Control method and apparatus for cleaning device, cleaning device, and storage medium

Abstract

The application provides a cleaning device control method and device, a cleaning device and a storage medium. The cleaning device comprises a host and a base station. The host has a sewage tank and a first negative pressure generator. The base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. The method comprises the following steps: in response to a sewage discharge instruction of the cleaning device, a bottom cover valve of the sewage tank is opened, wherein the bottom cover valve is used for plugging a first opening of the sewage tank; during the opening of the bottom cover valve, the first negative pressure generator is used for sucking air into the sewage tank through the first opening, so that the liquid in the sewage tank is disturbed by the sucked air; the first negative pressure generator is controlled to stop running after running for a preset time length, and the second negative pressure generator is controlled to run, wherein the second negative pressure generator is used for sucking the liquid in the sewage tank out of the sewage tank through the first opening.

Description

[Technical Field]

[0001] This application relates to the field of smart homes, and more specifically, to a control method and apparatus for a cleaning device, the cleaning device itself, and a storage medium. [Background Technology]

[0002] Currently, many cleaning equipment systems are equipped with wastewater tanks to temporarily store liquids pumped into the tank during cleaning operations, such as used wastewater. The liquid stored in the wastewater tank may contain dirt particles, especially after the cleaning equipment has been used for a period of time. Large particles of impurities may remain in the tank and gradually settle at the bottom. When a large amount of dirt particles accumulates at the bottom, or when the particles are large, they may block the drain opening of the wastewater tank when the valve at the bottom is open, thus affecting the discharge of liquid and even the closure of the valve.

[0003] It is evident that the control methods of cleaning equipment in related technologies suffer from low liquid discharge efficiency in the sewage tank due to the sewage outlet being easily blocked by large particles of impurities. [Summary of the Invention]

[0004] The purpose of this application is to provide a control method and apparatus for cleaning equipment, cleaning equipment and storage medium, so as to at least solve the problem of low liquid discharge efficiency in the sewage tank caused by the sewage outlet being easily blocked by large particles of impurities in the control method of cleaning equipment in the related art.

[0005] The purpose of this application is to achieve the following technical solution:

[0006] According to one aspect of the embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a host and a base station. The host has a wastewater tank and a first negative pressure generator, and the base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. The method includes: responding to a sewage discharge command from the cleaning device, controlling the bottom cover valve of the wastewater tank to open, wherein the bottom cover valve is used to block a first opening of the wastewater tank; during the opening of the bottom cover valve, drawing air into the wastewater tank through the first opening via the first negative pressure generator to agitate the liquid in the wastewater tank by drawing in the air; controlling the first negative pressure generator to stop operating after a preset time, and controlling the second negative pressure generator to operate, wherein the second negative pressure generator is used to draw the liquid out of the wastewater tank through the first opening and expel the air from the wastewater tank.

[0007] In an exemplary embodiment, controlling the bottom cover valve of the wastewater tank to open in response to the wastewater discharge command of the cleaning equipment includes: controlling the drive of the bottom cover valve to operate later than the first negative pressure generator in response to the wastewater discharge command of the cleaning equipment; or controlling the drive of the bottom cover valve and the first negative pressure generator to operate synchronously in response to the wastewater discharge command of the cleaning equipment.

[0008] In one exemplary embodiment, before drawing air into the wastewater tank via the first opening through the first negative pressure generator, the method further includes: controlling the first negative pressure generator to operate in response to an opening signal of the actuator of the bottom cover valve, wherein the opening signal is used to instruct the actuator to drive the bottom cover valve to open.

[0009] In one exemplary embodiment, the method further includes: during the opening of the bottom cover valve, controlling the power of the first negative pressure generator to gradually increase.

[0010] In one exemplary embodiment, before controlling the bottom cover valve of the wastewater tank to open in response to the wastewater discharge command from the cleaning device, the method further includes: initiating a self-cleaning operation of the cleaning device, wherein the self-cleaning operation is used to clean the cleaning components of the cleaning device; generating the wastewater discharge command when the self-cleaning operation has been completed; or generating the wastewater discharge command when it is detected that the liquid volume in the wastewater tank is greater than or equal to a liquid volume threshold.

[0011] In an exemplary embodiment, controlling the first negative pressure generator to stop operating after a preset time and controlling the second negative pressure generator to operate includes: when the bottom cover valve is in the open state, controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate.

[0012] In one exemplary embodiment, the method further includes determining the moment when the drive member of the bottom cover valve is rotated to a preset position as the moment when the bottom cover valve is in an open state.

[0013] In an exemplary embodiment, the step of controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate when the bottom cover valve is in the open state includes: controlling the first negative pressure generator to stop operating when the bottom cover valve is in the open state, and sending a control command to the base station of the cleaning equipment, wherein the control command is used to control the second negative pressure generator on the base station to operate.

[0014] In an exemplary embodiment, the host or base station is equipped with a third negative pressure generator, which is connected to the sewage tank through a second opening and used to supply liquid to the sewage tank; after controlling the first negative pressure generator to operate for a preset time and then stopping operation, and controlling the second negative pressure generator to operate, the method further includes: in response to a cleaning command from the sewage tank, performing at least one cleaning operation on the sewage tank, wherein, during the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously, so that the third negative pressure generator supplies liquid to the sewage tank through the second opening, and the second negative pressure generator draws liquid from the sewage tank out of the sewage tank through the first opening.

[0015] According to another aspect of the embodiments of this application, a control device for a cleaning device is also provided. The cleaning device includes a main unit and a base station. The main unit has a sewage tank and a first negative pressure generator, and the base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. The device includes: a first control unit, configured to control the bottom cover valve of the sewage tank to open in response to the sewage discharge command of the cleaning device, wherein the bottom cover valve is used to block a first opening of the sewage tank; a suction unit, configured to, during the opening of the bottom cover valve, draw air into the sewage tank through the first opening via the first negative pressure generator, so as to disturb the liquid in the sewage tank by drawing in the air; and a second control unit, configured to control the first negative pressure generator to stop operating after a preset time, and to control the second negative pressure generator to operate, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0016] In one exemplary embodiment, the first control unit includes: a first control module, configured to control the actuator of the bottom cover valve to operate later than the first negative pressure generator in response to the sewage discharge command of the cleaning equipment; or a second control module, configured to control the actuator of the bottom cover valve and the first negative pressure generator to operate synchronously in response to the sewage discharge command of the cleaning equipment.

[0017] In one exemplary embodiment, the apparatus further includes: a third control unit, configured to control the first negative pressure generator to operate in response to an opening signal of the drive member of the bottom cover valve before air is drawn into the wastewater tank via the first opening through the first negative pressure generator, wherein the opening signal is used to instruct the drive member to drive the bottom cover valve to open.

[0018] In one exemplary embodiment, the device further includes a fourth control unit, configured to control the power of the first negative pressure generator to gradually increase during the opening of the bottom cover valve.

[0019] In one exemplary embodiment, the apparatus further includes: a starting unit, configured to initiate a self-cleaning operation of the cleaning device before controlling the bottom cover valve of the wastewater tank to open in response to the wastewater discharge command of the cleaning device, wherein the self-cleaning operation is used to clean the cleaning components of the cleaning device; a first generating unit, configured to generate the wastewater discharge command when the self-cleaning operation has been completed; or, a second generating unit, configured to generate the wastewater discharge command when it is detected that the liquid volume in the wastewater tank is greater than or equal to a liquid volume threshold.

[0020] In one exemplary embodiment, the second control unit includes a third control module, configured to control the first negative pressure generator to stop operating and control the second negative pressure generator to operate when the bottom cover valve is in the open state.

[0021] In one exemplary embodiment, the apparatus further includes a determining unit, configured to determine the moment when the drive member of the bottom cover valve is rotated to a preset position as the moment when the bottom cover valve is in an open state.

[0022] In one exemplary embodiment, the second control unit includes an execution module, configured to control the first negative pressure generator to stop operating when the bottom cover valve is in the open state, and to send a control command to the base station of the cleaning equipment, wherein the control command is used to control the second negative pressure generator on the base station to operate.

[0023] In an exemplary embodiment, the host or the base station is provided with a third negative pressure generator, which is connected to the sewage tank through a second opening and is used to supply liquid to the sewage tank; the device further includes: an execution unit, configured to stop the operation of the first negative pressure generator after controlling it to operate for a preset time, and after controlling the operation of the second negative pressure generator, in response to a cleaning command from the sewage tank, perform at least one cleaning operation on the sewage tank, wherein, during the execution of the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously, so that the third negative pressure generator supplies liquid to the sewage tank through the second opening, and the second negative pressure generator draws the liquid in the sewage tank out of the sewage tank through the first opening.

[0024] According to another aspect of the embodiments of this application, a cleaning device is also provided, the cleaning device comprising: a host and a base station, wherein the host includes a sewage tank and a first negative pressure generator, the bottom of the sewage tank is provided with a first opening and a bottom cover valve for sealing the first opening; the base station includes a second negative pressure generator and a recycling tank, the negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different, and when the host is connected to the base station, the sewage tank is connected to the recycling tank through the first opening.

[0025] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the control method of the cleaning equipment described above when it is run.

[0026] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the control method of the cleaning device described above through the computer program.

[0027] In this embodiment, during the opening of the bottom cover, air is drawn from the bottom of the sewage tank into the sewage tank via a negative pressure generator. This agitates the liquid inside the sewage tank by drawing in the air, responding to the sewage discharge command of the cleaning equipment. The bottom cover valve is used to seal the first opening at the bottom of the sewage tank. During the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening via a first negative pressure generator, agitating the liquid inside the sewage tank. After the first negative pressure generator has been running for a preset time, it stops operating, and a second negative pressure generator is activated. The second negative pressure generator is used to draw air out of the sewage tank through the first opening. Because of the negative pressure generated during the opening of the bottom cover valve... The generator draws air into the wastewater tank through the drain opening (i.e., the first opening) sealed by the bottom cover valve. The air entering the wastewater tank agitates the liquid inside, causing dirt particles deposited at the bottom of the tank to rotate with the liquid, forming a solid-liquid mixture instead of accumulating at the drain opening. Simultaneously, the air entering the wastewater tank through the drain opening prevents the solid-liquid mixture from being directly discharged from the tank by gravity when the bottom cover valve is open. This reduces the risk of the drain opening becoming blocked, thereby improving the liquid discharge efficiency of the wastewater tank. This solves the problem of low liquid discharge efficiency in related cleaning equipment control methods due to the drain opening being easily blocked by large particles. [Attached Image Description]

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of an optional cleaning device according to an embodiment of this application;

[0031] Figure 2 This is a flowchart illustrating an optional control method for a cleaning device according to an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of another optional cleaning device according to an embodiment of this application;

[0033] Figure 4 This is a schematic diagram of another optional cleaning device according to an embodiment of this application;

[0034] Figure 5 This is a schematic diagram of another optional control method for a cleaning device according to an embodiment of this application;

[0035] Figure 6 This is a structural block diagram of a control device for an optional cleaning equipment according to an embodiment of this application;

[0036] Figure 7 This is a structural block diagram of an optional electronic device according to an embodiment of this application.

Detailed Implementation Methods

[0037] The present 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 described in the embodiments of the present application can be combined with each other.

[0038] 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.

[0039] According to one aspect of an embodiment of this application, a method for controlling a cleaning device is provided. For example... Figure 1As shown, the cleaning equipment described above may include a host 11 and a base station 12. The host 11 and the base station 12 can communicate with each other via a network, which may be a wireless network or a wired network. The wired network may include, but is not limited to, at least one of the following: wide area network, metropolitan area network, local area network; the wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, infrared.

[0040] Figure 2 This is a flowchart illustrating an optional control method for a cleaning device according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps:

[0041] Step S202: In response to the sewage discharge command from the cleaning equipment, the bottom cover valve of the sewage tank is opened, wherein the bottom cover valve is used to seal the first opening of the sewage tank.

[0042] The control method for the cleaning equipment in this embodiment can be applied to scenarios involving the discharge of wastewater from the host's wastewater tank (or wastewater bucket). The cleaning equipment can be a sweeping robot, a floor scrubbing robot, a sweeping and mopping robot, or other devices with cleaning functions. The cleaning equipment may include a host and a base station, such as... Figure 1 As shown, the host computer has a wastewater tank and a first negative pressure generator, while the base station has a second negative pressure generator. The first and second negative pressure generators generate negative pressure in different directions; the first generator can generate upward negative pressure, and the second generator can generate downward negative pressure. The wastewater tank discharge operation can be triggered when the detected liquid volume in the tank reaches a certain threshold, after a cleaning task is completed, or by manual control by the user. This embodiment does not limit this.

[0043] The cleaning task described above can be a routine floor cleaning task or a self-cleaning operation of the cleaning equipment. Here, self-cleaning can refer to cleaning the cleaning components, transmission pipes, etc., of the cleaning equipment. The cleaning components can be cleaning parts on the cleaning equipment used to perform the cleaning task, and may include, but are not limited to, at least one of the following: a roller brush (also called a floor brush), a mop, etc. The transmission pipe can be a pipe connected to a wastewater tank for transferring wastewater or other liquids into the wastewater tank (also called a suction pipe), but this embodiment does not limit this.

[0044] In this embodiment, the aforementioned sewage discharge operation can be executed in response to a received sewage discharge command. This sewage discharge command can be generated based on the liquid volume in the sewage tank reaching a threshold or the completion of the cleaning task. Alternatively, it can be generated in response to a detected trigger operation performed on the sewage discharge button on the cleaning device. Here, the sewage discharge button can be located on the display screen of the cleaning device or in other locations. It can be a physical button or a virtual button. The trigger operation can be a click operation, a double-click operation, a long-press operation, etc. Alternatively, the sewage discharge command can be sent by a base station, a terminal device bound to the cleaning device, or a matched remote control. In this embodiment, the method of obtaining the sewage discharge command is not limited.

[0045] In this embodiment, the bottom of the sewage tank may be provided with a first opening for discharging liquid from the sewage tank; this first opening is also called a sewage discharge opening. Here, the first opening can be a circular or other shaped opening located at the bottom of the sewage tank. A transmission pipe can be provided at the first opening to facilitate the discharge of liquid from the sewage tank through the transmission pipe to the outside of the sewage tank. This transmission pipe can be a sewage discharge pipe. Optionally, the other end of the aforementioned transmission pipe can be connected to an opening on the base station's recycling bin, allowing liquid from the sewage tank to reach the base station's sewage tank from the first opening via the transmission pipe. A bottom cover valve (e.g., a valve cover plate) can be installed at the first opening to seal the first opening of the sewage tank when liquid discharge is not required.

[0046] For example, such as Figure 3 As shown, the bottom of the wastewater tank 30 of the main unit can be provided with a drain opening, and a bottom cover valve 31 can be installed at the drain opening. The drain opening is connected to the outside of the wastewater tank 30 through a drain pipe 32. In addition, a suction pipe 33 can also be installed inside the main unit for sucking liquid into the wastewater tank 30.

[0047] With the bottom cover valve closed, the liquid in the wastewater tank cannot flow out from the first opening. In response to the cleaning equipment's discharge command, the bottom cover valve of the wastewater tank on the main unit can be opened, allowing the liquid in the wastewater tank to drain out through the first opening.

[0048] For example, taking the case where cleaning equipment needs to discharge wastewater after completing its self-cleaning operation, upon receiving a signal indicating the completion of the self-cleaning process, the wastewater discharge process can be triggered, and the bottom cover valve of the wastewater tank can be opened. Figure 4 As shown, the wastewater tank 30 contains a suction pipe 33 (inlet pipe, i.e., floor brush suction pipe) for transferring the liquid used to clean the cleaning components 41 (e.g., roller brush) into the wastewater tank. The direction of liquid transfer is as follows: Figure 4As indicated by the arrow, the wastewater tank 30 has a bottom cover valve 31, which can be used to control the discharge of liquid from the wastewater tank through the drain opening. After the bottom cover valve 31 is opened, the liquid in the wastewater tank 30 can be transferred to the base station's recycling bin through the drain pipe 32, as shown in the image. Figure 4 As shown by the arrow in the image.

[0049] In step S204, during the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator, so as to disturb the liquid air in the sewage tank by the drawn-in air.

[0050] After the cleaning equipment completes its cleaning task, especially after the self-cleaning operation, the liquid in its wastewater tank may contain a large amount of dirt particles, including some large ones. In a static state, these dirt particles will accumulate at the bottom of the wastewater tank. When the bottom valve (i.e., the bottom cover valve) is opened, large particles will preferentially pass through the first opening, potentially causing blockage and affecting the efficiency of liquid discharge from the tank. Simultaneously, due to the blockage at the first opening by large particles, the bottom cover valve may fail to close properly.

[0051] To at least address some of the aforementioned problems, in this embodiment, during the opening of the bottom cover valve, air can be drawn into the sewage tank through the first opening using a first negative pressure generator. This air agitates the liquid within the sewage tank, causing the dirt particles deposited at the bottom of the tank to mix with the liquid during rotation, forming a solid-liquid mixture. Since the accumulated dirt particles are dispersed in the liquid, the amount of dirt particles accumulating at the first opening of the sewage tank is reduced, decreasing the likelihood of blockage during sewage discharge. The first negative pressure generator can be activated directly in response to the sewage discharge command from the cleaning equipment, or it can be activated after the bottom cover valve of the sewage tank is opened. This embodiment does not limit this.

[0052] The air drawn in by the first negative pressure generator keeps the liquid inside the wastewater tank in a state of flux. Simultaneously, because the air enters the wastewater tank from bottom to top through the first opening, it prevents the liquid from leaking out through that opening. Furthermore, the agitated liquid also washes away dirt particles from the inner walls of the wastewater tank, preventing them from adhering and thus improving its cleanliness. In addition, during wastewater discharge through the first opening, dirt particles in the liquid will not immediately settle to the bottom of the tank and block the opening, ensuring efficient wastewater discharge.

[0053] Here, the first negative pressure generator (the second negative pressure generator and the third negative pressure generator described below are similar to the first negative pressure generator) can be a pneumatic component that uses the flow of compressed air to create a certain degree of vacuum. The vacuum is generated and released quickly, and it can be used for suction work in intermittent operations with low flow rates. It can be the main motor inside the main unit. Optionally, during cleaning tasks or self-cleaning operations, the wastewater generated during the cleaning process can enter the wastewater tank through the suction pipe. During the sewage discharge operation, external air can also enter the wastewater tank through the suction pipe.

[0054] For example, during the opening of the sewage tank's bottom cover valve, the main motor continues to operate, allowing outside air to enter the sewage tank not only through the floor brush suction pipe but also through the opening at the bottom. This agitates the sewage inside, disturbing large particles at the bottom and creating a solid-liquid mixture, thus preventing large particles from clogging the bottom cover. Simultaneously, it flushes the inner wall of the sewage tank, improving its drainage efficiency. During this process, the liquid in the sewage tank is kept from entering the drain pipe under the negative pressure of the main motor.

[0055] For example, when the sewage discharge process is triggered, the valve on the bottom cover of the sewage tank opens. The driving component (which can be a motor) that drives the valve to open sends a status signal to the processing module. The processing module receives the status signal and controls the main motor to work. The reverse is also possible.

[0056] Step S206: Control the first negative pressure generator to run for a preset time and then stop running, and control the second negative pressure generator to run, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0057] In this embodiment, to ensure that the liquid in the sewage tank can be discharged from the first opening, the first negative pressure generator can be controlled to stop operating after a preset time. By controlling the first negative pressure generator to stop operating, the liquid in the sewage tank can be discharged from the first opening. To accelerate the discharge of sewage from the sewage tank and prevent dirt particles in the liquid from depositing on the inner wall of the transmission pipe as it passes through, a second negative pressure generator can be used to generate negative pressure to draw the liquid in the sewage tank out of the sewage tank through the first opening. Here, the preset time can be a pre-set time, which can be based on the time required for the bottom cover valve to go from open to fully open, or it can be based on the empirical time required for dirt particles to be completely dispersed from the bottom of the sewage tank by air disturbance. Optionally, the preset time can also be the time controlled based on the open state of the bottom cover valve. The second negative pressure generator can be connected to the corresponding transmission pipe of the first opening to realize the suction of liquid in the sewage tank. Its working principle is similar to that of the first negative pressure generator, and will not be described in detail in this embodiment.

[0058] When the first negative pressure generator stops operating or the bottom cover valve is in the open state, the second negative pressure generator can be controlled to operate, so as to draw the liquid in the sewage tank out of the sewage tank through the first opening, for example, to draw it into the recycling tank on the base station. The condition that the bottom cover valve is in the open state can be determined by the bottom cover valve rotating to a corresponding position, or by detecting that the bottom cover valve has rotated a certain angle. This embodiment does not limit this.

[0059] Through steps S202 to S206 above, in response to the sewage discharge command of the cleaning equipment, the bottom cover valve of the sewage tank of the cleaning equipment is opened, wherein the bottom cover valve is used to block the first opening of the sewage tank; during the opening of the bottom cover valve, the first negative pressure generator draws air into the sewage tank through the first opening, so as to disturb the liquid in the sewage tank by drawing in the air; the first negative pressure generator is controlled to stop running after a preset time, and the second negative pressure generator is controlled to run, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening, thereby solving the problem of low liquid discharge efficiency in the sewage tank due to easy blockage of the sewage discharge opening in the control method of the cleaning equipment in the related technology, and improving the liquid discharge efficiency in the sewage tank.

[0060] In one exemplary embodiment, in response to a sewage discharge command from a cleaning device, controlling the bottom cover valve of the sewage tank to open includes:

[0061] S11, in response to the sewage discharge command from the cleaning equipment, controls the actuator of the bottom cover valve to operate later than the first negative pressure generator; or

[0062] S12, in response to the sewage discharge command from the cleaning equipment, controls the drive of the bottom cover valve and the first negative pressure generator to operate synchronously.

[0063] In response to the sewage discharge command from the cleaning equipment, the cleaning equipment can control the process of opening the bottom cover valve and drawing air into the sewage tank through the first opening of the sewage tank via the first negative pressure generator. As an optional implementation, to prevent dirt particles accumulated at the bottom of the sewage tank from entering the first opening and causing blockage, the bottom cover valve can be opened by the valve's actuator only after the first negative pressure generator has been confirmed to be running; that is, the valve's actuator is controlled to operate after the first negative pressure generator has been activated.

[0064] In this embodiment, the first negative pressure generator can be activated in response to a sewage discharge command from the cleaning equipment. For example, in response to the sewage discharge command, the first negative pressure generator can be activated first, and then the bottom cover valve can be activated. Alternatively, it can be activated before receiving the sewage discharge command from the cleaning equipment. The bottom cover valve can be opened and closed by a drive component, which can be a motor. For example, the processing module receives the sewage discharge command, controls the main motor to operate, and sends an indication message to the drive component that activates the valve to indicate that the main motor has started operating. The drive component receives the indication message and activates the bottom cover valve of the sewage tank to open.

[0065] As an alternative implementation, the opening of the bottom cover valve and the operation of the first negative pressure generator can also be configured to occur synchronously. In response to the cleaning equipment's discharge command, the actuator of the bottom cover valve and the first negative pressure generator are controlled to operate synchronously.

[0066] In this embodiment, by controlling the operation of the first negative pressure generator to be no later than the operation of the drive component of the bottom cover valve, it is possible to prevent the dirty particles accumulated at the bottom of the sewage tank from entering the sewage outlet at the moment the bottom cover valve opens, thus avoiding blockage of the sewage outlet and improving sewage discharge efficiency.

[0067] In one exemplary embodiment, before drawing air into the wastewater tank via the first opening using the first negative pressure generator, the method further includes:

[0068] S21, in response to the opening signal of the drive of the bottom cover valve, the first negative pressure generator is controlled to operate, wherein the opening signal is used to instruct the drive to drive the bottom cover valve to open.

[0069] Since the bottom cover valve requires a certain amount of time to open, to improve the timeliness of sewage discharge, it can be activated by the valve's actuator in response to the sewage discharge command from the cleaning equipment. Simultaneously, the valve's actuator sends an opening signal to the processing module. The processing module, responding to this signal, controls the operation of the first negative pressure generator. Here, the processing module is the program module that controls the operation of the first negative pressure generator, and the opening signal indicates that the actuator has begun to open the bottom cover valve.

[0070] For example, when the valve on the bottom cover of the sewage tank is opened, the drive component that drives the valve to open sends an opening signal to the processing module. The processing module receives the opening signal and controls the main motor to work.

[0071] In this embodiment, by controlling the operation of the negative pressure generator in response to the opening signal of the drive component of the bottom cover valve, the timeliness of sewage discharge can be improved and the energy consumption of the sewage discharge process can be reduced.

[0072] In one exemplary embodiment, the above method further includes:

[0073] S31, during the opening of the bottom cover valve, the power of the first negative pressure generator is gradually increased.

[0074] As the bottom cover valve opens wider, the likelihood of liquid flowing out of the sewage tank from the first opening increases. In order to ensure that the liquid in the sewage tank can continue to remain in the sewage tank and maintain sufficient rotation speed to mix with the dirt particles, in this embodiment, the power of the first negative pressure generator can be gradually increased during the opening of the bottom cover valve.

[0075] Here, the amount of air that the first negative pressure generator can draw in is positively correlated with its power. During the opening of the bottom cover valve, as the degree of opening of the bottom cover valve increases, the power of the first negative pressure generator gradually increases, which can increase the negative pressure of the air drawn in by the first negative pressure generator, so that more air can enter the sewage tank from the first opening, ensuring that the liquid in the sewage tank will not be discharged from the first opening.

[0076] In this embodiment, by gradually increasing the power of the negative pressure generator during the opening of the bottom cover valve, it can be ensured that the liquid in the sewage tank will not flow out from the drain opening during the opening of the bottom cover valve, thereby reducing the risk of the drain opening being blocked.

[0077] In one exemplary embodiment, before controlling the opening of the bottom cover valve of the wastewater tank in response to a wastewater discharge command from the cleaning equipment, the method further includes:

[0078] S41, initiate the self-cleaning operation of the cleaning equipment, wherein the self-cleaning operation is used to clean the cleaning components of the cleaning equipment; if the self-cleaning operation is completed, generate a discharge command; or...

[0079] S42 generates a discharge command when the liquid volume in the sewage tank is detected to be greater than or equal to the liquid volume threshold.

[0080] In this embodiment, there can be multiple conditions for generating the sewage discharge command. It can be triggered after the self-cleaning operation is completed, or it can be generated when the liquid volume in the sewage tank is detected to be greater than or equal to the liquid volume threshold, or it can be generated when other generation conditions are met.

[0081] As an optional implementation, the self-cleaning operation of the cleaning equipment can be initiated when it is determined that a self-cleaning operation is necessary. This self-cleaning operation can be used to clean the cleaning components of the cleaning equipment. These components may only need one self-cleaning cycle if the floor is relatively clean, or they may require several self-cleaning cycles if the floor is relatively dirty. A discharge command can be generated after one self-cleaning operation is completed, or it can be set to generate a discharge command only after one round of self-cleaning operations is completed, to discharge the liquid from the wastewater tank.

[0082] As another optional implementation, in order to avoid situations where the sewage generated on the cleaning components of the cleaning equipment cannot be sucked into the sewage tank due to excessive liquid volume, or where the liquid in the sewage tank overflows from the opening at the bottom of the sewage tank, a liquid volume threshold can be preset, and the liquid volume in the sewage tank can be detected in real time. If the liquid volume in the sewage tank is detected to be greater than or equal to the liquid volume threshold, a discharge command is generated to discharge the liquid in the sewage tank.

[0083] In this embodiment, the timeliness of sewage discharge can be improved by triggering a discharge command when the self-cleaning operation is completed or the amount of liquid in the sewage tank exceeds a threshold.

[0084] In one exemplary embodiment, controlling the first negative pressure generator to operate for a preset time and then stopping, and controlling the second negative pressure generator to operate, includes:

[0085] S51, when the bottom cover valve is in the open state, control the first negative pressure generator to stop running and control the second negative pressure generator to run.

[0086] The preset duration can be controlled by the open state of the bottom cover valve. While the bottom cover valve is open, the first negative pressure generator can be kept running. When the bottom cover valve is in the open state, the first negative pressure generator stops running. Here, "open state" indicates that the bottom cover valve is fully open. When the bottom cover valve is open, liquid in the sewage tank can drain from the first opening without any obstruction from the bottom cover valve.

[0087] In this embodiment, when the bottom cover valve is in the open state, the second negative pressure generator can also be controlled to operate, so as to draw the liquid in the sewage tank out of the sewage tank through the first opening, for example, to draw it into the recycling tank on the base station. The description of determining that the bottom cover valve is in the open state can be the same as the description in the previous embodiment, and will not be repeated here.

[0088] In this embodiment, stopping the first negative pressure generator and starting the second negative pressure generator after the bottom cover valve is in the open state can increase the discharge rate of liquid in the sewage tank.

[0089] In one exemplary embodiment, the above method further includes:

[0090] S61, the moment when the drive of the bottom cover valve is rotated to a preset position is determined as the moment when the bottom cover valve is in the open state.

[0091] The bottom cover valve can be opened by rotating it using a drive mechanism. Once the valve is opened to a certain extent, it is considered to be in the open state. The open state of the bottom cover valve in a sewage tank can be determined by the position of the drive mechanism.

[0092] In this embodiment, a position of the drive component can be preset to determine whether the bottom cover valve is in the open state. The moment when the drive component of the bottom cover valve is rotated to the preset position is determined as the moment when the bottom cover valve is in the open state. Optionally, a button or sensor can be installed at the preset position. After the drive component of the bottom cover valve rotates to the corresponding position, it can collide with the button or sensor, thereby determining that the drive component of the bottom cover valve has rotated to the preset position.

[0093] For example, after the bottom cover valve of the sewage tank on the control unit is opened, the valve's drive mechanism and the main motor work simultaneously. Driven by the drive mechanism, the bottom cover valve is gradually opened. When the drive mechanism rotates to a predetermined position, it is determined that the bottom cover valve is in the open state. The drive mechanism sends a signal to the processing module, which then controls the main motor to stop working.

[0094] In this embodiment, the bottom cover valve is determined to be in the open state by rotating it to a preset position, which can improve the accuracy of determining the bottom cover valve's state.

[0095] In one exemplary embodiment, when the bottom cover valve is in the open state, controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate includes:

[0096] S71, with the bottom cover valve in the open state, controls the first negative pressure generator to stop running and sends a control command to the base station of the cleaning equipment, wherein the control command is used to control the second negative pressure generator on the base station to run.

[0097] To reduce the weight of the cleaning equipment, improve the user experience, and increase the discharge rate of liquid from the wastewater tank, a second negative pressure generator for pumping liquid from the wastewater tank can be installed on the base station and connected to the transmission pipe at the first opening. Additionally, a larger-capacity recycling tank (i.e., a container for recycling liquid from the wastewater tank) can be installed on the base station, into which the liquid can be discharged.

[0098] In this embodiment, with the bottom cover valve in the open state, the host can send a control command to the base station while simultaneously stopping the first negative pressure generator. Based on the received control command, the base station starts the second negative pressure generator, which then pumps liquid from the wastewater tank through the transmission pipe. Here, the control command can be used to control the operation of the second negative pressure generator on the base station.

[0099] In this embodiment, by using a negative pressure generator on the base station to pump out the sewage in the sewage tank of the main unit, the weight of the cleaning equipment can be reduced and the user experience of the cleaning equipment can be improved.

[0100] In an exemplary embodiment, a third negative pressure generator may also be provided on the host or base station. The third negative pressure generator is connected to the sewage tank through the second opening and is used to supply liquid to the sewage tank. The liquid supplied to the sewage tank by the third negative pressure generator may be the liquid in the host's clean water tank or the liquid in other liquid storage devices. The second opening and the first opening may be different openings. For example, it may be a suction opening or other openings besides the suction opening and the discharge opening. This embodiment does not limit this.

[0101] Correspondingly, after controlling the first negative pressure generator to operate for a preset time and then stopping it, and controlling the second negative pressure generator to operate, the above method further includes:

[0102] S81, in response to a cleaning command for the wastewater tank, performs at least one cleaning operation on the wastewater tank, wherein during the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously, so that the third negative pressure generator supplies liquid to the wastewater tank through the second opening, and the second negative pressure generator draws the liquid in the wastewater tank out of the wastewater tank through the first opening.

[0103] After the liquid in the wastewater tank is drained, some dirt particles or substances may still remain inside. To completely remove these dirt particles and ensure the tank remains clean, the wastewater tank can be cleaned by adding liquid (e.g., clean water, or water with added cleaning solution) after the liquid has been drained.

[0104] In this embodiment, in response to a cleaning command for the wastewater tank, at least one cleaning operation is performed on the wastewater tank. The cleaning command for the wastewater tank can be generated after detecting that the liquid in the wastewater tank has been completely discharged, or it can be triggered by other means. Optionally, the completion of the discharge of liquid in the wastewater tank can be determined by detecting the amount of liquid in the wastewater tank, or the speed at which the liquid flows out of the wastewater tank, or it can be determined that the discharge of liquid in the wastewater tank has been completed when the second negative pressure generator can no longer draw liquid from the wastewater tank.

[0105] The cleaning liquid used for cleaning the wastewater tank can be supplied to the tank through the second opening by a third negative pressure generator. After cleaning, the liquid in the wastewater tank can be drawn out through the first opening by the second negative pressure generator. The third negative pressure generator can be the first negative pressure generator, another negative pressure generator inside the main unit that is independent of the first negative pressure generator, or a negative pressure generator installed on the base station. If the third negative pressure generator is different from the first negative pressure generator, it can be connected to the wastewater tank through the second opening and used to supply liquid to the wastewater tank.

[0106] During the above cleaning operation, the liquid can be first drawn into the wastewater tank using the third negative pressure generator, and then discharged from the wastewater tank using the second negative pressure generator after cleaning is completed. Alternatively, the liquid can be discharged from the wastewater tank while the clean liquid is being drawn into it. Correspondingly, the third negative pressure generator and the second negative pressure generator can operate separately or simultaneously.

[0107] Optionally, to prevent the cleaning components from experiencing shortened service life due to bacterial growth and mold development caused by prolonged exposure to a closed, humid environment, the cleaning components can be dried after the cleaning operation to ensure they remain dry. Additionally, the interior of the wastewater tank can be dried to extend its service life.

[0108] In this embodiment, cleaning the sewage tank after sewage discharge can improve the cleanliness of the sewage tank's interior, thereby extending the service life of the sewage tank.

[0109] The control method of the cleaning equipment in the embodiments of this application will be explained below with reference to optional examples. In this optional example, the cleaning equipment is a floor scrubber, the detection component is an infrared photocell, the first negative pressure generator is the main motor of the floor scrubber, the second negative pressure generator is the base station motor, and the cleaning component is a floor brush (i.e., a roller brush).

[0110] This optional example provides a solution to avoid the bottom cover of the sewage tank being blocked by large particles. By controlling the main motor to work during the sewage discharge process, the sewage in the sewage tank is agitated and rotated, so that the dirty particles in the sewage tank are mixed in the sewage and prevented from settling at the sewage discharge opening at the bottom of the sewage tank, thereby avoiding the problem of the bottom cover of the sewage tank being blocked during sewage discharge.

[0111] Combination Figure 5 As shown, the flow of the control method for the cleaning equipment in this optional example may include the following steps:

[0112] Step 1: Obtain a signal indicating that the self-cleaning process is complete, and trigger the sewage discharge process.

[0113] Step 2: The drain valve at the bottom of the sewage tank (i.e., the bottom cover valve) is opened. At the same time, the main motor of the machine starts to work, and air enters the sewage tank from the suction pipe of the floor brush and the opening at the bottom of the water tank.

[0114] Step 3: After the drain valve is fully opened (the bottom cover drive unit rotates to the predetermined position), the main motor stops working.

[0115] Step 4: The base station motor begins its sewage discharge process.

[0116] Step 5: Clean the wastewater tank twice.

[0117] Step 6: Dry the floor brush.

[0118] Step 7: Close the drain valve at the bottom of the sewage tank.

[0119] This optional example allows the main motor to operate from the moment the bottom cover valve of the sewage tank begins to open until it is fully open. This allows air to enter the sewage tank, agitating the sewage and mixing the large particles at the bottom with the sewage to form a solid-liquid mixture. This prevents the sewage from being blocked by large particles when the bottom cover of the sewage tank is opened for discharge, thereby improving the sewage discharge efficiency and enhancing the user experience.

[0120] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0121] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0122] According to another aspect of the embodiments of this application, a control device for a cleaning device for implementing the control method of the above-described cleaning device is also provided. Here, the cleaning device includes a host and a base station. The host has a sewage tank and a first negative pressure generator, and the base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. Figure 6 This is a structural block diagram of an optional control device for a cleaning equipment according to an embodiment of this application, such as... Figure 6 As shown, the device may include:

[0123] The first control unit 602 is used to control the bottom cover valve of the sewage tank to open in response to the sewage discharge command of the cleaning equipment, wherein the bottom cover valve is used to block the first opening of the sewage tank;

[0124] The suction unit 604 is connected to the first control unit 602 and is used to draw air into the sewage tank through the first opening via the first negative pressure generator during the opening of the bottom cover valve, so as to disturb the liquid in the sewage tank by drawing in the air.

[0125] The second control unit 606 is connected to the suction unit 604 and is used to control the first negative pressure generator to stop running after a preset time, and to control the second negative pressure generator to run. The second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0126] It should be noted that the first execution unit 602 in this embodiment can be used to execute the above step S202, the suction unit 604 in this embodiment can be used to execute the above step S204, and the second control unit 606 in this embodiment can be used to execute the above step S206.

[0127] Through the above module, in response to the sewage discharge command of the cleaning equipment, the bottom cover valve of the sewage tank is controlled to open, wherein the bottom cover valve is used to seal the first opening of the sewage tank; during the opening of the bottom cover valve, the first negative pressure generator draws air into the sewage tank through the first opening to agitate the liquid in the sewage tank; the first negative pressure generator is controlled to stop operating after a preset time, and the second negative pressure generator is controlled to operate, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening. This solves the problem of low liquid discharge efficiency in the sewage tank caused by the sewage discharge opening being easily blocked by large particles of impurities in the control method of the cleaning equipment in the related technology, and improves the liquid discharge efficiency in the sewage tank.

[0128] In one exemplary embodiment, the first control unit includes:

[0129] The first control module, in response to the sewage discharge command from the cleaning equipment, controls the actuator of the bottom cover valve to operate after the first negative pressure generator; or

[0130] The second control module is used to respond to the sewage discharge command of the cleaning equipment and control the drive of the bottom cover valve and the first negative pressure generator to operate synchronously.

[0131] In one exemplary embodiment, the above-described apparatus further includes:

[0132] The third control unit is configured to control the operation of the first negative pressure generator in response to an opening signal of the drive of the bottom cover valve before air is drawn into the sewage tank through the first opening by the first negative pressure generator, wherein the opening signal is used to instruct the drive to open the bottom cover valve.

[0133] In one exemplary embodiment, the above-described apparatus further includes:

[0134] The fourth control unit is used to control the power of the first negative pressure generator to gradually increase during the opening of the bottom cover valve.

[0135] In one exemplary embodiment, the above-described apparatus further includes:

[0136] The starting unit is used to start the self-cleaning operation of the cleaning equipment before controlling the bottom cover valve of the sewage tank to open in response to the sewage discharge command of the cleaning equipment. The self-cleaning operation is used to clean the cleaning components of the cleaning equipment.

[0137] The first generating unit is used to generate a discharge command after the self-cleaning operation has been completed; or,

[0138] The second generation unit is used to generate a sewage discharge command when the amount of liquid in the sewage tank is detected to be greater than or equal to a liquid volume threshold.

[0139] In one exemplary embodiment, the second control unit includes:

[0140] The third control module is used to stop the first negative pressure generator from running and to control the second negative pressure generator to run when the bottom cover valve is in the open state.

[0141] In one exemplary embodiment, the above-described apparatus further includes:

[0142] The determining unit is used to determine the moment when the drive component of the bottom cover valve is rotated to a preset position as the moment when the bottom cover valve is in the open state.

[0143] In one exemplary embodiment, the second control unit includes:

[0144] The execution module is used to control the first negative pressure generator to stop operating when the bottom cover valve is in the open state, and to send a control command to the base station of the cleaning equipment. The control command is used to control the second negative pressure generator on the base station to operate.

[0145] In one exemplary embodiment, a third negative pressure generator is provided on the host or base station. The third negative pressure generator is connected to the sewage tank through a second opening and is used to supply liquid to the sewage tank; the above-mentioned device further includes:

[0146] The execution unit is used to stop the operation of the first negative pressure generator after controlling it to run for a preset time, and after controlling the second negative pressure generator to run, in response to the cleaning command of the sewage tank, to perform at least one cleaning operation on the sewage tank. During the cleaning operation, the third negative pressure generator and the second negative pressure generator run simultaneously, so that the third negative pressure generator supplies liquid to the sewage tank through the second opening, and the second negative pressure generator draws the liquid in the sewage tank out of the sewage tank through the first opening.

[0147] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of a device, can operate in situations such as... Figure 1 The hardware environment shown can be implemented through software or hardware, and the hardware environment includes the network environment.

[0148] According to another aspect of the embodiments of this application, a cleaning device is also provided. Optionally, in this embodiment, the cleaning device can be used to perform the control method of any of the cleaning devices described in the embodiments of this application.

[0149] Optionally, the aforementioned cleaning equipment may include: a main unit and a base station, wherein,

[0150] The main unit includes a sewage tank and a first negative pressure generator. The bottom of the sewage tank is provided with a first opening and a bottom cover valve for sealing the first opening.

[0151] The base station includes a second negative pressure generator and a recycling bin. The negative pressure generated by the first and second negative pressure generators is in different directions. When the host is connected to the base station, the wastewater bin is connected to the recycling bin through the first opening.

[0152] Optionally, a third negative pressure generator is provided on the host or base station. The third negative pressure generator is connected to the sewage tank through the second opening and is used to supply liquid to the sewage tank.

[0153] Optionally, the cleaning device described above may also include a processor, which may be located on the main unit and can be used to perform the following steps:

[0154] S1, in response to the sewage discharge command of the cleaning equipment, controls the bottom cover valve of the sewage tank to open, wherein the bottom cover valve is used to seal the first opening of the sewage tank;

[0155] S2, during the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator, so as to disturb the liquid in the sewage tank by the drawn-in air.

[0156] S3, after controlling the first negative pressure generator to run for a preset time, stop running and control the second negative pressure generator to run, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0157] The processor can also be used to execute the various steps in any of the above-mentioned control methods for cleaning equipment, which have already been described and will not be repeated here.

[0158] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0159] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for the control method of any of the cleaning devices described in the embodiments of this application.

[0160] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0161] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps:

[0162] S1, in response to the sewage discharge command of the cleaning equipment, controls the bottom cover valve of the sewage tank to open, wherein the bottom cover valve is used to seal the first opening of the sewage tank;

[0163] S2, during the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator, so as to disturb the liquid in the sewage tank by the drawn-in air.

[0164] S3, after controlling the first negative pressure generator to run for a preset time, stop running and control the second negative pressure generator to run, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0165] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0166] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0167] According to another aspect of the embodiments of this application, an electronic device for implementing the control method of the above-described cleaning equipment is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0168] Figure 7 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 7 As shown, it includes a processor 702, a communication interface 704, a memory 706, and a communication bus 708. The processor 702, communication interface 704, and memory 706 communicate with each other via the communication bus 708.

[0169] Memory 706 is used to store computer programs;

[0170] When processor 702 executes a computer program stored in memory 706, it performs the following steps:

[0171] S1, in response to the sewage discharge command of the cleaning equipment, controls the bottom cover valve of the sewage tank to open, wherein the bottom cover valve is used to seal the first opening of the sewage tank;

[0172] S2, during the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator, so as to disturb the liquid in the sewage tank by the drawn-in air.

[0173] S3, after controlling the first negative pressure generator to run for a preset time, stop running and control the second negative pressure generator to run, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

[0174] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 7 The symbol is represented by a single thick line, but this does not indicate that there is only one bus or one type of bus. The communication interface is used for communication between the aforementioned electronic device and other devices.

[0175] The aforementioned memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0176] As an example, the memory 706 described above may include, but is not limited to, the first control unit 602, the suction unit 604, and the second control unit 606 in the control device of the aforementioned device. Furthermore, it may include, but is not limited to, other module units in the control device of the aforementioned device, which will not be elaborated upon in this example.

[0177] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0178] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0179] Those skilled in the art will understand that Figure 7The structure shown is for illustrative purposes only. The device implementing the control method of the above-mentioned cleaning equipment can be a terminal device, such as a smartphone (e.g., Android phone, iOS phone), tablet computer, PDA, mobile Internet device (MID), PAD, etc. Figure 7 This does not limit the structure of the aforementioned electronic device. For example, the electronic device may also include components that are more... Figure 7 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 7 The different configurations shown.

[0180] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, ROM, RAM, disk or optical disk, etc.

[0181] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0182] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0183] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0184] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0185] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0186] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0187] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a main unit and a base station. The main unit has a wastewater tank and a first negative pressure generator, and the base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. The method includes: In response to the sewage discharge command of the cleaning equipment, the bottom cover valve of the sewage tank is controlled to open, wherein the bottom cover valve is used to block the first opening of the sewage tank; During the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator to agitate the liquid in the sewage tank; wherein, during the opening of the bottom cover valve, the power of the first negative pressure generator is gradually increased as the degree of opening of the bottom cover valve gradually increases. The first negative pressure generator is controlled to stop operating after a preset time, and the second negative pressure generator is controlled to operate. The second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

2. The method according to claim 1, characterized in that, The step of controlling the bottom cover valve of the wastewater tank to open in response to the wastewater discharge command from the cleaning equipment includes: In response to the sewage discharge command from the cleaning equipment, the actuator of the bottom cover valve is controlled to operate after the first negative pressure generator; or In response to the sewage discharge command of the cleaning equipment, the drive of the bottom cover valve and the first negative pressure generator are controlled to operate synchronously.

3. The method according to claim 1, characterized in that, Before drawing air into the wastewater tank through the first opening via the first negative pressure generator, the method further includes: In response to an opening signal from the actuator of the bottom cover valve, the first negative pressure generator is controlled to operate, wherein the opening signal is used to instruct the actuator to drive the bottom cover valve to open.

4. The method according to claim 1, characterized in that, Before controlling the bottom cover valve of the wastewater tank to open in response to the wastewater discharge command from the cleaning equipment, the method further includes: The self-cleaning operation of the cleaning equipment is initiated, wherein the self-cleaning operation is used to clean the cleaning components of the cleaning equipment; upon completion of the self-cleaning operation, the discharge command is generated; or... The discharge command is generated when the amount of liquid in the sewage tank is detected to be greater than or equal to a liquid volume threshold.

5. The method according to claim 1, characterized in that, The step of controlling the first negative pressure generator to stop operating after a preset time and then controlling the second negative pressure generator to operate includes: When the bottom cover valve is in the open state, the first negative pressure generator is controlled to stop operating, and the second negative pressure generator is controlled to operate.

6. The method according to claim 5, characterized in that, The method further includes: The moment when the drive component of the bottom cover valve is rotated to a preset position is determined as the moment when the bottom cover valve is in the open state.

7. The method according to claim 5, characterized in that, When the bottom cover valve is in the open state, controlling the first negative pressure generator to stop operating and controlling the second negative pressure generator to operate includes: With the bottom cover valve in the open state, the first negative pressure generator is controlled to stop operating, and a control command is sent to the base station of the cleaning equipment, wherein the control command is used to control the second negative pressure generator on the base station to operate.

8. The method according to any one of claims 1 to 7, characterized in that, The host or the base station is equipped with a third negative pressure generator, which is connected to the sewage tank through a second opening and is used to supply liquid to the sewage tank. After controlling the first negative pressure generator to operate for a preset time and then stopping it, and controlling the second negative pressure generator to operate, the method further includes: In response to a cleaning command for the wastewater tank, at least one cleaning operation is performed on the wastewater tank, wherein during the cleaning operation, the third negative pressure generator and the second negative pressure generator operate simultaneously, so that the third negative pressure generator supplies liquid to the wastewater tank through the second opening, and the second negative pressure generator draws the liquid in the wastewater tank out of the wastewater tank through the first opening.

9. A sewage discharge device for a cleaning equipment, characterized in that, The cleaning equipment includes a main unit and a base station. The main unit has a wastewater tank and a first negative pressure generator, and the base station has a second negative pressure generator. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. The device includes: A first control unit is configured to control the bottom cover valve of the sewage tank to open in response to the sewage discharge command of the cleaning equipment, wherein the bottom cover valve is configured to block the first opening of the sewage tank; The suction unit is used to draw air into the sewage tank through the first opening via the first negative pressure generator during the opening of the bottom cover valve, so as to agitate the liquid in the sewage tank by the sucked-in air; wherein, during the opening of the bottom cover valve, the power of the first negative pressure generator is gradually increased according to the gradual increase of the opening degree of the bottom cover valve. The second control unit is used to control the first negative pressure generator to stop operating after a preset time, and to control the second negative pressure generator to operate, wherein the second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

10. A cleaning device, characterized in that, The cleaning equipment includes: a main unit and a base station, wherein, The main unit includes a sewage tank and a first negative pressure generator. The bottom of the sewage tank is provided with a first opening and a bottom cover valve for sealing the first opening. The base station includes a second negative pressure generator and a recycling bin. The negative pressure generation directions of the first negative pressure generator and the second negative pressure generator are different. When the host is connected to the base station, the bottom cover valve is opened, and the sewage tank is connected to the recycling bin through the first opening. During the opening of the bottom cover valve, air is drawn into the sewage tank through the first opening by the first negative pressure generator to agitate the liquid in the sewage tank; wherein, during the opening of the bottom cover valve, the power of the first negative pressure generator is gradually increased as the degree of opening of the bottom cover valve gradually increases. The first negative pressure generator is controlled to stop operating after a preset time, and the second negative pressure generator is controlled to operate. The second negative pressure generator is used to draw the liquid in the sewage tank out of the sewage tank through the first opening.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 8.

12. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 8 through the computer program.

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