile phones, computers, wearable devices, etc. This embodiment does not limit the implementation methods of other devices or user terminals.

[0091] The communication connection can be wired or wireless. The wireless communication method can be short-range communication or wireless communication, etc. This embodiment does not limit the communication method between the cleaning equipment and other equipment.

[0092] Figure 5 This is a flowchart of a self-cleaning method for a cleaning device provided in one embodiment of this application. The method includes at least the following steps:

[0093] Step 501: When the cleaning equipment is connected to the base station, in response to the self-cleaning command of the cleaning equipment, control the cleaning equipment to perform a first self-cleaning action. The first self-cleaning action includes the operation of the cleaning component, the operation of the negative pressure generator, and the shutdown of the water spray mechanism.

[0094] The first self-cleaning action reduces the moisture content (or humidity) of the cleaning component to ensure it remains within a suitable range. This suitable range prevents the cleaning accessory from producing liquid or foam that could overflow the base station when re-wetted, and also prevents excessive water consumption during re-wetting. The suitable range is determined empirically based on extensive water-spraying experiments conducted by developers on cleaning accessories with varying humidity levels. Illustratively, the suitable range includes an upper limit and a lower limit. The upper limit ensures that the cleaning accessory will not produce liquid or foam that could overflow the base station when re-wetted, while the lower limit ensures that the cleaning accessory will not consume excessive water during re-wetting.

[0095] A self-cleaning command is used to instruct cleaning equipment to perform a self-cleaning operation on cleaning attachments. Optionally, the methods for obtaining a self-cleaning command include, but are not limited to, at least one of the following:

[0096] The first type: The cleaning equipment is equipped with a self-cleaning button, which generates a self-cleaning command when a trigger operation is received on the self-cleaning button.

[0097] The self-cleaning button can be a physical button or a virtual button displayed on a touch screen. This embodiment does not limit the implementation method of the self-cleaning button.

[0098] The second method involves the cleaning equipment determining whether the self-cleaning conditions are met, and generating a self-cleaning command if the conditions are met.

[0099] The self-cleaning conditions can be set by the user or stored in the cleaning device by default. These self-cleaning conditions include, but are not limited to, at least one of the following: the cleaning device is fully connected to the base station, the degree of dirtiness of the cleaning component is greater than or equal to the dirtiness threshold, the remaining power of the cleaning device is greater than the power threshold, the clean water volume of the cleaning device is greater than the first water volume threshold, and the wastewater volume of the cleaning device is less than the second water volume threshold. In actual implementation, the self-cleaning conditions can be set to other conditions according to usage requirements, which will not be listed one by one in this embodiment.

[0100] The third method involves the cleaning device receiving a self-cleaning command from another device. In this case, the other device has a self-cleaning button. Upon receiving a trigger operation on the self-cleaning button, it generates a self-cleaning command and sends it to the cleaning device.

[0101] In one example, controlling the cleaning device to perform a first self-cleaning action includes controlling the cleaning device to perform the first self-cleaning action for a preset duration.

[0102] The preset duration is stored in the cleaning equipment. The preset duration can be set by the user or fixed in the cleaning equipment. The value of the preset duration can be 's', or other values ​​in actual implementation. This embodiment does not limit the way the preset duration is obtained or its value.

[0103] Alternatively, control the cleaning equipment to perform a first self-cleaning action, including: controlling the cleaning equipment to perform a first self-cleaning action until the moisture content of the cleaning part is less than a first moisture content threshold.

[0104] The first moisture content threshold is pre-stored in the cleaning equipment. This threshold can be user-set or fixed within the equipment. The first moisture content threshold is determined based on the upper limit of a suitable range. If the moisture content is below the first moisture content threshold, even if the cleaning attachment is wetted, liquid or foam on the attachment will not overflow. Schematic, the first moisture content threshold is less than or equal to the upper limit of a suitable range.

[0105] At this point, the cleaning equipment can determine the moisture content of the parts being cleaned during the self-cleaning process. The methods for determining the moisture content include, but are not limited to, one of the following:

[0106] The first method involves acquiring the moisture content collected by the sensor components on the cleaning component when a sensor is installed on the cleaning component.

[0107] The second method involves obtaining the operating parameters of the cleaning equipment when cleaning the surface to be cleaned; and determining the moisture content based on these operating parameters.

[0108] Schematic, operating parameters include the water spray volume of the spray mechanism at at least one operating moment, the operating power of the negative pressure generator, the operating power of the cleaning components, and the execution duration of the cleaning task. Alternatively, operating parameters may include the operating mode of the cleaning equipment and the execution duration of the cleaning task. For example: [reference needed] Figure 6 The cleaning equipment includes three working modes: low, medium and high. The working power of the negative pressure generator is different for each working mode.

[0109] Determining moisture content based on working parameters includes: inputting the working parameters into a pre-trained moisture content prediction model to obtain the moisture content corresponding to the working parameters.

[0110] The moisture content prediction model is based on a neural network, which is trained using training data. The training data includes sample working parameters and the corresponding actual moisture content. The parameter types of the sample working parameters are the same as those of the preset moisture content model. The actual moisture content refers to the actual moisture content of the cleaning attachments after cleaning according to the sample working parameters.

[0111] Optionally, the neural network model can be a convolutional neural network or a probabilistic model. This embodiment does not limit the type of neural network model.

[0112] In other embodiments, the cleaning device may also control itself to perform a first self-cleaning action until a stop command is received, which is generated based on user operation. For example, the cleaning device may have a jump button for switching to a second self-cleaning action. Upon receiving a trigger operation on the jump button, a stop command is generated, at which point the first self-cleaning action ends.

[0113] In one example, controlling the cleaning device to perform a first self-cleaning action includes: controlling the negative pressure generator to operate according to a first preset power; and controlling the cleaning component to operate according to a second preset power.

[0114] In this embodiment, the first preset power and the second preset power are matched. The suction provided by the first preset power allows the cleaning attachment to rotate at the speed corresponding to the second preset power, ensuring that the moisture content of the cleaning component remains within a suitable range. For example, the first preset power is 120W, and the rotation speed corresponding to the second preset power is 550 rpm. In actual implementation, the first and second preset power can be set to other values; this embodiment does not limit the values ​​of the first and second preset power.

[0115] In another example, controlling the cleaning device to perform a first self-cleaning action includes: acquiring a first operating power of a negative pressure generator determined based on the moisture content of the cleaning component; wherein the first operating power is positively correlated with the moisture content of the cleaning component; controlling the negative pressure generator to operate according to the first operating power; and acquiring a second operating power of the cleaning component determined based on the moisture content of the cleaning component; wherein the second operating power is positively correlated with the moisture content of the cleaning component; controlling the cleaning component to operate according to the second operating power.

[0116] At this point, the first and second operating powers can be adaptively adjusted based on the moisture content of the cleaning components. The method for obtaining the moisture content is described above and will not be repeated here in this embodiment.

[0117] Optionally, since the cleaning equipment may not perform self-cleaning for a period of time after completing the cleaning work, the moisture content of the cleaning accessories will not be very high during this period. Even if water is sprayed directly onto the cleaning accessories in the initial stage of self-cleaning, there will be no problem of liquid or foam mixed with wastewater overflowing. Based on this, in order to improve the flexibility of the cleaning equipment in performing the first self-cleaning action, in this embodiment, controlling the cleaning equipment to perform the first self-cleaning action includes: controlling the cleaning equipment to perform the first self-cleaning action when the moisture content of the cleaning parts is greater than a second moisture content threshold; and performing step 502, i.e., canceling the cleaning equipment from performing the first self-cleaning action, when the moisture content of the cleaning parts is less than or equal to the second moisture content threshold.

[0118] Wherein, the second moisture content threshold is the same as or different from the first moisture content threshold. When the moisture content of the cleaning part is less than or equal to the second moisture content threshold, even if water is sprayed onto the cleaning attachment, it will not cause the liquid or foam mixed with sewage on the cleaning attachment to overflow. This embodiment does not limit the value of the second moisture content threshold.

[0119] Optionally, if the cleaning equipment and / or base station also includes a drying component, the first self-cleaning action further includes the operation of the drying component. In this case, by using the drying component to assist in reducing the moisture content of the cleaning attachment, the rate of moisture reduction on the cleaning attachment can be further improved. The second moisture content threshold can be user-set or fixedly set in the cleaning equipment. The second moisture content threshold is determined based on the upper limit of a suitable range; if the moisture content is below the second moisture content threshold, even if the cleaning attachment is wetted, liquid or foam on the cleaning attachment will not overflow. Indicatively, the second moisture content threshold is less than or equal to the upper limit of a suitable range.

[0120] Optionally, the cleaning equipment can also determine whether to activate the drying component based on the moisture content of the cleaning parts. Specifically, the drying component is activated when the moisture content of the cleaning parts exceeds a third moisture content threshold. In this embodiment, the drying component is activated only when the moisture content of the cleaning parts is high, which can save equipment resources.

[0121] Among them, the third moisture content threshold is greater than the first moisture content threshold and the second moisture content threshold.

[0122] Step 502: After the first self-cleaning action is completed, control the cleaning equipment to perform a second self-cleaning action. The second self-cleaning action includes the operation of the cleaning components, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism.

[0123] In one example, controlling the cleaning device to perform a second self-cleaning action includes controlling the cleaning component to rotate at least once in a forward direction and at least once in a reverse direction.

[0124] Accordingly, during the second self-cleaning action, the water spray mechanism is activated when the cleaning component rotates forward and deactivated when the cleaning component rotates backward. At this time, controlling the activation of the water spray mechanism includes: controlling the cleaning component to rotate forward, and activating the water spray mechanism during the forward rotation of the cleaning component; controlling the deactivation of the water spray mechanism includes: controlling the deactivation of the water spray mechanism when the cleaning component rotates backward.

[0125] Optionally, the water spray mechanism can be activated at the beginning of forward rotation or after the beginning of forward rotation. This embodiment does not limit the timing of the activation of the water spray mechanism during forward rotation.

[0126] Specifically, controlling the cleaning component to perform at least one forward rotation and at least one reverse rotation includes:

[0127] Control the forward rotation of the cleaning component, control the operation of the water spray mechanism, and control the shutdown of the negative pressure generator of the cleaning equipment to clean the cleaning component;

[0128] When the forward rotation reaches the first preset time, the cleaning component is controlled to alternate between forward and reverse rotation, the water spray mechanism is controlled to close, and the negative pressure generator of the cleaning equipment is controlled to work to clean the pipes of the cleaning equipment.

[0129] When the cleaning time of the pipeline reaches the second preset time, the cleaning component is controlled to rotate forward, the water spray mechanism is controlled to turn on, and the negative pressure generator is turned off; then the cleaning component is controlled to alternately rotate forward and reverse, the water spray mechanism is controlled to turn off, and the negative pressure generator of the cleaning equipment is controlled to work, so as to deeply clean the cleaning equipment.

[0130] To better understand the self-cleaning method provided in this application, an example of a self-cleaning process for a cleaning device is given below. This example illustrates a self-cleaning process including a first self-cleaning action and a second self-cleaning action. (Reference) Figure 7 A self-cleaning process includes at least the following stages:

[0131] Phase 1: Control the forward rotation of the cleaning component for a preset time, shut down the water spray mechanism, and start the negative pressure generator to reduce the moisture content of the cleaning component. Afterwards, control the forward rotation of the cleaning component, operate the water spray mechanism, and shut down the negative pressure generator of the cleaning equipment to clean the cleaning component.

[0132] Figure 7 In this example, the water spray mechanism has a preset duration of 5 seconds, a water flow rate of 200 gallons / minute (G / min), a forward rotation speed of 550 revolutions / minute (r / min), and a first preset power of 120W for the negative pressure generator. In actual implementation, the water flow rate, forward rotation speed, and first preset power can be other values. This embodiment does not limit the values ​​of the water flow rate, forward rotation speed, and first preset power.

[0133] Second stage: When the forward rotation reaches the first preset time, control the cleaning components to alternate between forward and reverse rotation, control the water spray mechanism to shut off, and control the negative pressure generator of the cleaning equipment to work in order to clean the pipes of the cleaning equipment.

[0134] Figure 7 The example given is a first preset duration of 20 seconds (s). In actual implementation, the first preset duration can be any other value.

[0135] refer to Figure 7 In the second stage, the cleaning component first rotates forward, then reverses, and then rotates forward again. During the second stage, the water spray mechanism is always closed, which ensures that the water spray mechanism is closed when the component is reversed. At the same time, the negative pressure generator works. Figure 7 In this example, the rotation is 10 seconds forward and 5 seconds reverse, with the first forward rotation speed being 550 r / min, the second forward rotation speed being 50 r / min, and the reverse rotation speed being 50 r / min. The working power of the negative pressure generator during the first forward rotation is 120W, the working power of the negative pressure generator during the reverse rotation is 150W, and the working power of the negative pressure generator during the second forward rotation is 250W for 5 seconds to 150W for 15 seconds. In actual implementation, the number of forward and reverse rotations and the rotation speed can be other values, and the working power of the negative pressure generator can be increased or decreased as needed. This embodiment does not limit these values.

[0136] The third stage: When the cleaning time of the pipeline reaches the second preset time, the cleaning component rotates forward, controls the water spray mechanism to start, and controls the negative pressure generator to turn off; then, the cleaning component is controlled to alternately rotate forward and reverse, the water spray mechanism is controlled to turn off, and the negative pressure generator of the cleaning equipment is controlled to work, so as to deeply clean the cleaning equipment.

[0137] Figure 7 The example uses a second preset duration of 25 seconds. In actual implementation, the value of the second preset duration can be other values. This embodiment does not limit the value of the second preset duration.

[0138] refer to Figure 7 In the third stage, the cleaning device first rotates forward and sprays water for 20 seconds, while the negative pressure generator is turned off. Then, it rotates forward for 10 seconds at a speed of 550 r / min, with the negative pressure generator operating at 120 W; then it rotates in reverse for 5 seconds at a speed of 50 r / min, with the negative pressure generator operating at 150 W; finally, it rotates forward for 20 seconds at a speed of 50 / 2s to 550 / 18s, with the negative pressure generator operating at 5s / 250 to 15s / 150 W.

[0139] Optionally, after the self-cleaning process is completed, the cleaning equipment can also perform a drying action to dry the cleaned parts.

[0140] Optionally, the drying action may include at least one reverse and one forward rotation.

[0141] according to Figure 8 It can be seen that the drying process includes the following stages:

[0142] Phase 1: Cleaning parts are reversed, with a preset reversal time of 88 minutes, a reversal speed of 50 r / min, and a corresponding voltage of 3 volts (V).

[0143] Second stage: Cleaning component rotates forward for 2 minutes at a speed of 50 r / min, with a voltage of 3 volts (V).

[0144] In summary, the self-cleaning method for cleaning equipment provided in this embodiment, when the cleaning equipment is connected to a base station, responds to a self-cleaning command to control the cleaning equipment to perform a first self-cleaning action, which includes the operation of the cleaning component, the operation of the negative pressure generator, and the shutdown of the water spray mechanism; after the first self-cleaning action is completed, the cleaning equipment is controlled to perform a second self-cleaning action, which includes the operation of the cleaning component, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism. This solves the problem that when the water spray mechanism is activated to spray water onto the cleaning accessories in the initial stage, the cleaning accessories have a high water content after completing the cleaning work, or there is residual water in the cleaning tank, causing the cleaning accessories to absorb water when placed in the tank, resulting in a high water content and causing excessive liquid or foam generated by the cleaning accessories to overflow the base station in the initial stage. This solution addresses the issue of residual moisture in the cleaning tank causing the cleaning accessories to absorb water, leading to excessive liquid or foam overflowing from the base station during the initial water spraying phase. Since the negative pressure transmitter can pump out wastewater, the initial wastewater content in the cleaning accessories and the base station's cleaning tank can be reduced. This ensures that subsequent water spraying, especially when the user adds cleaning fluid to the tank, will not result in excessive wastewater, reducing the probability of secondary ground pollution caused by liquid or foam mixing with wastewater overflowing from the base station. It also improves the self-cleaning effect of the cleaning equipment and ensures that the moisture content of the cleaning components is not too low, thus reducing energy consumption during subsequent water spraying.

[0145] In addition, by stopping the first self-cleaning action when the moisture content is less than the first moisture content threshold, the cleaning equipment can adaptively determine the timing of stopping the first self-cleaning action based on the moisture content of the cleaning parts, thereby improving the intelligence level of the cleaning equipment.

[0146] In addition, by controlling the negative pressure generator and the cleaning component to work according to the first preset power and the second preset power respectively, the rate at which the moisture content of the cleaning component is reduced to a suitable range can be guaranteed.

[0147] In addition, the intelligence level of the cleaning equipment can be improved by adjusting the first working power of the negative pressure generator and the second working power of the cleaning component based on the moisture content of the cleaning component.

[0148] In addition, by skipping the first self-cleaning action and directly executing the second self-cleaning action when the moisture content is less than or equal to the second moisture content threshold, the cleaning equipment can adaptively decide whether to skip the first self-cleaning action based on the moisture content of the cleaning attachments. This can improve self-cleaning efficiency and save resources consumed by the cleaning equipment.

[0149] In addition, by setting the first self-cleaning action to include the operation of the drying component, the drying component can assist in drying the cleaning equipment, further improving the rate at which the moisture content of the cleaning components is reduced.

[0150] In addition, by controlling the drying component to operate when the moisture content of the cleaning component is greater than the third moisture content threshold, the cleaning equipment can adaptively decide whether to activate the drying component to assist in reducing the moisture content of the cleaning component based on the moisture content of the cleaning component, thereby improving the intelligence level of the cleaning equipment.

[0151] In addition, by calculating the moisture content based on the working parameters of the cleaning equipment when performing cleaning work, there is no need to install sensor components on the cleaning components, which simplifies the equipment structure.

[0152] In addition, by combining the forward and reverse rotation of the cleaning component during the second self-cleaning action, the cleaning component can be cleaned of debris when rotating forward, while the brush becomes relatively fluffy after reversing, which causes impurities in the gaps between the bristles to fall off, thus improving the cleaning effect of the cleaning component. At the same time, reversing can also clean the pipes on the cleaning equipment, further improving the control effect of the cleaning equipment.

[0153] The following example illustrates the process of performing the first self-cleaning action in the self-cleaning method of the cleaning equipment provided in this application. In this example, a floor scrubber is used as the cleaning equipment.

[0154] After completing its cleaning task, the floor scrubber connects to the base station and places its cleaning components into the cleaning tank. Because the scrubber sprays water or cleaning agents to clean the floor during operation, the cleaning components absorb a significant amount of wastewater, resulting in a high water content. The cleaning tank may also contain residual wastewater from a previous cleaning session. The cleaning components absorb this wastewater, further increasing their water content. If the water spraying mechanism then sprays water onto the cleaning components, it can produce excessive liquid or foam, causing the mixture of liquid and foam to overflow from the scrubber itself.

[0155] Therefore, after the floor scrubber completes its cleaning work and connects to the base station, in response to the self-cleaning command, the machine first starts the negative pressure generator (or main motor), activating the cleaning components to spin-dry at 550 rpm. The negative pressure generator, with a working power of 120W, draws wastewater from the periphery of the cleaning components through the wastewater suction port. After the first self-cleaning action lasts for 5 seconds, the moisture content of the cleaning components falls below a first moisture content threshold, and the first self-cleaning action ends.

[0156] Then, when the second self-cleaning action is performed, the water spraying mechanism starts to spray water onto the cleaning parts.

[0157] By performing the first self-cleaning action, the wastewater from the cleaning components and cleaning tank of the floor scrubber is sucked into the wastewater tank, reducing the wastewater content in the components and tank and maintaining the liquid content within a suitable range. Therefore, during the subsequent second self-cleaning action, especially when the user adds cleaning fluid to the cleaning tank, the liquid content in the components and tank will not be excessive, reducing the probability of liquid or foam mixed with wastewater overflowing from the base station and causing secondary ground pollution. Simultaneously, it ensures that the liquid content in the components and tank is not too low, thus ensuring that the subsequent second self-cleaning action does not consume excessive water when spraying water onto the cleaning accessories, reducing energy consumption and further improving the user experience.

[0158] Figure 9 This is a block diagram of a control device for a cleaning equipment according to an embodiment of this application. The device includes at least the following modules: a first control module 910 and a second control module 920.

[0159] The first control module 910 is used to control the cleaning device to perform a first self-cleaning action in response to the self-cleaning command of the cleaning device;

[0160] The second control module 920 is used to control the cleaning device to perform a second self-cleaning action; the second self-cleaning action is performed after the first self-cleaning action is completed.

[0161] The first self-cleaning action and the second self-cleaning action both include the forward and reverse rotation of the cleaning component.

[0162] For relevant details, please refer to the above embodiments.

[0163] It should be noted that the control device for the cleaning equipment provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device for the cleaning equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the cleaning equipment provided in the above embodiments and the control method embodiments for the cleaning equipment belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0164] Figure 10 This is a block diagram of an electronic device provided in one embodiment of this application. The electronic device may be... Figure 1 The cleaning device or other device that is communicatively connected to the cleaning device, the electronic device including at least a processor 1001 and a memory 1002.

[0165] Processor 1001 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1001 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1001 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1001 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 1001 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0166] The memory 1002 may include one or more computer-readable storage media, which may be non-transitory. The memory 1002 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1002 are used to store at least one instruction, which is executed by the processor 1001 to implement the control method of the cleaning device provided in the method embodiments of this application.

[0167] In some embodiments, the electronic device may also optionally include a peripheral device interface and at least one peripheral device. The processor 1001, memory 1002, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to, radio frequency circuits, touch displays, audio circuits, and power supplies.

[0168] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0169] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the control method of the cleaning device described in the above method embodiments.

[0170] Optionally, this application also provides a computer product including a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the control method of the cleaning device described in the above method embodiments.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0173] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of this application.

Claims

1. A self-cleaning method of a cleaning apparatus, characterized by, The cleaning equipment includes a cleaning component, a water spraying mechanism for spraying water onto cleaning accessories of the cleaning component, and a negative pressure generator. When the cleaning equipment is connected to a base station, the cleaning equipment can perform a self-cleaning process, which includes a first self-cleaning action and a second self-cleaning action; the method includes: When the cleaning equipment is connected to the base station, in response to the self-cleaning command of the cleaning equipment, the cleaning equipment is controlled to perform the first self-cleaning action, which includes the operation of the cleaning component, the operation of the negative pressure generator, and the shutdown of the water spray mechanism. After the first self-cleaning action is completed, the cleaning equipment is controlled to perform the second self-cleaning action, which includes the operation of the cleaning component, the operation or shutdown of the negative pressure generator, and the operation of the water spray mechanism.

2. The method of claim 1, wherein, The control of the cleaning device to perform a first self-cleaning action includes: The duration for which the cleaning device performs the first self-cleaning action reaches a preset duration; or The cleaning equipment is controlled to perform a first self-cleaning action until the moisture content of the cleaning component is less than a first moisture content threshold.

3. The method of claim 1, wherein, The control of the cleaning device to perform a first self-cleaning action includes: The negative pressure generator operates according to the first preset power control; and The cleaning component operates according to the second preset power control.

4. The method of claim 1, wherein, The control of the cleaning device to perform a first self-cleaning action includes: Obtain a first operating power of the negative pressure generator based on the moisture content of the cleaning component; wherein the first operating power is positively correlated with the moisture content of the cleaning component; control the negative pressure generator to operate according to the first operating power; and A second operating power of the cleaning component is obtained based on the moisture content of the cleaning component; wherein the second operating power is positively correlated with the moisture content of the cleaning component; and the cleaning component is controlled to operate according to the second operating power.

5. The method according to claim 1, characterized in that, The control of the cleaning device to perform a first self-cleaning action includes: If the moisture content of the cleaning component is greater than the second moisture content threshold, the cleaning device is controlled to perform a first self-cleaning action. If the moisture content of the cleaning component is less than or equal to the second moisture content threshold, the first self-cleaning action of the cleaning device is cancelled.

6. The method of claim 1, wherein, The cleaning device and / or the base station further includes a drying component, and the first self-cleaning action further includes: the drying component operating; The drying assembly includes a heating assembly and / or a blowing assembly.

7. The method of claim 6, wherein, The method further includes: When the moisture content of the cleaning component is greater than a third moisture content threshold, the drying component is controlled to operate.

8. The method according to claim 2 or 4 or 5 or 7, characterized in that, The method further includes: The moisture content collected by the sensing components on the cleaning component is obtained; or, Obtain the operating parameters of the cleaning equipment when cleaning the surface to be cleaned; determine the moisture content based on the operating parameters.

9. The method of claim 1, wherein, The control of the cleaning device to perform the second self-cleaning action includes: The cleaning component is controlled to rotate at least once in a forward direction and at least once in a reverse direction.

10. The method of claim 9, wherein, Controlling the cleaning component to perform at least one forward rotation and at least one reverse rotation includes: The cleaning component is controlled to rotate forward, the water spray mechanism is controlled to operate, and the negative pressure generator of the cleaning equipment is controlled to shut down, so as to clean the cleaning component. When the forward rotation reaches the first preset time, the cleaning component is controlled to alternate between forward and reverse rotation, the water spray mechanism is controlled to close, and the negative pressure generator of the cleaning equipment is controlled to work to clean the pipes of the cleaning equipment. When the cleaning time of the pipeline reaches the second preset time, the cleaning component is controlled to rotate forward, the water spray mechanism is controlled to turn on, and the negative pressure generator is turned off; then the cleaning component is controlled to alternately rotate forward and reverse, the water spray mechanism is controlled to turn off, and the negative pressure generator of the cleaning equipment is controlled to work, so as to deeply clean the cleaning equipment.

11. A cleaning apparatus, characterized by The cleaning equipment includes cleaning components, a water spraying mechanism for spraying water, and a negative pressure generator; A processor and a memory connected to the cleaning component, the water spraying mechanism, and the negative pressure generator are respectively connected to the processor. The memory stores a program, and when the processor executes the program, it implements the self-cleaning method of the cleaning equipment as described in any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the self-cleaning method of the cleaning device as described in any one of claims 1 to 10.

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