Backwashing execution method and device and automatic cleaning equipment control method and device

Abstract

The embodiment of the invention discloses a backwashing execution method and device and an automatic cleaning equipment control method and device. The position sensor is arranged outside the water tank to detect the position of the buoy in the water tank, and when it is determined that the buoy is located at the bottom of the water tank, the water pumping duration of the water pump in the water tank starts to be recorded. During backwashing of the automatic cleaning equipment, whether the remaining available water in the water tank meets backwashing conditions or not is determined according to the water pumping duration, and the backwashing process is executed under the condition that the backwashing conditions are met. According to the embodiment of the invention, under the condition that the buoy is located at the bottom of the water tank, residual water at the bottom of the water tank can be continuously utilized to clean the automatic cleaning equipment, and water resources are further saved while the cruising ability of the water tank is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of cleaning robots, and in particular, to a backwash execution method and device, and an automatic cleaning equipment control method and device. Background Art

[0002] In the prior art, some automatic cleaning devices have a backwashing function during the cleaning process, that is, the automatic cleaning device will automatically return to the base station to wash the mop after performing the cleaning operation for a period of time to ensure the cleaning effect. When the automatic cleaning device returns to the base station for backwashing, the base station will confirm whether the current water volume in the water tank is sufficient to support this backwashing. If the water volume is insufficient to support this backwashing, a water shortage warning will be issued.

[0003] When the existing base station detects that there is no water in the water tank, it usually detects that the buoy in the water tank is at the bottom of the water tank, then it is considered that there is no water in the water tank and issues a water-free warning. However, when the buoy is at the bottom of the water tank, there is still some residual water at the bottom of the water tank that is not used. The solution in the prior art that determines whether there is water in the water tank only based on the position of the buoy not only reduces the endurance of the water tank, but also wastes water resources. Summary of the invention

[0004] The embodiments of the present invention provide a backwash execution method and device, and an automatic cleaning equipment control method and device. The embodiments of the present invention can improve the endurance of a water tank and save water resources, solving the technical problems of poor endurance of a water tank and waste of water resources in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides a backwash execution method, the method being applicable to a base station, the base station comprising a water tank, a buoy being arranged in the water tank, a position sensor being arranged outside the water tank, the position sensor being used to detect the position of the buoy, the method comprising:

[0006] When the position sensor detects that the buoy has dropped to the bottom of the water tank, the pumping time of the water pump in the water tank starts to be recorded;

[0007] In the case where it is detected that the automatic cleaning device triggers a backwashing action, determining the remaining available water amount in the water tank according to the pumping time;

[0008] When the remaining available water volume meets the backwashing condition, performing the backwashing process;

[0009] When the remaining available water volume does not satisfy the backwash condition, water-free state information is sent to the automatic cleaning device.

[0010] The position sensor includes a first sensor and a second sensor. When the buoy floats to the highest position, only the first sensor is triggered. When the buoy descends to the bottom of the water tank, only the second sensor is triggered. When the buoy is between the highest position and the bottom of the water tank, both the first sensor and the second sensor are triggered. When the position sensor detects that the buoy descends to the bottom of the water tank, the pumping time of the water pump in the water tank is recorded, including:

[0011] When it is detected that the second sensor is in a triggered state and the first sensor is in a non-triggered state, the pumping time of the water pump in the water tank starts to be recorded.

[0012] Among them, it also includes:

[0013] When it is detected that the second sensor and the first sensor are both in an untriggered state for a period exceeding a preset time, the recorded water pumping time is cleared, and when it is detected that the automatic cleaning device triggers a backwash action, water-free status information is sent to the automatic cleaning device.

[0014] Among them, a buoy limiting structure is arranged in the water tank, and the buoy limiting structure is provided with a limiting cavity. The water tank and the limiting cavity are communicated with each other, and the buoy is arranged in the limiting cavity. The top of the buoy limiting structure is lower than the top of the water tank, and the buoy limiting structure is used to limit the highest position to which the buoy can float.

[0015] Among them, the first sensor and the second sensor are arranged at a position outside the water tank corresponding to the buoy limiting structure, the setting height of the first sensor is greater than the setting height of the second sensor, and the distance between the first sensor and the top of the buoy limiting structure is less than the length of the buoy, the distance between the first sensor and the bottom of the water tank is greater than the length of the buoy, the distance between the second sensor and the bottom of the water tank is less than the length of the buoy, the distance between the second sensor and the top of the buoy limiting structure is greater than the length of the buoy, and the distance between the first sensor and the second sensor is less than the length of the buoy.

[0016] Wherein, determining the remaining available water volume in the water tank according to the pumping time includes:

[0017] Determine the total water pumping volume according to the water pumping volume per unit time and the water pumping duration;

[0018] The remaining available water volume in the water tank is obtained by subtracting the total pumped water volume from the preset available water volume.

[0019] In a second aspect, an embodiment of the present invention provides an automatic cleaning device control method, the method being applicable to an automatic cleaning device, the automatic cleaning device being used to return to a base station that executes the backwash execution method in the first aspect for backwashing when a backwashing action is triggered, the method comprising:

[0020] When the backwashing action is triggered and the water-free state information sent by the base station is received, continue cleaning the target area currently being cleaned;

[0021] After cleaning the target area, the mobile station returns to the base station.

[0022] The automatic cleaning device includes a wet cleaning component and a dry cleaning component, and in the process of continuing to clean the target area currently being cleaned, further includes:

[0023] When it is detected that the wet cleaning component meets the stop operation condition, the wet cleaning component is controlled to stop cleaning, and the dry cleaning component is controlled to continue cleaning the target area.

[0024] In a third aspect, an embodiment of the present invention provides a backwash execution device, which is applicable to a base station, wherein the base station includes a water tank, a buoy is provided in the water tank, and a position sensor is provided outside the water tank, wherein the position sensor is used to detect the position of the buoy, and the backwash execution device includes:

[0025] A duration recording module, used for starting to record the pumping duration of the water pump in the water tank when the position sensor detects that the buoy has dropped to the bottom of the water tank;

[0026] A remaining water volume determination module, used to determine the remaining available water volume in the water tank according to the pumping time when detecting that the automatic cleaning device triggers a backwash action;

[0027] A backwash module, configured to execute a backwash process when the remaining available water volume satisfies a backwash condition;

[0028] The information sending module is used to send water-free status information to the automatic cleaning device when the remaining available water volume does not meet the backwash condition.

[0029] In a fourth aspect, an embodiment of the present invention provides an automatic cleaning device control device, the device being applicable to an automatic cleaning device, the automatic cleaning device being used to return to a base station that executes the backwash execution method described in the first aspect for backwashing when a backwashing action is triggered, the automatic cleaning device control device comprising:

[0030] A continuing cleaning module, configured to continue cleaning the target area currently being cleaned when the backwashing action is triggered and the water-free state information sent by the base station is received;

[0031] The base station return module is used to return to the base station after cleaning the target area.

[0032] In a fifth aspect, an embodiment of the present invention provides a base station, the base station includes a water tank, a buoy is arranged in the water tank, a position sensor is arranged outside the water tank, the position sensor is used to detect the position of the buoy, and the base station also includes a processor and a memory;

[0033] The memory is used to store a computer program and transmit the computer program to the processor;

[0034] The processor is used to execute a backwash execution method as described in the first aspect according to the instructions in the computer program.

[0035] In a sixth aspect, an embodiment of the present invention provides an automatic cleaning device, including a processor and a memory, wherein the automatic cleaning device is used to return to the base station described in the fifth aspect for backwashing when a backwashing action is triggered;

[0036] The memory is used to store a computer program and transmit the computer program to the processor;

[0037] The processor is used to execute an automatic cleaning equipment control method as described in the second aspect according to instructions in the computer program.

[0038] The embodiments of the present invention disclose a backwash execution method and device, and an automatic cleaning equipment control method and device. The embodiments of the present invention detect the position of a buoy in the water tank by setting a position sensor outside the water tank. When it is determined that the position of the buoy is at the bottom of the water tank, it starts to record the pumping time of the water pump in the water tank. When the automatic cleaning equipment is backwashed, it is determined whether the remaining available water in the water tank meets the backwash conditions based on the pumping time. When the backwash conditions are met, the backwash process is executed. In the embodiment of the present invention, when the position of the buoy is at the bottom of the water tank, the water remaining at the bottom of the water tank can continue to be used to clean the automatic cleaning equipment, which not only improves the endurance of the water tank, but also further saves water resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A bottom view of an automatic cleaning device provided by an embodiment of the present invention.

[0040] Figure 2 A flowchart of a backwash execution method provided in an embodiment of the present invention.

[0041] Figure 3 A schematic diagram of a buoy at different positions provided by an embodiment of the present invention.

[0042] Figure 4 A schematic diagram of the internal structure of a water tank provided in an embodiment of the present invention.

[0043] Figure 5 A cross-sectional schematic diagram of a base station provided in an embodiment of the present invention.

[0044] Figure 6 A flowchart of another backwash execution method provided in an embodiment of the present invention.

[0045] Figure 7 A schematic flow chart of an automatic cleaning equipment control method provided by an embodiment of the present invention.

[0046] Figure 8 A schematic structural diagram of a backwash execution device provided in an embodiment of the present invention.

[0047] Fig. 9 A schematic structural diagram of an automatic cleaning equipment control device provided by an embodiment of the present invention.

[0048] Fig.10 A schematic diagram of the structure of a base station provided by an embodiment of the present invention.

[0049] Fig.11 A schematic structural diagram of an automatic cleaning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following description and accompanying drawings fully illustrate the specific embodiments of the present application so that those skilled in the art can practice them. The examples represent possible variations only. Unless explicitly required, separate components and functions are optional, and the order of operations can vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. In this article, each embodiment may be represented individually or generally by the term "invention", which is only for convenience, and if more than one invention is disclosed in fact, it is not to automatically limit the scope of the application to any single invention or inventive concept. In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. The various embodiments are described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0051] The backwash execution method in the embodiment of the present application is applicable to a base station, wherein the base station is a device that provides charging, positioning, navigation, communication, and cleaning services for the automatic cleaning device. The automatic cleaning device may be a device with an automatic cleaning function, such as a sweeping robot, a mopping machine, or a vacuum cleaner. The automatic cleaning device includes a body, a walking component, a cleaning component, and a control component. Among them, the cleaning component includes a dry cleaning component and a wet cleaning component, the dry cleaning component is used to clean dry solid dirt, and the wet cleaning component is used to mop the ground. The dry cleaning component includes a set of side sweeps arranged at the front end of the body near the edge. The dry cleaning component may also include a middle sweep arranged between the side sweep and the wet cleaning component, and the middle sweep usually adopts a roller brush structure for rolling the solid dirt on the ground. The wet cleaning component is arranged at the bottom of the body, and the wet cleaning component may be in various forms such as a turntable, a flat plate, a crawler, or a drum, which is not specifically limited in this embodiment. When the wet cleaning component is working, the driving structure drives the wet cleaning component to vibrate or rotate back and forth, and the wet cleaning component forms friction with the ground during the movement to clean the ground. For example, Figure 1 As shown, Figure 1This is a bottom view of an automatic cleaning device provided by an embodiment of the present invention. A turntable-type wet cleaning component 20 is disposed at the rear end of the chassis of the automatic cleaning device 10. The wet cleaning component 20 cleans the floor by rotating.

[0052] In addition, the components involving electronic control in the walking component and cleaning component and other modules are all controlled by the processor of the control component of the automatic cleaning device. Accordingly, the environmental information collected by the environmental sensing component can be sent to the processor for processing. The processor can generate control instructions based on the received data, and send the control instructions to the cleaning component and the walking component to realize the work control under the corresponding specific environmental conditions. In addition, the automatic cleaning equipment also has a charging module and a communication module, etc., which can be implemented in detail with reference to the relevant automatic cleaning equipment technical field. The specific installation method and basic working principle will not be described in detail here, and the corresponding work content will not be elaborated. For example, the process of the automatic cleaning equipment returning to the charging station to charge through the charging module after cleaning is not described in detail.

[0053] During the cleaning process of the automatic cleaning device, the dirt holding capacity of the wet cleaning component has an upper limit. The dirt holding capacity of the wet cleaning component refers to the amount of dirt that can be accommodated and processed during the cleaning process. Specifically, after the wet cleaning component contacts the dirt, it removes and collects the dirt from the ground by adsorption, scraping, etc. When the dirt adsorption capacity of the wet cleaning component reaches a certain level, in order to ensure the cleaning effect, the automatic cleaning device needs to return to the base station to clean the wet cleaning component. This process is called backwashing. Exemplarily, during the cleaning process, the automatic cleaning device can monitor the degree of dirtiness of the wet cleaning component in real time through a built-in dirt detection sensor, and trigger the backwashing action when the dirtiness reaches a preset dirtiness threshold. Or when the cleaning time of the wet cleaning component reaches the set cleaning time, or the cleaning area reaches the set cleaning area, the automatic cleaning device triggers the backwashing action to return to the base station to clean the wet cleaning component. The base station is equipped with a water tank and an automatic cleaning function, and the water in the water tank is used to clean the mop. After the automatic cleaning device returns to the base station, the base station will determine whether the remaining available water in the current water tank supports this backwash. If it supports this backwash, the cleaning program will be started to execute the backwash process. The base station uses the internal cleaning device (such as a washboard, a water spray head, etc.) to simulate the process of manually cleaning the wet cleaning components. After the cleaning is completed, the automatic cleaning device will leave the base station and return to the previous cleaning position or continue to perform the remaining cleaning tasks. When the remaining available water in the water tank is not enough to support this backwash, the base station will inform the sweeping robot that it cannot backwash and needs to wait for the water tank to be filled with water before continuing to backwash.

[0054] However, when the existing base station detects the remaining water volume in the water tank, it generally determines the remaining water volume by detecting the position of the buoy in the water tank. When the buoy is at the bottom of the water tank, the base station believes that there is no water in the water tank and issues a water shortage warning. However, when the buoy is at the bottom of the water tank, there is still some residual water at the bottom of the water tank. Although the remaining water in the water tank cannot make the buoy float, it can still be used. The solution in the prior art that only determines whether there is water in the water tank based on the position of the buoy reduces the endurance of the water tank and wastes water resources.

[0055] Based on this, in order to solve the above problems, an embodiment of the present invention provides a backwash execution method, such as Figure 2 As shown, Figure 2 A flow chart of a backwash execution method provided in an embodiment of the present invention. The backwash execution method provided in an embodiment of the present invention is applicable to a base station. The base station includes a water tank, and a buoy is arranged in the water tank, and the buoy is used to mark the water level in the water tank. In addition, a position sensor is arranged outside the water tank, and the position sensor is used to detect the position of the buoy. The specific type of the position sensor can be selected according to actual needs. For example, the position sensor can be an ultrasonic sensor, and the ultrasonic sensor can emit ultrasonic waves and determine the position of the buoy according to the echo signal. Alternatively, the position sensor can be a magnetic position sensor, and a magnet is arranged in the buoy. The magnetic position sensor monitors the position of the object by detecting the change of the magnetic field.

[0056] The backwash execution method provided in the embodiment of the present invention comprises the following steps:

[0057] Step 101: When the position sensor detects that the buoy has dropped to the bottom of the water tank, start recording the pumping time of the water pump in the water tank.

[0058] In this embodiment, when the base station detects through the position sensor that the buoy has dropped to the bottom of the water tank, some water that cannot be detected still remains at the bottom of the water tank. In order to further utilize the water remaining at the bottom of the water tank, the base station needs to start recording the pumping time of the water pump in the water tank. It can be understood that when the water pump starts pumping water, the base station starts to accumulate the pumping time, and when the water pump stops pumping water, the base station stops recording the pumping time. By recording the pumping time of the water pump, the amount of water remaining in the water tank can be determined later.

[0059] Step 102: When it is detected that the automatic cleaning device triggers a backwashing action, the remaining available water volume in the water tank is determined according to the pumping time.

[0060] After the base station starts recording the pumping time of the water pump in the water tank, if it detects that the automatic cleaning device has triggered a backwash action, the base station needs to determine the remaining available water at the bottom of the water tank based on the recorded pumping time. The remaining available water is the amount of water remaining in the water tank that can be used. For example, the user can pre-measure the amount of water that can be pumped by the water pump at the bottom of the water tank when the buoy drops to the bottom of the water tank, and save the water volume data to the base station. The base station can determine the remaining available water in the water tank based on the water volume data and the pumping time.

[0061] Step 103: When the remaining available water volume meets the backwashing condition, execute the backwashing process.

[0062] After determining the remaining available water in the water tank, the base station needs to further determine whether the remaining available water meets the backwash condition, where the backwash condition needs to be set in advance by the user. In one embodiment, the backwash condition is that the remaining available water is greater than or equal to the preset water volume, and the preset water volume can be set according to the amount of water required for a backwash of the automatic cleaning device, for example, the preset water volume can be set to 50ml. If the remaining available water meets the backwash condition, the base station can execute the backwash process and use the remaining available water in the water tank to clean the wet cleaning components of the automatic cleaning device.

[0063] Step 104: When the remaining available water volume does not satisfy the backwash condition, a water-free state information is sent to the automatic cleaning device.

[0064] However, when the base station determines that the remaining available water in the water tank does not meet the backwash conditions, the base station will not execute the backwash process. At this time, the base station needs to send water-free status information to the automatic cleaning device to inform the automatic cleaning device that there is no water in the water tank and it is insufficient to support backwashing. It is necessary to wait for the water tank to be filled with water before continuing the backwash process.

[0065] As described above, an embodiment of the present invention provides a backwash execution scheme. In the embodiment of the present invention, a position sensor is arranged outside the water tank to detect the position of the buoy in the water tank. When it is determined that the position of the buoy is at the bottom of the water tank, the pumping time of the water pump in the water tank is recorded. When the automatic cleaning device is backwashed, it is determined whether the remaining available water in the water tank meets the backwash conditions based on the pumping time. If the backwash conditions are met, the backwash process is executed. In the embodiment of the present invention, when the position of the buoy is at the bottom of the water tank, the water remaining at the bottom of the water tank can continue to be used to clean the automatic cleaning device, which not only improves the endurance of the water tank, but also further saves water resources.

[0066] In one embodiment, the position sensor includes a first sensor and a second sensor, and the first sensor and the second sensor are used to detect the position of the buoy. Exemplarily, the first sensor and the second sensor can be digital Hall sensors, and the first sensor and the second sensor are arranged outside the water tank, for example, on the side wall adjacent to the base station and the water tank. A magnet is arranged inside the buoy, and when the magnetic field generated by the buoy magnet acts on the first sensor, the Hall element inside the first sensor will generate a voltage (Hall voltage) proportional to the magnetic field strength, and convert the analog signal into a digital signal (usually a high level or a low level). This conversion enables the first sensor to work like a switch. For example, when the first sensor is under the action of the magnetic field generated by the buoy magnet, the first sensor is triggered to generate a high level signal, and the high level signal is used to characterize the detection of the buoy. The working principle of the second sensor is similar, and will not be repeated in this embodiment.

[0067] In addition, in this embodiment, when the buoy floats to the highest position, only the first sensor is triggered, when it descends to the lowest position, only the second sensor is triggered, and when it is between the highest position and the lowest position, the first sensor and the second sensor are triggered at the same time, that is, when the water tank is placed in the base station, the first sensor and the second sensor will not be triggered at the same time. Figure 3 , Figure 3 A schematic diagram of a buoy in different positions provided by an embodiment of the present invention, wherein a buoy 40 and a buoy limiting structure 50 are arranged in a water tank 30, wherein the buoy limiting structure 50 includes a top limiting structure 51, and the top limiting structure 51 is used to limit the highest position to which the buoy 40 can float. When the buoy 40 floats to the highest position, only the first sensor 60 is triggered, such as Figure 3 When the buoy 40 is between the highest position and the lowest position, the first sensor 60 and the second sensor 70 are both triggered, as shown in FIG. Figure 3 When the buoy 40 drops to the lowest position, only the second sensor 70 is triggered, as shown in FIG. Figure 3 As shown in Fig. c, there is no water in the water tank at this time. If both the first sensor 60 and the second sensor 70 are not triggered, it is considered that the water tank is not in the base station, and it is determined that the water tank is not in place at this time.

[0068] On the basis of the above embodiment, a buoy limiting structure is provided in the water tank, the buoy limiting structure is provided with a limiting cavity, the water tank and the limiting cavity are communicated, the buoy is arranged in the limiting cavity, the top of the buoy limiting structure is lower than the top of the water tank, and the buoy limiting structure is used to limit the highest position to which the buoy can float.

[0069] In one embodiment, a buoy limiting structure is further provided in the water tank, wherein the buoy limiting structure is provided with a limiting cavity, and the buoy is provided in the limiting cavity, that is, the buoy can move up and down in the limiting cavity. The water tank and the limiting cavity are connected, so that the water in the water tank can flow into the limiting cavity to make the buoy float. In addition, the top of the buoy limiting structure is lower than the top of the water tank, and the buoy limiting structure is used to limit the highest position to which the buoy can float. It can be understood that in order for the buoy in the limiting cavity to be able to represent the lowest liquid level in the water tank, the bottom of the limiting cavity and the bottom of the water tank need to be on the same horizontal line. For example, as Figure 4 As shown, Figure 4 This is a schematic diagram of the internal structure of a water tank provided in an embodiment of the present invention. A buoy 40 and a buoy limiting structure 50 are provided in the water tank 30. The buoy 40 is provided in a limiting cavity of the buoy limiting structure 50, and the water tank and the limiting cavity are connected. The buoy limiting structure 50 can limit the buoy 40 from floating up and down in the vertical direction. In addition, the buoy limiting structure 50 also includes a top limiting structure 51, which is used to limit the highest position to which the buoy 40 can float.

[0070] On the basis of the above embodiments, the first sensor and the second sensor are arranged at a position outside the water tank corresponding to the buoy limiting structure, the setting height of the first sensor is greater than the setting height of the second sensor, and the distance between the first sensor and the top of the buoy limiting structure is less than the length of the buoy, the distance between the first sensor and the bottom of the water tank is greater than the length of the buoy, the distance between the second sensor and the bottom of the water tank is less than the length of the buoy, the distance between the second sensor and the top of the buoy limiting structure is greater than the length of the buoy, and the distance between the first sensor and the second sensor is less than the length of the buoy.

[0071] In this embodiment, since the buoy is restricted in the limiting cavity of the buoy limiting structure, in order to enable the first sensor and the second sensor to detect the buoy, the first sensor and the second sensor need to be set corresponding to the position of the buoy limiting structure. For example, the projection area of ​​the buoy limiting structure on the side wall adjacent to the water tank can be determined, and the first sensor and the second sensor are set in the projection area adjacent to the outer side wall of the water tank. In this embodiment, the setting height of the first sensor is less than the height of the top of the buoy limiting structure, and greater than the setting height of the second sensor, that is, the first sensor is set above the second sensor in the vertical direction. In addition, in order to enable the buoy to only trigger the first sensor when it floats to the highest position, it is necessary to set the distance between the first sensor and the top of the buoy limiting structure to be less than the length of the buoy, and the distance between the first sensor and the bottom of the water tank to be greater than the length of the buoy. In order to enable the buoy to only trigger the second sensor when it descends to the bottom of the water tank, it is necessary to set the distance between the second sensor and the bottom of the water tank to be less than the length of the buoy, and the distance between the second sensor and the top of the buoy limiting structure to be greater than the length of the buoy. Secondly, in order to ensure that the first sensor and the second sensor are triggered simultaneously when the buoy is between the highest position and the bottom of the water tank, it is necessary to set the distance between the first sensor and the second sensor to be less than the length of the buoy. Figure 5 As shown, Figure 5 A cross-sectional schematic diagram of a base station provided in an embodiment of the present invention, a first sensor 60 and a second sensor 70 are arranged at positions corresponding to the buoy limit structure 50 on the side wall of the base station near the water tank 40, and the first sensor 60 is arranged above the second sensor 70. When the buoy 40 floats up to the highest position, only the first sensor 60 can detect the magnetic field of the magnet in the buoy 40, and the first sensor 60 is triggered; when the buoy 40 drops to the lowest position, only the second sensor 70 can detect the magnetic field of the magnet in the buoy 40, and the second sensor 70 is triggered; and when the buoy 40 floats between the highest position and the lowest position, at this time, both the first sensor 60 and the second sensor 70 can simultaneously detect the magnetic field of the magnet in the buoy 40, and both the first sensor 60 and the second sensor 70 are triggered.

[0072] The embodiment of the present invention also provides another backwash execution method, such as Figure 6 As shown, Figure 6 A flow chart of another backwashing execution method provided by an embodiment of the present invention includes the following steps:

[0073] Step 201: When it is detected that the second sensor is in a triggered state and the first sensor is in a non-triggered state, start recording the pumping time of the water pump in the water tank.

[0074] In this embodiment, when the base station detects that the second sensor is in a triggered state and the first sensor is in an untriggered state, it means that the water tank is in place and the buoy in the water tank has dropped to the bottom of the water tank, and the base station needs to start recording the pumping time of the water pump in the water tank. In this embodiment, by setting the first sensor and the second sensor, it is possible to detect whether the water tank is in place and the position of the buoy in the water tank, so as to avoid the situation where the water tank is not in place and is mistakenly identified as having water in the water tank, further improving the accuracy of the water level detection in the water tank.

[0075] Step 202: When it is detected that the automatic cleaning device triggers a backwashing action, the total pumping volume is determined according to the pumping volume per unit time and the pumping duration.

[0076] When it is detected that the automatic cleaning device triggers the backwash action, the base station first needs to determine the total pumping volume of the water pump based on the pumping volume per unit time and the pumping time of the water pump. The pumping volume per unit time of the water pump needs to be pre-written into the base station. It is understandable that when there are multiple water pumps in the water tank, the base station needs to record the pumping time of each water pump, and determine the pumping volume of each water pump based on the pumping volume per unit time of each water pump and the pumping time of each water pump, and finally add up the pumping volume of each water pump to get the total pumping volume.

[0077] Step 203: Subtract the total pumping amount from the preset available water amount to obtain the remaining available water amount in the water tank.

[0078] After calculating the total pumping volume, subtract the total pumping volume from the preset available water volume to obtain the remaining available water volume in the water tank, where the preset available water volume is the residual water volume at the bottom of the water tank that can be pumped by the water pump when the buoy drops to the bottom of the water tank. The preset available water volume can be measured in advance by the user. For example, assuming that there are two water pumps in the water tank, the first water pump pumps 7ml / S per unit time, and the second water pump pumps 4ml / S per unit time, the pumping time of the first water pump is X, and the pumping time of the second water pump is Y, and the preset available water volume is 400ml, then the remaining available water volume S in the water tank can be obtained by the following calculation formula: S = 400-7X-4Y.

[0079] Step 204: When the remaining available water volume meets the backwashing condition, the backwashing process is performed;

[0080] Step 205: When the remaining available water volume does not satisfy the backwash condition, a water-free state information is sent to the automatic cleaning device.

[0081] Based on the above embodiment, it also includes:

[0082] Step 206: When it is detected that the second sensor and the first sensor are both in an untriggered state for a period exceeding a preset time, the recorded pumping time is cleared, and when it is detected that the automatic cleaning device triggers a backwash action, water-free status information is sent to the automatic cleaning device.

[0083] When the base station detects that the second sensor and the first sensor are both in the untriggered state for a period of time exceeding the preset time, the base station can confirm that the water tank is not in place at this time, and the water tank may be taken away by the user to add water. The preset time is a pre-set time, and the preset time can be set according to actual needs. For example, the preset time can be set to 3 seconds. When confirming that the water tank is not in place, the base station needs to clear the recorded pumping time so that when the buoy is detected to drop to the bottom of the water tank after the water tank is filled with water, the pumping time of the water pump can be recorded again. In addition, when it is detected that the water tank is not in place, the base station also needs to send waterless status information to the automatic cleaning device when it detects that the automatic cleaning device triggers the backwashing action, so as to inform the automatic cleaning device that it cannot support the backwashing this time. When the water tank is detected in place again later, and the first sensor is triggered, or the first sensor and the second sensor are triggered at the same time, the base station confirms that the water tank has been refilled with water. At this time, the base station can send water status information to the automatic cleaning device to inform the automatic cleaning device that the backwashing process can be executed at present. The embodiment of the present invention detects that the water tank is not in place through the first sensor and the second sensor, and clears the recorded pumping time. The pumping time of the water pump can be accurately recorded the next time the buoy drops to the bottom of the water tank to accurately determine the remaining available water in the water tank.

[0084] As described above, an embodiment of the present invention provides a backwash execution method. The embodiment of the present invention sets a first sensor and a second sensor outside the water tank to detect whether the water tank is in place and the position of the buoy in the water tank. When it is detected that the second sensor is in a triggered state and the first sensor is in an untriggered state, it is determined that the buoy has dropped to the bottom of the water tank, and the pumping time of the water pump in the water tank is recorded. When the automatic cleaning device is backwashed, it is determined based on the pumping time whether the remaining available water in the water tank meets the backwash conditions. If the backwash conditions are met, the backwash process is executed. The embodiment of the present invention detects the position of the buoy through the first sensor and the second sensor. When the buoy is located at the bottom of the water tank, the automatic cleaning device can continue to be cleaned with the water remaining at the bottom of the water tank, which improves the endurance of the water tank while further saving water resources.

[0085] The embodiment of the present invention also provides a method for controlling an automatic cleaning device. Figure 7 As shown, Figure 7A flow chart of an automatic cleaning device control method provided by an embodiment of the present invention is provided. The automatic cleaning device control method provided by an embodiment of the present invention is applicable to an automatic cleaning device. The automatic cleaning device is used to return to a base station that executes the above-mentioned backwashing execution method for backwashing when a backwashing action is triggered. The automatic cleaning device control method provided by an embodiment of the present invention includes:

[0086] Step 301: When the backwash action is triggered and the water-free state information sent by the base station is received, continue to clean the target area currently being cleaned.

[0087] Step 302: After cleaning the target area, return to the base station.

[0088] In this embodiment, when the automatic cleaning device triggers the backwash action, if it receives the waterless status information sent by the base station, it means that the remaining available water in the water tank of the base station is insufficient to support this backwash. Since the user may add water to the water tank after a long time, in order to improve the cleaning efficiency, the automatic cleaning device can continue to clean the target area currently being cleaned, and after cleaning the target area, it returns from the target area to the base station. If the water tank of the base station has been filled with water after returning to the base station, the backwash process can be executed. If the water tank of the base station has not been filled with water after returning to the base station, it is necessary to wait in the base station for the water tank to be filled with water and the backwash process to be executed before continuing the cleaning task.

[0089] On the basis of the above embodiment, the automatic cleaning device includes a wet cleaning component and a dry cleaning component, and in the process of continuing to clean the target area currently being cleaned, further includes:

[0090] When it is detected that the wet cleaning component meets the stop operation condition, the wet cleaning component is controlled to stop cleaning, and the dry cleaning component is controlled to continue cleaning the target area.

[0091] In this embodiment, the automatic cleaning device will also detect in real time during the cleaning process whether the wet cleaning component meets the stop operation condition. If the stop operation condition is met, the wet cleaning component is controlled to stop cleaning. Exemplarily, the stop operation condition can be that the cleaning area of ​​the wet cleaning component reaches the maximum cleaning area after the last backwash; or the cleaning time of the wet cleaning component reaches the maximum cleaning time after the last backwash. It should be noted that the cleaning time that triggers the backwash action is less than the maximum cleaning time, and the cleaning area that triggers the backwash action is less than the maximum cleaning area. When the automatic cleaning device detects that the wet cleaning component meets the stop operation condition, it means that the dirt holding capacity of the wet cleaning component has reached its limit. In order to avoid the dirt adsorbed on the wet cleaning component from contaminating the subsequently cleaned area, the automatic cleaning device needs to control the wet cleaning component to stop cleaning, such as lifting the mop of the wet cleaning component. For the dry cleaning component, the automatic cleaning device can control it to continue to run to continue cleaning the target area.

[0092] As described above, the embodiment of the present invention provides a method for controlling an automatic cleaning device. The embodiment of the present invention can control the automatic cleaning device to continue cleaning the target area when the amount of water in the water tank is insufficient to support the current backwashing, thereby reducing the time to return to the base station to wait for the water tank to be refilled, thereby improving the cleaning efficiency of the automatic cleaning device. In addition, while continuing to clean the target area, the embodiment of the present invention will also control the wet cleaning component to stop running when the dirt holding capacity of the wet cleaning component reaches its limit, so as to avoid the dirt adsorbed on the wet cleaning component from contaminating the subsequently cleaned area, thereby ensuring the cleaning effect of other areas.

[0093] The embodiment of the present invention also provides a backwash execution device, such as Figure 8 As shown, Figure 8 The schematic diagram of the structure of a backwash execution device provided in an embodiment of the present invention is applicable to a base station. The base station includes a water tank, a buoy is arranged in the water tank, and a position sensor is arranged outside the water tank. The position sensor is used to detect the position of the buoy. The backwash execution device includes:

[0094] The duration recording module 401 is used to start recording the pumping duration of the water pump in the water tank when the position sensor detects that the buoy has dropped to the bottom of the water tank;

[0095] The remaining water volume determination module 402 is used to determine the remaining available water volume in the water tank according to the pumping time when it is detected that the automatic cleaning device triggers the backwashing action;

[0096] A backwash module 403, for executing a backwash process when the remaining available water volume meets the backwash condition;

[0097] The information sending module 404 is used to send water-free status information to the automatic cleaning device when the remaining available water volume does not meet the backwash condition.

[0098] Among them, the position sensor includes a first sensor and a second sensor. When the buoy floats to the highest position, only the first sensor is triggered. When it descends to the bottom of the water tank, only the second sensor is triggered. When it is between the highest position and the bottom of the water tank, the first sensor and the second sensor are triggered at the same time. The duration recording module 401 is specifically used to start recording the pumping time of the water pump in the water tank when it is detected that the second sensor is in a triggered state and the first sensor is in an untriggered state.

[0099] Among them, it also includes:

[0100] The duration clearing module is used to clear the recorded water pumping duration when it is detected that the second sensor and the first sensor are both in the untriggered state for a period exceeding the preset time, and to send water-free status information to the automatic cleaning device when it is detected that the automatic cleaning device triggers the backwash action.

[0101] Among them, a buoy limiting structure is arranged in the water tank, and the buoy limiting structure is provided with a limiting cavity. The water tank and the limiting cavity are communicated, and the buoy is arranged in the limiting cavity. The top of the buoy limiting structure is lower than the top of the water tank. The buoy limiting structure is used to limit the highest position to which the buoy can float.

[0102] Among them, the first sensor and the second sensor are arranged at a position outside the water tank corresponding to the buoy limiting structure, the setting height of the first sensor is greater than the setting height of the second sensor, and the distance between the first sensor and the top of the buoy limiting structure is less than the length of the buoy, the distance between the first sensor and the bottom of the water tank is greater than the length of the buoy, the distance between the second sensor and the bottom of the water tank is less than the length of the buoy, the distance between the second sensor and the top of the buoy limiting structure is greater than the length of the buoy, and the distance between the first sensor and the second sensor is less than the length of the buoy.

[0103] The remaining water volume determination module 402 includes:

[0104] The total pumping volume determination submodule is used to determine the total pumping volume according to the pumping volume per unit time and the pumping time;

[0105] The available water volume determination submodule is used to subtract the total pumping volume from the preset available water volume to obtain the remaining available water volume in the water tank.

[0106] The backwash execution device provided in the embodiment of the present invention is included in a base station and can be used to execute the backwash execution method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0107] It is worth noting that in the embodiment of the above-mentioned backwash execution device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0108] The embodiment of the present invention also provides an automatic cleaning equipment control device, such as Fig. 9 As shown, Fig. 9 This is a structural schematic diagram of an automatic cleaning device control device provided by an embodiment of the present invention. The automatic cleaning device control device provided by an embodiment of the present invention is applicable to an automatic cleaning device. The automatic cleaning device is used to return to the base station that executes the above-mentioned backwashing execution method for backwashing when a backwashing action is triggered. The automatic cleaning device control device includes:

[0109] A continuing cleaning module 501 is used to continue cleaning the target area being cleaned when the backwashing action is triggered and the water-free state information sent by the base station is received;

[0110] The base station return module 502 is used to return to the base station after cleaning the target area.

[0111] Among them, the automatic cleaning equipment includes a wet cleaning component and a dry cleaning component. The continued cleaning module 501 is used to control the wet cleaning component to stop cleaning and control the dry cleaning component to continue cleaning the target area when it is detected that the wet cleaning component meets the stop operation conditions during the process of continuing to clean the currently cleaned target area.

[0112] The automatic cleaning equipment control device provided in the embodiment of the present invention is included in the automatic cleaning equipment and can be used to execute the automatic cleaning equipment control method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0113] It is worth noting that in the embodiment of the above-mentioned automatic cleaning equipment control device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0114] This embodiment also provides a base station, such as Fig.10 As shown, Fig.10 A schematic diagram of the structure of a base station provided in an embodiment of the present invention, the base station includes a water tank, a buoy is arranged in the water tank, a position sensor 603 is arranged outside the water tank, the position sensor 603 is used to detect the position of the buoy, and the base station also includes a processor 600 and a memory 601;

[0115] The memory 601 is used to store the computer program 602 and transmit the computer program 602 to the processor 600;

[0116] The processor 600 is used to execute the steps in the above-mentioned backwash execution method embodiment according to the instructions in the computer program 602.

[0117] Exemplarily, the computer program 602 may be divided into one or more modules / units, one or more modules / units are stored in the memory 601, and are executed by the processor 600 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 602 in the base station.

[0118] The base station may include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will appreciate that Fig.10 This is only an example of a base station and does not constitute a limitation on the base station. The base station may include more or less components than those shown in the figure, or may combine certain components, or may have different components.

[0119] The processor 600 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0120] The memory 601 may be an internal storage unit of the base station, such as a hard disk or memory of the base station. The memory 601 may also be an external storage device of the base station, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the base station. Further, the memory 601 may also include both an internal storage unit of the base station and an external storage device. The memory 601 is used to store computer programs and other programs and data required by the base station. The memory 601 may also be used to temporarily store data that has been output or is to be output.

[0121] This embodiment also provides an automatic cleaning device, such as Fig.11As shown, Fig.11 This is a structural diagram of an automatic cleaning device provided by an embodiment of the present invention. The automatic cleaning device is used to return to the above-mentioned base station for backwashing when a backwashing action is triggered. The automatic cleaning device also includes a processor 700 and a memory 701.

[0122] The memory 701 is used to store the computer program 702 and transmit the computer program 702 to the processor 700;

[0123] The processor 700 is used to execute the steps in the above-mentioned embodiment of the automatic cleaning device control method according to the instructions in the computer program 702.

[0124] Exemplarily, the computer program 702 may be divided into one or more modules / units, one or more modules / units are stored in the memory 701, and are executed by the processor 700 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 702 in the automatic cleaning device.

[0125] The automatic cleaning device may include, but is not limited to, a processor 700 and a memory 701. Those skilled in the art will appreciate that Fig.10 The automatic cleaning device is merely an example and does not constitute a limitation on the automatic cleaning device. The automatic cleaning device may include more or fewer components than shown in the figure, or some components may be combined, or different components may be included.

[0126] The processor 700 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0127] The memory 701 may be an internal storage unit of the automatic cleaning device, such as a hard disk or memory of the automatic cleaning device. The memory 701 may also be an external storage device of the automatic cleaning device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the automatic cleaning device. Further, the memory 701 may also include both an internal storage unit of the automatic cleaning device and an external storage device. The memory 701 is used to store computer programs and other programs and data required for the automatic cleaning device. The memory 701 may also be used to temporarily store data that has been output or is to be output.

[0128] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0129] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0130] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0131] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0132] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store computer programs.

[0133] The embodiment of the present invention further provides a storage medium containing computer executable instructions, which are used to execute a backwash execution method or an automatic cleaning device control method when executed by a computer processor, and the backwash execution includes the following steps:

[0134] When the position sensor detects that the buoy has dropped to the bottom of the water tank, the pumping time of the water pump in the water tank begins to be recorded;

[0135] In the case where it is detected that the automatic cleaning device triggers a backwash action, the remaining available water in the water tank is determined based on the pumping time;

[0136] When the remaining available water volume meets the backwashing conditions, the backwashing process is performed;

[0137] When the remaining available water volume does not satisfy the backwash condition, a water-free state message is sent to the automatic cleaning device.

[0138] The automatic cleaning device control method comprises the following steps:

[0139] When the backwash action is triggered and the water-free status information sent by the base station is received, the current target area being cleaned continues to be cleaned;

[0140] When the target area is cleaned, return to the base station.

[0141] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A backwash execution method, characterized in that: The method is applicable to a base station, the base station comprises a water tank, a buoy is arranged inside the water tank, a position sensor is arranged outside the water tank, the position sensor is used to detect the position of the buoy, and the method comprises: When the position sensor detects that the buoy has dropped to the bottom of the water tank, the pumping time of the water pump in the water tank begins to be recorded; In the case where it is detected that the automatic cleaning device triggers a backwashing action, determining the remaining available water in the water tank according to the pumping time; When the remaining available water volume meets the backwashing condition, performing the backwashing process; When the remaining available water volume does not satisfy the backwash condition, water-free state information is sent to the automatic cleaning device.

2. The backwash execution method according to claim 1, characterized in that: The position sensor includes a first sensor and a second sensor. When the buoy floats to the highest position, only the first sensor is triggered. When the buoy descends to the bottom of the water tank, only the second sensor is triggered. When the buoy is between the highest position and the bottom of the water tank, both the first sensor and the second sensor are triggered. When the position sensor detects that the buoy has descended to the bottom of the water tank, the pumping time of the water pump in the water tank is recorded, including: When it is detected that the second sensor is in a triggered state and the first sensor is in a non-triggered state, the pumping time of the water pump in the water tank starts to be recorded.

3. The backwash execution method according to claim 2, characterized in that: Also includes: When it is detected that the second sensor and the first sensor are both in an untriggered state for a period exceeding a preset time, the recorded pumping time is cleared, and when it is detected that the automatic cleaning device triggers the backwash action, the water-free state information is sent to the automatic cleaning device.

4. The backwash execution method according to claim 2, characterized in that: A buoy limiting structure is arranged in the water tank, and the buoy limiting structure is provided with a limiting cavity. The water tank and the limiting cavity are communicated with each other, and the buoy is arranged in the limiting cavity. The top of the buoy limiting structure is lower than the top of the water tank, and the buoy limiting structure is used to limit the highest position to which the buoy can float.

5. The backwash execution method according to claim 4, characterized in that: The first sensor and the second sensor are arranged at positions outside the water tank corresponding to the buoy limiting structure, the setting height of the first sensor is greater than the setting height of the second sensor, and the distance between the first sensor and the top of the buoy limiting structure is less than the length of the buoy, the distance between the first sensor and the bottom of the water tank is greater than the length of the buoy, the distance between the second sensor and the bottom of the water tank is less than the length of the buoy, the distance between the second sensor and the top of the buoy limiting structure is greater than the length of the buoy, and the distance between the first sensor and the second sensor is less than the length of the buoy.

6. The backwash execution method according to claim 1, characterized in that: The method of determining the remaining available water volume in the water tank according to the pumping time includes: Determine the total water pumping volume according to the water pumping volume per unit time and the water pumping duration; The remaining available water volume in the water tank is obtained by subtracting the total pumped water volume from the preset available water volume.

7. A method for controlling an automatic cleaning device, characterized in that: The method is applicable to an automatic cleaning device, and the automatic cleaning device is used to return to a base station that executes the backwash execution method according to any one of claims 1 to 6 for backwashing when a backwashing action is triggered. The method comprises: When the backwashing action is triggered and the water-free state information sent by the base station is received, continue cleaning the target area currently being cleaned; After cleaning the target area, the mobile station returns to the base station.

8. The automatic cleaning equipment control method according to claim 7, characterized in that: The automatic cleaning device includes a wet cleaning component and a dry cleaning component, and in the process of continuing to clean the target area currently being cleaned, further includes: When it is detected that the wet cleaning component meets the stop operation condition, the wet cleaning component is controlled to stop cleaning, and the dry cleaning component is controlled to continue cleaning the target area.

9. A base station, characterized in that: The base station includes a water tank, a buoy is arranged inside the water tank, a position sensor is arranged outside the water tank, and the position sensor is used to detect the position of the buoy. The base station also includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute a backwash execution method as claimed in any one of claims 1 to 6 according to instructions in the computer program.

10. An automatic cleaning device, characterized in that: comprising a processor and a memory, wherein the automatic cleaning device is used to return to the base station of claim 9 for backwashing when a backwashing action is triggered; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute the automatic cleaning equipment control method according to any one of claims 7 to 8 according to the instructions in the computer program.

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