Self-cleaning control method and device for sweeping equipment and sweeping equipment

Abstract

The invention discloses a self-cleaning control method and device for sweeping equipment and the sweeping equipment. The method comprises the following steps: acquiring environmental data of at least one to-be-detected object in the sweeping equipment; for any to-be-detected object, judging whether the environment data of the to-be-detected object meets a cleaning condition corresponding to the to-be-detected object or not, and determining the to-be-detected object as a to-be-cleaned object if the environment data of the to-be-detected object meets the cleaning condition corresponding to the to-be-detected object; according to the environment data of all the to-be-cleaned objects, a self-cleaning working mode corresponding to the sweeping equipment is determined; and based on the self-cleaning working mode, executing self-cleaning operation on the sweeping equipment. Therefore, by implementing the embodiment of the invention, the cleaning accuracy of cleaning each to-be-cleaned object can be improved, so that the self-cleaning accuracy and the self-cleaning cleanliness of the sweeping equipment can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping equipment control, and in particular to a sweeping equipment self-cleaning control method, a sweeping equipment self-cleaning control device and a sweeping equipment. Background Art

[0002] With the continuous development of smart home technology, sweeping robots have gradually entered people's home lives and are gradually being accepted by more and more people, providing intelligent and convenient services to people's lives.

[0003] However, while sweeping robots provide services for people, how to clean sweeping robots after work has become a difficult problem for people. In this context, the self-cleaning function of sweeping robots has emerged. At present, the existing self-cleaning methods of sweeping robots mostly adopt fixed cleaning methods, which may result in incomplete cleaning of sweeping robots. If sweeping robots that have not been thoroughly cleaned are used for a long time, it will not only affect the working efficiency and service life of the sweeping robots, but also affect the user's experience. More importantly, it will affect the hygiene of the user's living environment, and then affect the user's physical health.

[0004] It can be seen that it is particularly important to propose a technical solution to improve the self-cleaning accuracy of the sweeping equipment and further improve the self-cleaning cleanliness of the sweeping equipment. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a self-cleaning control method and device for a sweeping device, and a sweeping device, which can improve the self-cleaning accuracy of the sweeping device, and further improve the self-cleaning cleanliness of the sweeping device.

[0006] In order to solve the above technical problems, the first aspect of the present invention discloses a self-cleaning control method for a sweeping device, the method comprising:

[0007] Acquire environmental data of at least one object to be detected in the sweeping device;

[0008] For any of the objects to be detected, determining whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected, and when the determination result is yes, determining the object to be detected as an object to be cleaned;

[0009] Determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned;

[0010] Based on the self-cleaning working mode, a self-cleaning operation is performed on the sweeping device.

[0011] As an optional implementation, in the first aspect of the present invention, when the object to be detected includes a sewage pipe of the sweeping device, the environmental data of the object to be detected includes environmental data of the sewage pipe, and the environmental data of the sewage pipe includes water quality data of the sewage pipe;

[0012] Wherein, judging whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected includes:

[0013] Determine whether the water quality data of the sewage pipe meets the water quality cleanliness condition corresponding to the sewage pipe, and when the determination result is yes, determine at least one water body discharge source corresponding to the water body in the sewage pipe according to the water quality data of the sewage pipe;

[0014] Obtaining environmental data for the area where each of the water body discharge sources is located;

[0015] For each of the water body emission sources, determine whether the environmental data of the area where the water body emission source is located meets the preset cleaning conditions corresponding to the water body emission source. When the judgment result is yes, determine that the area where the water body emission source is located is a target cleaning area, and determine that the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected;

[0016] The object to be cleaned includes the sewage pipe and the target cleaning area.

[0017] As an optional implementation, in the first aspect of the present invention, determining the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned includes:

[0018] For each of the objects to be cleaned, determining material information of each substance contained in the object to be cleaned according to the environmental data of the object to be cleaned;

[0019] Determining target cleaning parameters of the object to be cleaned according to material information of all the substances contained in the object to be cleaned;

[0020] According to the target cleaning parameters of all the areas to be cleaned, the self-cleaning working mode corresponding to the sweeping device is determined.

[0021] As an optional embodiment, in the first aspect of the present invention, determining the target cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned includes:

[0022] Determining a simulated cleaning parameter of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned;

[0023] Determining, according to the simulated cleaning parameters, a simulated cleaning effect of performing a cleaning operation corresponding to the simulated cleaning parameters;

[0024] Determine whether the simulated cleaning effect matches the target cleaning effect. If the determination result is yes, determine the simulated cleaning parameters as the target cleaning parameters of the object to be cleaned, and the target cleaning effect is used to indicate the cleaning effect corresponding to the preset cleanliness;

[0025] When the judgment result is no, the simulated cleaning parameters are adjusted according to the target cleaning effect, and the adjusted simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned.

[0026] As an optional embodiment, in the first aspect of the present invention, determining the simulated cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned includes:

[0027] For each of the substances contained in the object to be cleaned, determining a multi-dimensional cleaning control parameter corresponding to the substance according to the substance information of the substance, wherein the multi-dimensional cleaning control parameter includes at least one of a cleaning control parameter, a vibration control parameter, and a cleaning object control parameter, and the vibration control parameter includes an airflow vibration control parameter and / or a motor vibration control parameter;

[0028] Determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0029] And, adjusting the simulated cleaning parameters according to the target cleaning effect includes:

[0030] According to the target cleaning effect, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0031] The simulated cleaning parameters are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0032] As an optional embodiment, in the first aspect of the present invention, before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the method further includes:

[0033] Determine whether the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned meet the actual cleaning material reserve condition, where the actual cleaning material reserve condition is used to indicate that the cleaning material demand of the multi-dimensional cleaning control parameters corresponding to all the substances does not exceed the actual cleaning material reserve;

[0034] When the judgment result is yes, the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered;

[0035] When the judgment result is no, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances according to the actual cleaning material reserve conditions;

[0036] And, determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes:

[0037] The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0038] As an optional embodiment, in the first aspect of the present invention, before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the method further includes:

[0039] Determine whether there is a target cleaning control parameter among the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the target cleaning control parameter including a redundant cleaning control parameter and / or an invalid cleaning control parameter, the redundant cleaning control parameter is used to indicate that among the multi-dimensional cleaning control parameters corresponding to all the substances, the same cleaning control parameter is set multiple times for different substances, and the invalid cleaning control parameter is used to indicate that due to the superposition of multiple different cleaning control parameters, the cleaning operations corresponding to the multiple different cleaning control parameters react with each other, so that the cleaning operation cannot achieve the corresponding cleaning effect;

[0040] When the judgment result is no, the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered;

[0041] When the judgment result is yes, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances according to the target cleaning control parameters;

[0042] And, determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes:

[0043] The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0044] As an optional embodiment, in the first aspect of the present invention, the self-cleaning working mode includes a first cleaning working mode and a second cleaning working mode, the first cleaning working mode includes at least one of a washing cleaning working mode, a vibration cleaning working mode, and a cleaning object cleaning working mode, and the second cleaning working mode includes at least one of a drying cleaning working mode and a disinfection cleaning working mode;

[0045] After performing a self-cleaning operation on the sweeping device based on the self-cleaning working mode, the method further includes:

[0046] Acquire the latest environmental data of all the objects to be cleaned;

[0047] Determining the latest dirtiness of all the objects to be cleaned according to the latest environmental data;

[0048] Determine whether the latest dirtiness level is greater than or equal to a preset dirtiness level threshold. When the judgment result is yes, adjust the first cleaning working mode according to the latest dirtiness level, and perform self-cleaning operations on all the objects to be cleaned based on the adjusted first cleaning working mode and the second cleaning working mode.

[0049] The second aspect of the present invention discloses a self-cleaning control device for a sweeping device, the device comprising:

[0050] An acquisition module, used to acquire environmental data of at least one object to be detected in the sweeping device;

[0051] A judgment module, used for judging, for any of the objects to be detected, whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected;

[0052] A determination module, configured to determine the object to be detected as an object to be cleaned when the determination result of the determination module is yes;

[0053] The determination module is further used to determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned;

[0054] An execution module is used to perform a self-cleaning operation on the sweeping device based on the self-cleaning working mode.

[0055] As an optional implementation, in the second aspect of the present invention, when the object to be detected includes a sewage pipe of the sweeping device, the environmental data of the object to be detected includes environmental data of the sewage pipe, and the environmental data of the sewage pipe includes water quality data of the sewage pipe;

[0056] The specific manner in which the judgment module judges whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected includes:

[0057] Determine whether the water quality data of the sewage pipe meets the water quality cleanliness condition corresponding to the sewage pipe, and when the determination result is yes, determine at least one water body discharge source corresponding to the water body in the sewage pipe according to the water quality data of the sewage pipe;

[0058] Obtaining environmental data for the area where each of the water body discharge sources is located;

[0059] For each of the water body emission sources, determine whether the environmental data of the area where the water body emission source is located meets the preset cleaning conditions corresponding to the water body emission source. When the judgment result is yes, determine that the area where the water body emission source is located is a target cleaning area, and determine that the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected;

[0060] The object to be cleaned includes the sewage pipe and the target cleaning area.

[0061] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned includes:

[0062] For each of the objects to be cleaned, determining material information of each substance contained in the object to be cleaned according to the environmental data of the object to be cleaned;

[0063] Determining target cleaning parameters of the object to be cleaned according to material information of all the substances contained in the object to be cleaned;

[0064] According to the target cleaning parameters of all the areas to be cleaned, the self-cleaning working mode corresponding to the sweeping device is determined.

[0065] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the target cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned includes:

[0066] Determining a simulated cleaning parameter of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned;

[0067] Determining, according to the simulated cleaning parameters, a simulated cleaning effect of performing a cleaning operation corresponding to the simulated cleaning parameters;

[0068] Determine whether the simulated cleaning effect matches the target cleaning effect. If the determination result is yes, determine the simulated cleaning parameters as the target cleaning parameters of the object to be cleaned, and the target cleaning effect is used to indicate the cleaning effect corresponding to the preset cleanliness;

[0069] When the judgment result is no, the simulated cleaning parameters are adjusted according to the target cleaning effect, and the adjusted simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned.

[0070] As an optional implementation, in the second aspect of the present invention, the specific manner in which the determination module determines the simulated cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned includes:

[0071] For each of the substances contained in the object to be cleaned, determining a multi-dimensional cleaning control parameter corresponding to the substance according to the substance information of the substance, wherein the multi-dimensional cleaning control parameter includes at least one of a cleaning control parameter, a vibration control parameter, and a cleaning object control parameter, and the vibration control parameter includes an airflow vibration control parameter and / or a motor vibration control parameter;

[0072] Determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0073] And, the specific manner in which the determination module adjusts the simulated cleaning parameters according to the target cleaning effect includes:

[0074] According to the target cleaning effect, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0075] The simulated cleaning parameters are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0076] As an optional embodiment, in the second aspect of the present invention, the judgment module is also used to judge whether the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned meet the actual cleaning material reserve conditions before the determination module determines the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned. The actual cleaning material reserve conditions are used to indicate that the cleaning material demand of the multidimensional cleaning control parameters corresponding to all the substances does not exceed the actual cleaning material reserve. When the judgment result of the judgment module is yes, the determination module is triggered to execute the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0077] And, the device further comprises:

[0078] A first adjustment module, configured to adjust the multi-dimensional cleaning control parameters corresponding to all the materials according to the actual cleaning material reserve conditions when the judgment result of the judgment module is no;

[0079] Furthermore, the specific manner in which the determination module determines the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes:

[0080] The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0081] As an optional embodiment, in the second aspect of the present invention, the judgment module is also used to judge whether there is a target cleaning control parameter in the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned before the determination module determines the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, and the target cleaning control parameters include redundant cleaning control parameters and / or invalid cleaning control parameters, the redundant cleaning control parameters are used to indicate that the same cleaning control parameters are set multiple times for different substances in the multidimensional cleaning control parameters corresponding to all the substances, and the invalid cleaning control parameters are used to indicate that due to the superposition of multiple different cleaning control parameters, the cleaning operations corresponding to multiple different cleaning control parameters react with each other, so that the cleaning operations cannot achieve the corresponding cleaning effects. When the judgment result of the judgment module is no, the determination module is triggered to execute the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned;

[0082] And, the device further comprises:

[0083] a second adjustment module, configured to adjust the multi-dimensional cleaning control parameters corresponding to all the substances according to the target cleaning control parameters when the judgment result of the judgment module is yes;

[0084] Furthermore, the specific manner in which the determination module determines the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes:

[0085] The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

[0086] As an optional embodiment, in the second aspect of the present invention, the self-cleaning working mode includes a first cleaning working mode and a second cleaning working mode, the first cleaning working mode includes at least one of a washing cleaning working mode, a vibration cleaning working mode, and a cleaning object cleaning working mode, and the second cleaning working mode includes at least one of a drying cleaning working mode and a disinfection cleaning working mode;

[0087] The acquisition module is further used to acquire the latest environmental data of all the objects to be cleaned after the execution module performs a self-cleaning operation on the sweeping device based on the self-cleaning working mode;

[0088] The determination module is further used to determine the latest dirtiness of all the objects to be cleaned according to the latest environmental data;

[0089] The judging module is further used to judge whether the latest dirtiness level is greater than or equal to a preset dirtiness level threshold;

[0090] And, the device further comprises:

[0091] A third adjustment module, configured to adjust the first cleaning working mode according to the latest dirtiness level when the judgment result of the judgment module is yes;

[0092] The execution module is further configured to perform a self-cleaning operation on all the objects to be cleaned based on the adjusted first cleaning operation mode and the second cleaning operation mode.

[0093] A third aspect of the present invention discloses a sweeping device, the sweeping device comprising:

[0094] A memory storing executable program code;

[0095] a processor coupled to the memory;

[0096] The processor calls the executable program code stored in the memory to execute the self-cleaning control method for the sweeping device disclosed in the first aspect of the present invention.

[0097] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0098] In an embodiment of the present invention, environmental data of at least one object to be detected in a sweeping device is obtained; for any object to be detected, it is determined whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected, and when the judgment result is yes, the object to be detected is determined as an object to be cleaned; according to the environmental data of all objects to be cleaned, the self-cleaning working mode corresponding to the sweeping device is determined; based on the self-cleaning working mode, a self-cleaning operation is performed on the sweeping device. It can be seen that the implementation of the embodiment of the present invention can use different cleaning conditions to analyze the environmental data of different objects to be detected in the sweeping device to determine whether the object to be detected is an object to be cleaned, and can further determine the self-cleaning working mode of cleaning each object to be cleaned according to the environmental data of each object to be cleaned, and based on the self-cleaning working mode, perform a self-cleaning operation on each object to be cleaned, which can improve the cleaning accuracy of cleaning each object to be cleaned, and then improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping device. On this basis, by determining different self-cleaning working modes according to the environmental data of different objects to be cleaned, and performing corresponding self-cleaning operations on the sweeping device based on different self-cleaning working modes, the flexibility and energy saving and environmental protection of the self-cleaning mode of the sweeping device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0099] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0100] Figure 1 It is a scene schematic diagram of a self-cleaning control scene of a sweeping device disclosed in an embodiment of the present invention;

[0101] Figure 2 It is a flow chart of a self-cleaning control method for a sweeping device disclosed in an embodiment of the present invention;

[0102] Figure 3 It is a flow chart of another self-cleaning control method for a sweeping device disclosed in an embodiment of the present invention;

[0103] Figure 4 It is a structural schematic diagram of a self-cleaning control device for a sweeping device disclosed in an embodiment of the present invention;

[0104] Figure 5 It is a structural schematic diagram of another self-cleaning control device for sweeping equipment disclosed in an embodiment of the present invention;

[0105] Figure 6 It is a structural schematic diagram of a sweeping device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0106] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0107] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0108] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0109] The present invention discloses a self-cleaning control method and device for a sweeping device, and the sweeping device, which can use different cleaning conditions to analyze environmental data of different objects to be detected in the sweeping device to determine whether the object to be detected is an object to be cleaned, and can further determine the self-cleaning working mode for cleaning each object to be cleaned according to the environmental data of each object to be cleaned, and based on the self-cleaning working mode, perform a self-cleaning operation on each object to be cleaned, which can improve the cleaning accuracy of each object to be cleaned, and further improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping device. On this basis, by determining different self-cleaning working modes according to the environmental data of different objects to be cleaned, and based on the different self-cleaning working modes, performing corresponding self-cleaning operations on the sweeping device, the flexibility and energy-saving and environmental protection of the self-cleaning mode of the sweeping device can be improved. The following are detailed descriptions.

[0110] In order to better understand the self-cleaning control method, device and sweeping device of a sweeping device described in the present invention, firstly, a scenario applicable to the self-cleaning control method of a sweeping device is described. Specifically, the scenario schematic diagram can be as follows: Figure 1 As shown, Figure 1 FIG. 1 is a schematic diagram of a scenario in an embodiment of the present invention. Figure 1 As shown, the scene includes a sweeping device, wherein the sweeping device includes a clean water tank, a cleaning container, a disinfectant container, a sewage tank, a water spraying device, a vibration device, an alarm device, a sensor device, a first sewage pipe, a second sewage pipe and an external cleaning unit (mop / sweeping arm), the sewage tank is provided with a layered plate that can be automatically removed, and the layered plate divides the sewage tank into three layers, wherein the upper layer of each layered plate of the sewage tank includes a filter screen, and the middle layer between the filter screen and the layered plate includes a first sewage pipe and a second sewage pipe connected to the clean water tank, the cleaning container, and the disinfectant container respectively; each layer of the clean water tank, the cleaning container, the disinfectant container and the sewage tank includes a sensor device, and the sensor device includes but is not limited to a light source, a photosensitive sensor, a filter attachment detection sensor, a box attachment detection sensor, a gas detection sensor, etc., wherein each sensor can be placed in multiple directions and positions in the water tank. The sweeping device is provided with a vibration device and an alarm device.

[0111] It should be noted that Figure 1 The scene diagram shown is only for showing a scene applicable to a method for controlling the self-cleaning of a sweeping device. The clean water tank, cleaning material container, disinfection material container, sewage tank, water spray device, vibration device, alarm device, sensor device, first sewage pipe, second sewage pipe and external cleaning unit (mop / sweeping arm) involved are also only shown schematically. Figure 1 The scene diagram shown does not limit this. A method and device for controlling self-cleaning of a sweeping device and a sweeping device are described in detail below.

[0112] Embodiment 1

[0113] See also Figure 2 , Figure 2 1 is a flow chart of a self-cleaning control method for a sweeping device disclosed in an embodiment of the present invention. Figure 2 The described sweeping device self-cleaning control method can be applied to a cleaning device / system, wherein the cleaning device / system can be built into a variety of smart home devices, including a smart home device with a sweeping device or a sweeping / sweeping and mopping integrated function, which is not limited in the embodiments of the present invention. Figure 2 As shown, the sweeping device self-cleaning control method may include the following operations:

[0114] 101. Obtain environmental data of at least one object to be detected in a sweeping device.

[0115] In an embodiment of the present invention, optionally, the above-mentioned objects to be detected may include but are not limited to a clean water tank in a sweeping device, a cleaning material (gas and / or liquid and / or solid) storage container, a disinfectant (gas and / or liquid and / or solid) storage container, an external cleaning unit (mop and / or sweeping arm), a storage area corresponding to the external cleaning unit, a sewage tank and a corresponding sewage pipe (clean water inlet pipe and / or sewage outlet pipe and / or garbage discharge pipe and / or exhaust gas purification ventilation pipe).

[0116] Optionally, the above-mentioned environmental data may include but are not limited to water quality data, gas data, and attachment data, such as data corresponding to at least one substance among sewage, oil pollution, harmful gases, hair, paper scraps, debris, garbage, and solid particles contained in the above-mentioned sewage pipe.

[0117] 102. For any object to be detected, determine whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected.

[0118] In an embodiment of the present invention, as an optional implementation, when the above-mentioned object to be detected includes a sewage pipe of a sweeping device, the environmental data of the object to be detected includes environmental data of the sewage pipe, and the environmental data of the sewage pipe includes water quality data of the sewage pipe.

[0119] Optionally, the above-mentioned determination of whether the environmental data of the object to be detected meets the cleaning condition corresponding to the object to be detected may include the following operations:

[0120] It is determined whether the water quality data of the sewage pipe meets the water quality cleanliness condition corresponding to the sewage pipe. When the judgment result is yes, at least one water discharge source corresponding to the water body in the sewage pipe is determined according to the water quality data of the sewage pipe.

[0121] Among them, optionally, the above-mentioned water discharge source may include but is not limited to at least one of the above-mentioned clean water tank, the above-mentioned cleaning material storage container, the above-mentioned disinfection material storage container, the above-mentioned external cleaning unit, the storage area corresponding to the above-mentioned external cleaning unit, and the above-mentioned sewage tank.

[0122] Obtain environmental data for the area where each water body discharge source is located. The environmental data is the same as above.

[0123] For each water body emission source, determine whether the environmental data of the area where the water body emission source is located meets the preset cleaning conditions corresponding to the water body emission source. When the judgment result is yes, determine that the area where the water body emission source is located is the target cleaning area, and determine that the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected.

[0124] The objects to be cleaned include the sewage pipe and the target cleaning area.

[0125] It can be seen that the implementation of this optional embodiment can trace back and determine at least one water discharge source corresponding to the water body in the sewage pipe based on the water quality data of the sewage pipe, and determine the object to be cleaned based on the environmental data of the area where the water discharge source is located, which can improve the accuracy of determining the object to be cleaned. Further, it is beneficial to improve the flexibility of the self-cleaning method of the sweeping equipment and the energy saving and environmental protection.

[0126] 103. When the judgment result is yes, the object to be detected is determined as an object to be cleaned.

[0127] 104. Determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all objects to be cleaned.

[0128] In the embodiment of the present invention, as another optional implementation, the above-mentioned determining the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all objects to be cleaned may include the following operations:

[0129] For each object to be cleaned, material information of each substance contained in the object to be cleaned is determined according to the environmental data of the object to be cleaned.

[0130] Among them, optionally, the above-mentioned substances may include but are not limited to at least one of sewage, oil stains, harmful gases, hair, paper scraps, debris, solid particles, and materials of the object to be cleaned.

[0131] The above-mentioned material information may include at least one of type information, shape information, color information, content (weight / mass / volume) information, transparency information, location distribution information, concentration information, hardness information, and viscosity information.

[0132] According to the material information of all the materials contained in the object to be cleaned, the target cleaning parameters of the object to be cleaned are determined.

[0133] According to the target cleaning parameters of all areas to be cleaned, the corresponding self-cleaning working mode of the sweeping equipment is determined.

[0134] It can be seen that the implementation of this optional embodiment can determine the material information of each object to be cleaned through the environmental data of each object to be cleaned, and then determine the target cleaning parameters of each object to be cleaned through the material information of each object to be cleaned, which can improve the accuracy of determining the target cleaning parameters, and then improve the accuracy of determining the self-cleaning working mode, and ultimately improve the accuracy of cleaning each object to be cleaned, as well as improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0135] Optionally, the above-mentioned determining the target cleaning parameter of the object to be cleaned according to the material information of all materials contained in the object to be cleaned may include the following operations:

[0136] According to the material information of all substances contained in the object to be cleaned, the target cleaning comprehensive information of the object to be cleaned is determined. The target cleaning comprehensive information includes dirtiness information and cleaning strategy information. The cleaning strategy information is used to provide a cleaning strategy for cleaning each of the substances. The cleaning strategy information includes cleaning steps for cleaning each substance.

[0137] According to the comprehensive target cleaning information of the object to be cleaned, the target cleaning parameters of the object to be cleaned are determined.

[0138] It can be seen that the implementation of this optional embodiment can further determine the dirtiness information and cleaning strategy information of each object to be cleaned through the material information of all substances contained in the object to be cleaned, so as to scientifically formulate cleaning strategies based on the specific substances contained in the object to be cleaned, thereby improving the accuracy and scientificity of determining the target cleaning parameters, and ultimately improving the accuracy of cleaning each object to be cleaned and improving the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0139] Optionally, the above-mentioned determination of the target cleaning comprehensive information of the object to be cleaned according to the material information of all materials contained in the object to be cleaned may include the following operations:

[0140] Determining dirtiness information of the object to be cleaned based on material information of all materials contained in the object to be cleaned;

[0141] Based on the dirtiness information of the object to be cleaned and the material information of all substances, the cleaning material information required to clean each substance is determined, and the cleaning material information includes at least one of water volume information, water pressure information, water flow information, water temperature information, vibration cleaning information, cleaning material type and dosage selection information, and disinfectant type and dosage selection information. Among them, the vibration cleaning information includes at least one of vibration cleaning amplitude information, vibration cleaning frequency information, and vibration cleaning type information. The vibration cleaning type information includes airflow vibration cleaning and / or motor vibration cleaning. Motor vibration cleaning is used to indicate that the motor is controlled to vibrate the object to be cleaned, thereby vibrating the material in the object to be cleaned, and finally cleaning the object to be cleaned.

[0142] According to the cleaning material information, it is determined whether the cleaning demand conditions corresponding to the cleaning material information meet the cleaning material reserve conditions corresponding to the sweeping equipment;

[0143] When the judgment result is yes, the cleaning strategy information is determined according to the cleaning object information;

[0144] When the judgment result is no, the cleaning material information is adjusted according to the cleaning material reserve conditions and the cleaning demand conditions, and the cleaning strategy information is determined according to the adjusted cleaning material information; or,

[0145] According to the cleaning demand conditions, a cleaning material replenishment instruction is issued, and an operation is triggered to determine whether the cleaning demand conditions corresponding to the cleaning material information meet the cleaning material reserve conditions corresponding to the sweeping device, until the judgment result is yes.

[0146] According to the dirtiness information and the cleaning strategy information, the target cleaning comprehensive information of the cleaning object is determined.

[0147] It can be seen that the implementation of this optional embodiment can further determine the cleaning material information required to clean each substance based on the dirtiness information of each object to be cleaned and the material information of all the substances contained therein, which can improve the accuracy of the cleaning material information. At the same time, by judging whether the cleaning demand conditions corresponding to the cleaning material information meet the cleaning material reserve conditions corresponding to the sweeping device, the cleaning strategy information is determined, which can improve the accuracy and scientificity of the cleaning strategy information, and then improve the accuracy and scientificity of the target cleaning parameters, and finally improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping device.

[0148] In this optional embodiment, as an optional implementation manner, the above-mentioned determination of the target cleaning parameters of the object to be cleaned according to the material information of all materials contained in the object to be cleaned may include the following operations:

[0149] According to the material information of all the materials contained in the object to be cleaned, the simulated cleaning parameters of the object to be cleaned are determined.

[0150] According to the simulated cleaning parameters, a simulated cleaning effect of performing a cleaning operation corresponding to the simulated cleaning parameters is determined.

[0151] It is determined whether the simulated cleaning effect matches the target cleaning effect. If the determination result is yes, the simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned. The target cleaning effect is used to indicate the cleaning effect corresponding to the preset cleanliness.

[0152] When the judgment result is no, the simulated cleaning parameters are adjusted according to the target cleaning effect, and the adjusted simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned.

[0153] Among them, the target cleaning parameters include at least one of washing cleaning parameters, vibration cleaning parameters, and cleaning object cleaning parameters. The washing cleaning parameters include at least one of water volume parameters, water pressure parameters, water flow parameters, and water temperature parameters. The vibration cleaning parameters include at least one of vibration amplitude parameters, vibration frequency parameters, and vibration type parameters. The vibration type parameters include airflow vibration parameters and / or motor vibration parameters. The cleaning object cleaning parameters include at least one of cleaning object type and dosage selection parameters, and disinfectant type and dosage selection parameters.

[0154] Please refer to the target cleaning parameters for the simulated cleaning parameters.

[0155] It can be seen that the implementation of this optional embodiment can first determine the simulated cleaning parameters of each object to be cleaned according to the material information of all substances contained in each object to be cleaned before determining the target cleaning parameters of each object to be cleaned, and determine the simulated cleaning effect through the simulated cleaning parameters, so that before actually cleaning each object to be cleaned, the simulated cleaning accuracy and the simulated cleaning cleanliness of each object to be cleaned are improved, and when the simulated cleaning effect does not match the target cleaning effect, the simulated cleaning parameters can be adjusted according to the simulated cleaning effect, and then the target cleaning parameters of each object to be cleaned can be determined, and the accuracy of determining the target cleaning parameters can be improved, thereby improving the accuracy of cleaning each object to be cleaned and improving the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0156] 105. Based on the self-cleaning working mode, perform a self-cleaning operation on the sweeping device.

[0157] It can be seen that the implementation of the embodiment of the present invention can use different cleaning conditions to perform environmental data analysis on different objects to be detected in the sweeping device to determine whether the object to be detected is an object to be cleaned, and can further determine the self-cleaning working mode for cleaning each object to be cleaned based on the environmental data of each object to be cleaned, and based on the self-cleaning working mode, perform a self-cleaning operation on each object to be cleaned, which can improve the accuracy of cleaning each object to be cleaned, and then improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping device. On this basis, by determining different self-cleaning working modes according to the environmental data of different objects to be cleaned, and performing corresponding self-cleaning operations on the sweeping device based on different self-cleaning working modes, the flexibility and energy-saving and environmental protection of the self-cleaning method of the sweeping device can be improved.

[0158] Embodiment 2

[0159] See also Figure 3 , Figure 3 1 is a flow chart of a self-cleaning control method for a sweeping device disclosed in an embodiment of the present invention. Figure 3 The described sweeping device self-cleaning control method can be applied to a cleaning device / system, wherein the cleaning device / system can be built into a variety of smart home devices, including a smart home device with a sweeping device or a sweeping / sweeping and mopping integrated function, which is not limited in the embodiments of the present invention. Figure 3 As shown, the sweeping device self-cleaning control method may include the following operations:

[0160] 201. Obtain environmental data of at least one object to be detected in a sweeping device.

[0161] 202. For any object to be detected, determine whether the environmental data of the object to be detected meets the cleaning condition corresponding to the object to be detected.

[0162] 203. When the judgment result is yes, the object to be detected is determined as an object to be cleaned.

[0163] 204. Determine a self-cleaning working mode corresponding to the sweeping device according to the environmental data of all objects to be cleaned.

[0164] 205. Based on the self-cleaning working mode, perform a self-cleaning operation on the sweeping device.

[0165] In the embodiment of the present invention, for other descriptions of step 201 to step 205, please refer to the detailed description of step 101 to step 105 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0166] In an embodiment of the present invention, optionally, the above-mentioned self-cleaning working mode includes a first cleaning working mode and a second cleaning working mode, the first cleaning working mode includes at least one of a washing cleaning working mode, a vibration cleaning working mode, and a cleaning object cleaning working mode, and the second cleaning working mode includes at least one of a drying cleaning working mode and a disinfection cleaning working mode.

[0167] Among them, the above-mentioned cleaning working mode may include a water regulating working mode, and the water regulating working mode includes at least one of a water volume regulating operation, a water pressure regulating operation, a water flow regulating operation, and a water temperature regulating operation.

[0168] The above-mentioned vibration cleaning working mode includes a vibration adjustment working mode, and the vibration adjustment working mode includes at least one of a vibration amplitude adjustment operation, a vibration frequency adjustment operation, and a vibration type adjustment operation. The vibration type adjustment operation includes an airflow vibration adjustment operation and / or a motor vibration adjustment operation.

[0169] The cleaning work mode of the cleaning material includes a cleaning material adjustment work mode, and the cleaning material adjustment work mode includes the cleaning material type and amount adjustment operation.

[0170] 206. Acquire the latest environmental data of all objects to be cleaned. The type of environmental data is limited by reference to the environmental data definition in the first embodiment, and will not be described in detail in the embodiment of the present invention.

[0171] 207. Based on the latest environmental data, determine the latest dirtiness level of all objects to be cleaned.

[0172] 208. Determine whether the latest dirtiness level is greater than or equal to a preset dirtiness level threshold.

[0173] 209. When the judgment result is yes, the first cleaning working mode is adjusted according to the latest dirtiness level.

[0174] Optionally, when the judgment result is no, the self-cleaning operation on all objects to be cleaned is stopped.

[0175] 210. Based on the adjusted first cleaning operation mode and second cleaning operation mode, perform a self-cleaning operation on all objects to be cleaned.

[0176] It can be seen that the implementation of the embodiment of the present invention can determine the latest degree of dirtiness of all objects to be cleaned by acquiring the latest environmental data of all objects to be cleaned after performing a self-cleaning operation on the sweeping device, and then determine whether to perform further self-cleaning operations on all objects to be cleaned after adjustment, so as to ensure the cleanliness of the objects to be cleaned, and then ensure the self-cleaning cleanliness of the sweeping device.

[0177] In an optional embodiment, the above-mentioned determining the simulated cleaning parameters of the object to be cleaned according to the material information of all materials contained in the object to be cleaned may include the following operations:

[0178] For each substance contained in the object to be cleaned, the multi-dimensional cleaning control parameters corresponding to the substance are determined according to the material information of the substance. The multi-dimensional cleaning control parameters include at least one of a cleaning control parameter, a vibration control parameter, and a cleaning object control parameter. The vibration control parameters include an airflow vibration control parameter and / or a motor vibration control parameter.

[0179] According to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the object to be cleaned are determined.

[0180] Furthermore, the above-mentioned adjustment of the simulated cleaning parameters according to the target cleaning effect may include the following operations:

[0181] According to the target cleaning effect, the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned are adjusted.

[0182] The simulated cleaning parameters are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned.

[0183] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters for cleaning each substance based on the material information of all substances contained in each object to be cleaned, thereby improving the accuracy of determining the simulated cleaning parameters, so that before actually cleaning each object to be cleaned, the simulated cleaning accuracy and the simulated cleaning cleanliness of each object to be cleaned are improved, and when the simulated cleaning effect does not match the target cleaning effect, the simulated cleaning parameters can be adjusted according to the simulated cleaning effect, and then the target cleaning parameters of each object to be cleaned can be determined, thereby improving the accuracy of determining the target cleaning parameters, and then being able to improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0184] In this optional embodiment, as an optional implementation, before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the method further includes the following operations:

[0185] It is determined whether the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned meet the actual cleaning material reserve conditions, where the actual cleaning material reserve conditions are used to indicate that the cleaning material demand of the multidimensional cleaning control parameters corresponding to all substances does not exceed the actual cleaning material reserve.

[0186] When the judgment result is yes, an operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered.

[0187] When the judgment result is no, the multi-dimensional cleaning control parameters corresponding to all materials are adjusted according to the actual cleaning material storage conditions.

[0188] Furthermore, according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, determining the simulated cleaning parameters of the object to be cleaned may include the following operations:

[0189] According to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the cleaning object are determined.

[0190] Optionally, or when the judgment result is no, a cleaning material replenishment instruction is issued according to the multi-dimensional cleaning control parameters, and an operation is triggered to determine whether the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned meet the actual cleaning material storage conditions, until the judgment result is yes.

[0191] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters by judging whether the multi-dimensional cleaning control parameters meet the actual cleaning material storage conditions before determining the simulated cleaning parameters, which can improve the accuracy and scientificity of determining the multi-dimensional cleaning control parameters, and then improve the accuracy and scientificity of determining the simulated cleaning parameters and the accuracy and scientificity of determining the target cleaning parameters, and ultimately improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0192] In this optional embodiment, as another optional implementation, before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the method may further include the following operations:

[0193] Determine whether there is a target cleaning control parameter among the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned. The target cleaning control parameter includes a redundant cleaning control parameter and / or an invalid cleaning control parameter. The redundant cleaning control parameter is used to indicate that the same cleaning control parameter is set multiple times for different substances in the multi-dimensional cleaning control parameters corresponding to all substances. The invalid cleaning control parameter is used to indicate that due to the superposition of multiple different cleaning control parameters, the cleaning operations corresponding to the multiple different cleaning control parameters react with each other, so that the cleaning operation cannot achieve the corresponding cleaning effect.

[0194] For example, when an acidic cleaner and an alkaline cleaner meet, an acid-base neutralization reaction will occur, and it is possible that the acidic cleaner and the alkaline cleaner cannot achieve the corresponding cleaning effects.

[0195] For example, the mutual reaction between some cleaning materials may produce waste gas and new substances that are more difficult to remove, which will affect the environment, cleaning effect and cleaning efficiency of the object to be cleaned.

[0196] When the judgment result is no, an operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered.

[0197] When the judgment result is yes, the multi-dimensional cleaning control parameters corresponding to all substances are adjusted according to the target cleaning control parameters.

[0198] Furthermore, the above-mentioned determination of the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned may include the following operations:

[0199] According to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the cleaning object are determined.

[0200] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters before determining the simulated cleaning parameters by judging whether there are target cleaning control parameters among the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, that is, whether there are redundant cleaning control parameters and / or failed cleaning control parameters. This can improve the accuracy and scientificity of determining the multi-dimensional cleaning control parameters from multiple angles, and thus can improve the accuracy and scientificity of determining the simulated cleaning parameters and the accuracy and scientificity of determining the target cleaning parameters, and ultimately can improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0201] Embodiment 3

[0202] See also Figure 4 , Figure 4 Schematic diagram of a self-cleaning control device for a sweeping device disclosed in an embodiment of the present invention. Figure 4 The described sweeping device self-cleaning control device can be applied to a cleaning device / system, wherein the cleaning device / system can be built into a variety of smart home devices, including a smart home device with a sweeping device or a sweeping / sweeping and mopping integrated function, which is not limited in the embodiments of the present invention. Figure 3 As shown, the sweeping equipment self-cleaning control device may include:

[0203] The acquisition module 301 is used to acquire environmental data of at least one object to be detected in the sweeping device.

[0204] In an embodiment of the present invention, optionally, the above-mentioned objects to be detected may include but are not limited to a clean water tank in a sweeping device, a cleaning material (gas and / or liquid and / or solid) storage container, a disinfectant (gas and / or liquid and / or solid) storage container, an external cleaning unit (mop and / or sweeping arm), a storage area corresponding to the external cleaning unit, a sewage tank and a corresponding sewage pipe (clean water inlet pipe and / or sewage outlet pipe and / or garbage discharge pipe and / or exhaust gas purification ventilation pipe).

[0205] Optionally, the above-mentioned environmental data may include but are not limited to water quality data, gas data, and attachment data, such as data corresponding to at least one substance among sewage, oil pollution, harmful gases, hair, paper scraps, debris, garbage, and solid particles contained in the above-mentioned sewage pipe.

[0206] The judgment module 302 is used to judge, for any object to be detected, whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected.

[0207] The determination module 303 is used to determine the object to be detected as an object to be cleaned when the determination result of the determination module 302 is yes.

[0208] The determination module 303 is further used to determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all objects to be cleaned.

[0209] The execution module 304 is used to perform a self-cleaning operation on the sweeping device based on the self-cleaning working mode.

[0210] It can be seen that the implementation of the embodiment of the present invention can use different cleaning conditions to perform environmental data analysis on different objects to be detected in the sweeping device to determine whether the object to be detected is an object to be cleaned, and can further determine the self-cleaning working mode for cleaning each object to be cleaned based on the environmental data of each object to be cleaned, and based on the self-cleaning working mode, perform a self-cleaning operation on each object to be cleaned, which can improve the accuracy of cleaning each object to be cleaned, and then improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping device. On this basis, by determining different self-cleaning working modes according to the environmental data of different objects to be cleaned, and performing corresponding self-cleaning operations on the sweeping device based on different self-cleaning working modes, the flexibility and energy-saving and environmental protection of the self-cleaning method of the sweeping device can be improved.

[0211] In the embodiment of the present invention, as an optional implementation, when the object to be detected includes a sewage pipe of a sweeping device, the environmental data of the object to be detected includes environmental data of the sewage pipe, and the environmental data of the sewage pipe includes water quality data of the sewage pipe;

[0212] Optionally, the specific manner in which the judgment module 302 judges whether the environmental data of the object to be detected meets the cleaning condition corresponding to the object to be detected includes:

[0213] It is determined whether the water quality data of the sewage pipe meets the water quality cleanliness condition corresponding to the sewage pipe. When the judgment result is yes, at least one water discharge source corresponding to the water body in the sewage pipe is determined according to the water quality data of the sewage pipe.

[0214] Among them, optionally, the above-mentioned water discharge source may include but is not limited to at least one of the above-mentioned clean water tank, the above-mentioned cleaning material storage container, the above-mentioned disinfection material storage container, the above-mentioned external cleaning unit, the storage area corresponding to the above-mentioned external cleaning unit, and the above-mentioned sewage tank.

[0215] Obtain environmental data for the area where each water body discharge source is located.

[0216] For each water body emission source, determine whether the environmental data of the area where the water body emission source is located meets the preset cleaning conditions corresponding to the water body emission source. When the judgment result is yes, determine that the area where the water body emission source is located is the target cleaning area, and determine that the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected.

[0217] The objects to be cleaned include the sewage pipe and the target cleaning area.

[0218] It can be seen that the implementation of this optional embodiment can trace back and determine at least one water discharge source corresponding to the water body in the sewage pipe based on the water quality data of the sewage pipe, and determine the object to be cleaned based on the environmental data of the area where the water discharge source is located, which can improve the accuracy of determining the object to be cleaned. Further, it is beneficial to improve the flexibility of the self-cleaning method of the sweeping equipment and the energy saving and environmental protection.

[0219] In the embodiment of the present invention, as another optional implementation, the specific manner in which the determination module 303 determines the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all objects to be cleaned includes:

[0220] For each object to be cleaned, the material information of each substance contained in the object to be cleaned is determined according to the environmental data of the object to be cleaned.

[0221] Among them, optionally, the above-mentioned substances may include but are not limited to at least one of sewage, oil stains, harmful gases, hair, paper scraps, debris, garbage, solid particles, and materials of the object to be cleaned.

[0222] The above-mentioned material information may include at least one of type information, shape information, color information, content (weight / mass / volume) information, transparency information, location distribution information, concentration information, hardness information, and viscosity information.

[0223] According to the material information of all the materials contained in the object to be cleaned, the target cleaning parameters of the object to be cleaned are determined.

[0224] According to the target cleaning parameters of all areas to be cleaned, the corresponding self-cleaning working mode of the sweeping equipment is determined.

[0225] It can be seen that the implementation of this optional embodiment can determine the material information of each object to be cleaned through the environmental data of each object to be cleaned, and then determine the target cleaning parameters of each object to be cleaned through the material information of each object to be cleaned, which can improve the accuracy of determining the target cleaning parameters, and then improve the accuracy of determining the self-cleaning working mode, and ultimately improve the accuracy of cleaning each object to be cleaned, as well as improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0226] In this optional embodiment, as an optional implementation, the specific manner in which the determination module 303 determines the target cleaning parameters of the object to be cleaned according to the material information of all materials contained in the object to be cleaned includes:

[0227] According to the material information of all the materials contained in the object to be cleaned, the simulated cleaning parameters of the object to be cleaned are determined.

[0228] According to the simulated cleaning parameters, a simulated cleaning effect of performing a cleaning operation corresponding to the simulated cleaning parameters is determined.

[0229] It is determined whether the simulated cleaning effect matches the target cleaning effect. If the determination result is yes, the simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned. The target cleaning effect is used to indicate the cleaning effect corresponding to the preset cleanliness.

[0230] When the judgment result is no, the simulated cleaning parameters are adjusted according to the target cleaning effect, and the adjusted simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned.

[0231] Among them, the target cleaning parameters include at least one of washing cleaning parameters, vibration cleaning parameters, and cleaning object cleaning parameters. The washing cleaning parameters include at least one of water volume parameters, water pressure parameters, water flow parameters, and water temperature parameters. The vibration cleaning parameters include at least one of vibration amplitude parameters, vibration frequency parameters, and vibration type parameters. The vibration type parameters include airflow vibration parameters and / or motor vibration parameters. The cleaning object cleaning parameters include at least one of cleaning object type and dosage selection parameters, and disinfectant type and dosage selection parameters.

[0232] Please refer to the target cleaning parameters for the simulated cleaning parameters.

[0233] It can be seen that the implementation of this optional embodiment can first determine the simulated cleaning parameters of each object to be cleaned according to the material information of all substances contained in each object to be cleaned before determining the target cleaning parameters of each object to be cleaned, and determine the simulated cleaning effect through the simulated cleaning parameters, so that before actually cleaning each object to be cleaned, the simulated cleaning accuracy and the simulated cleaning cleanliness of each object to be cleaned are improved, and when the simulated cleaning effect does not match the target cleaning effect, the simulated cleaning parameters can be adjusted according to the simulated cleaning effect, and then the target cleaning parameters of each object to be cleaned can be determined, and the accuracy of determining the target cleaning parameters can be improved, thereby improving the accuracy of cleaning each object to be cleaned and improving the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0234] In an optional embodiment, the specific manner in which the determination module 303 determines the simulated cleaning parameters of the object to be cleaned according to the material information of all materials contained in the object to be cleaned includes:

[0235] For each substance contained in the object to be cleaned, the multi-dimensional cleaning control parameters corresponding to the substance are determined according to the material information of the substance. The multi-dimensional cleaning control parameters include at least one of a cleaning control parameter, a vibration control parameter, and a cleaning object control parameter. The vibration control parameters include an airflow vibration control parameter and / or a motor vibration control parameter.

[0236] According to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the object to be cleaned are determined.

[0237] Furthermore, the specific manner in which the determination module 303 adjusts the simulated cleaning parameters according to the target cleaning effect includes:

[0238] According to the target cleaning effect, the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned are adjusted.

[0239] The simulated cleaning parameters are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned.

[0240] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters for cleaning each substance based on the material information of all substances contained in each object to be cleaned, thereby improving the accuracy of determining the simulated cleaning parameters, so that before actually cleaning each object to be cleaned, the simulated cleaning accuracy and the simulated cleaning cleanliness of each object to be cleaned are improved, and when the simulated cleaning effect does not match the target cleaning effect, the simulated cleaning parameters can be adjusted according to the simulated cleaning effect, and then the target cleaning parameters of each object to be cleaned can be determined, thereby improving the accuracy of determining the target cleaning parameters, and then being able to improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0241] In this optional embodiment, as an optional implementation, the judgment module 302 is also used to judge whether the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned meet the actual cleaning material reserve conditions before the determination module 303 determines the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned. The actual cleaning material reserve conditions are used to indicate that the cleaning material demand of the multidimensional cleaning control parameters corresponding to all substances does not exceed the actual cleaning material reserve. When the judgment result of the judgment module 302 is yes, the determination module 303 is triggered to execute the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned.

[0242] And, if Figure 5 As shown, the device may also include:

[0243] The first adjustment module 305 is used to adjust the multi-dimensional cleaning control parameters corresponding to all materials according to the actual cleaning material reserve conditions when the judgment result of the judgment module 302 is no.

[0244] Furthermore, the specific manner in which the determination module 303 determines the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned includes:

[0245] According to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the cleaning object are determined.

[0246] Optionally, or when the judgment result is no, a cleaning material replenishment instruction is issued according to the multi-dimensional cleaning control parameters, and an operation is triggered to determine whether the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned meet the actual cleaning material storage conditions, until the judgment result is yes.

[0247] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters by judging whether the multi-dimensional cleaning control parameters meet the actual cleaning material storage conditions before determining the simulated cleaning parameters, which can improve the accuracy and scientificity of determining the multi-dimensional cleaning control parameters, and then improve the accuracy and scientificity of determining the simulated cleaning parameters and the accuracy and scientificity of determining the target cleaning parameters, and ultimately improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0248] In this optional embodiment, as another optional implementation, the judgment module 302 is also used to judge whether there is a target cleaning control parameter in the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned before the determination module 303 determines the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned. The target cleaning control parameters include redundant cleaning control parameters and / or invalid cleaning control parameters. The redundant cleaning control parameters are used to indicate that the same cleaning control parameters are set multiple times for different substances in the multidimensional cleaning control parameters corresponding to all substances. The invalid cleaning control parameters are used to indicate that due to the superposition of multiple different cleaning control parameters, the cleaning operations corresponding to the multiple different cleaning control parameters react with each other, so that the cleaning operations cannot achieve the corresponding cleaning effects. When the judgment result of the judgment module 302 is no, the determination module 303 is triggered to execute the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multidimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned.

[0249] And, if Figure 5 As shown, the device may also include:

[0250] The second adjustment module 306 is used to adjust the multi-dimensional cleaning control parameters corresponding to all substances according to the target cleaning control parameters when the judgment result of the judgment module 302 is yes.

[0251] Furthermore, the specific manner in which the determination module 303 determines the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned includes:

[0252] According to the adjusted multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, the simulated cleaning parameters of the cleaning object are determined.

[0253] It can be seen that the implementation of this optional embodiment can determine the multi-dimensional cleaning control parameters before determining the simulated cleaning parameters by judging whether there are target cleaning control parameters among the multi-dimensional cleaning control parameters corresponding to all substances contained in the object to be cleaned, that is, whether there are redundant cleaning control parameters and / or failed cleaning control parameters. This can improve the accuracy and scientificity of determining the multi-dimensional cleaning control parameters from multiple angles, and thus can improve the accuracy and scientificity of determining the simulated cleaning parameters and the accuracy and scientificity of determining the target cleaning parameters, and ultimately can improve the accuracy of cleaning each object to be cleaned and improve the self-cleaning accuracy and self-cleaning cleanliness of the sweeping equipment.

[0254] In another optional embodiment, the above-mentioned self-cleaning working mode includes a first cleaning working mode and a second cleaning working mode, the first cleaning working mode includes at least one of a washing cleaning working mode, a vibration cleaning working mode, and a cleaning object cleaning working mode, and the second cleaning working mode includes at least one of a drying cleaning working mode and a disinfection cleaning working mode.

[0255] Among them, the above-mentioned cleaning working mode may include a water regulating working mode, and the water regulating working mode includes at least one of a water volume regulating operation, a water pressure regulating operation, a water flow regulating operation, and a water temperature regulating operation.

[0256] The above-mentioned vibration cleaning working mode includes a vibration adjustment working mode, and the vibration adjustment working mode includes at least one of a vibration amplitude adjustment operation, a vibration frequency adjustment operation, and a vibration type adjustment operation. The vibration type adjustment operation includes an airflow vibration adjustment operation and / or a motor vibration adjustment operation.

[0257] The cleaning work mode of the cleaning material includes a cleaning material adjustment work mode, and the cleaning material adjustment work mode includes the cleaning material type and amount adjustment operation.

[0258] The acquisition module 301 is also used to acquire the latest environmental data of the object to be cleaned after the execution module 304 performs a self-cleaning operation on the sweeping device based on the self-cleaning working mode.

[0259] The determination module 303 is further used to determine the latest dirtiness of the object to be cleaned according to the latest environmental data.

[0260] The judgment module 302 is further used to judge whether the latest dirtiness level is greater than or equal to a preset dirtiness level threshold.

[0261] And, if Figure 5 As shown, the device may also include:

[0262] The third adjustment module 307 is used to adjust the first cleaning working mode according to the latest dirtiness when the judgment result of the judgment module 302 is yes.

[0263] The execution module 304 is further used to perform a self-cleaning operation on the object to be cleaned based on the adjusted first cleaning operation mode and the second cleaning operation mode.

[0264] It can be seen that the implementation of the embodiment of the present invention can determine the latest degree of dirtiness of all objects to be cleaned by acquiring the latest environmental data of all objects to be cleaned after performing a self-cleaning operation on the sweeping device, and then determine whether to perform further self-cleaning operations on all objects to be cleaned after adjustment, so as to ensure the cleanliness of the objects to be cleaned, and then ensure the self-cleaning cleanliness of the sweeping device.

[0265] Embodiment 4

[0266] See also Figure 6 , Figure 6 Schematic diagram of the structure of a sweeping device disclosed in an embodiment of the present invention. Figure 6 As shown, the sweeping device may include:

[0267] The memory 401 stores executable program codes.

[0268] A processor 402 is coupled to the memory 401 .

[0269] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the self-cleaning control method of the sweeping device described in the first embodiment of the present invention or the second embodiment of the present invention.

[0270] Embodiment 5

[0271] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute the steps in the self-cleaning control method of the sweeping device described in the first embodiment of the present invention or the second embodiment of the present invention.

[0272] Embodiment 6

[0273] An embodiment of the present invention discloses another sweeping device, which is used to execute the steps of the sweeping device self-cleaning control method described in the first or second embodiment of the present invention.

[0274] Embodiment 7

[0275] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the self-cleaning control method of a sweeping device described in Embodiment 1 or Embodiment 2.

[0276] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0277] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0278] Finally, it should be noted that the self-cleaning control method, device and sweeping device of a sweeping device disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling the self-cleaning of a sweeping device, characterized in that: The method comprises: Acquire environmental data of at least one object to be detected in the sweeping device; For any of the objects to be detected, determining whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected, and when the determination result is yes, determining the object to be detected as an object to be cleaned; Determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned; Based on the self-cleaning working mode, a self-cleaning operation is performed on the sweeping device.

2. The method for controlling the self-cleaning of a sweeping device according to claim 1, characterized in that: When the object to be detected includes a sewage pipe of the sweeping device, the environmental data of the object to be detected includes environmental data of the sewage pipe, and the environmental data of the sewage pipe includes water quality data of the sewage pipe; Wherein, judging whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected includes: Determine whether the water quality data of the sewage pipe meets the water quality cleanliness condition corresponding to the sewage pipe, and when the determination result is yes, determine at least one water body discharge source corresponding to the water body in the sewage pipe according to the water quality data of the sewage pipe; Obtaining environmental data for the area where each of the water body discharge sources is located; For each of the water body emission sources, determine whether the environmental data of the area where the water body emission source is located meets the preset cleaning conditions corresponding to the water body emission source. When the judgment result is yes, determine that the area where the water body emission source is located is a target cleaning area, and determine that the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected; The object to be cleaned includes the sewage pipe and the target cleaning area.

3. The method for controlling the self-cleaning of a sweeping device according to claim 2, characterized in that: Determining the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned includes: For each of the objects to be cleaned, determining material information of each substance contained in the object to be cleaned according to the environmental data of the object to be cleaned; Determining target cleaning parameters of the object to be cleaned according to material information of all the substances contained in the object to be cleaned; According to the target cleaning parameters of all the areas to be cleaned, the self-cleaning working mode corresponding to the sweeping device is determined.

4. The method for controlling the self-cleaning of a sweeping device according to claim 3, characterized in that: Determining the target cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned includes: Determining a simulated cleaning parameter of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned; Determining, according to the simulated cleaning parameters, a simulated cleaning effect of performing a cleaning operation corresponding to the simulated cleaning parameters; Determine whether the simulated cleaning effect matches the target cleaning effect. If the determination result is yes, determine the simulated cleaning parameters as the target cleaning parameters of the object to be cleaned, and the target cleaning effect is used to indicate the cleaning effect corresponding to the preset cleanliness; When the judgment result is no, the simulated cleaning parameters are adjusted according to the target cleaning effect, and the adjusted simulated cleaning parameters are determined as the target cleaning parameters of the object to be cleaned.

5. The method for controlling the self-cleaning of a sweeping device according to claim 4, characterized in that: The step of determining the simulated cleaning parameters of the object to be cleaned according to the material information of all the materials contained in the object to be cleaned comprises: For each of the substances contained in the object to be cleaned, determining a multi-dimensional cleaning control parameter corresponding to the substance according to the substance information of the substance, wherein the multi-dimensional cleaning control parameter includes at least one of a cleaning control parameter, a vibration control parameter, and a cleaning object control parameter, and the vibration control parameter includes an airflow vibration control parameter and / or a motor vibration control parameter; Determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned; And, adjusting the simulated cleaning parameters according to the target cleaning effect includes: According to the target cleaning effect, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned; The simulated cleaning parameters are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

6. The method for controlling the self-cleaning of a sweeping device according to claim 5, characterized in that: Before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the method further includes: Determine whether the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned meet the actual cleaning material reserve condition, where the actual cleaning material reserve condition is used to indicate that the cleaning material demand of the multi-dimensional cleaning control parameters corresponding to all the substances does not exceed the actual cleaning material reserve; When the judgment result is yes, the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered; When the judgment result is no, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances according to the actual cleaning material reserve conditions; And, determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes: The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

7. The method for controlling the self-cleaning of a sweeping device according to claim 5, characterized in that: Before determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the method further includes: Determine whether there is a target cleaning control parameter among the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned, the target cleaning control parameter including a redundant cleaning control parameter and / or an invalid cleaning control parameter, the redundant cleaning control parameter is used to indicate that among the multi-dimensional cleaning control parameters corresponding to all the substances, the same cleaning control parameter is set multiple times for different substances, and the invalid cleaning control parameter is used to indicate that due to the superposition of multiple different cleaning control parameters, the cleaning operations corresponding to the multiple different cleaning control parameters react with each other, so that the cleaning operation cannot achieve the corresponding cleaning effect; When the judgment result is no, the operation of determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned is triggered; When the judgment result is yes, adjusting the multi-dimensional cleaning control parameters corresponding to all the substances according to the target cleaning control parameters; And, determining the simulated cleaning parameters of the object to be cleaned according to the multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned includes: The simulated cleaning parameters of the cleaning object are determined according to the adjusted multi-dimensional cleaning control parameters corresponding to all the substances contained in the object to be cleaned.

8. The method for controlling the self-cleaning of a sweeping device according to any one of claims 1 to 7, characterized in that: The self-cleaning working mode includes a first cleaning working mode and a second cleaning working mode, the first cleaning working mode includes at least one of a washing cleaning working mode, a vibration cleaning working mode, and a cleaning object cleaning working mode, and the second cleaning working mode includes at least one of a drying cleaning working mode and a disinfection cleaning working mode; After performing a self-cleaning operation on the sweeping device based on the self-cleaning working mode, the method further includes: Acquire the latest environmental data of all the objects to be cleaned; Determining the latest dirtiness of all the objects to be cleaned according to the latest environmental data; Determine whether the latest dirtiness level is greater than or equal to a preset dirtiness level threshold. When the judgment result is yes, adjust the first cleaning working mode according to the latest dirtiness level, and perform self-cleaning operations on all the objects to be cleaned based on the adjusted first cleaning working mode and the second cleaning working mode.

9. A self-cleaning control device for a sweeping device, characterized in that: The device comprises: An acquisition module, used to acquire environmental data of at least one object to be detected in the sweeping device; A judgment module, used for judging, for any of the objects to be detected, whether the environmental data of the object to be detected meets the cleaning conditions corresponding to the object to be detected; A determination module, configured to determine the object to be detected as an object to be cleaned when the determination result of the determination module is yes; The determination module is further used to determine the self-cleaning working mode corresponding to the sweeping device according to the environmental data of all the objects to be cleaned; An execution module is used to perform a self-cleaning operation on the sweeping device based on the self-cleaning working mode.

10. A sweeping device, characterized in that: The sweeping device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the self-cleaning control method for a sweeping device as described in any one of claims 1-8.

Images