Cleaning system control method and device, cleaning system and storage medium

Abstract

The embodiment of the invention provides a control method of a cleaning system, the cleaning system and a computer readable storage medium. The method comprises the steps that at least one time of cleaning control operation is executed, and the cleaning control operation comprises the steps that a suction assembly is controlled to suck a cleaning product with a first preset suction force within a first time period, so that the cleaning product enters a dirt detection area; controlling the suction assembly to suck the cleaning product at a second preset suction force within a second time period after the first time period, so that the flow rate of the cleaning product in the dirt detection area is not greater than the target flow rate; performing smudginess detection on the cleaning product based on first smudginess information detected by the smudginess detector in the second time period; and the suction assembly is controlled to suck the cleaning product at a third preset suction force within a third time period after the second time period, so that the cleaning product on one side of the inlet of the blow-off pipeline is emptied. According to the scheme, a relatively accurate dirt detection result can be obtained on the basis of ensuring that the cleaning product is emptied as much as possible.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning systems, and more specifically to a control method for a cleaning system, a control device for a cleaning system, a cleaning system, and a computer-readable storage medium. Background Art

[0002] At present, cleaning equipment has been widely used in daily life, and commonly used cleaning equipment includes cleaning robots, handheld floor scrubbers, etc. During the cleaning process of the area to be cleaned and / or the self-cleaning process of the cleaning parts, the cleaning equipment usually needs to use a suction component and a sewage pipe to transport the cleaning product, and perform a dirt detection on the cleaning product (mainly including sewage) in the sewage pipe. Among them, the suction component is used to provide power to transport the cleaning product to the sewage discharge area through the sewage pipe.

[0003] In the related art, when the suction force of the suction component is small, the cleaning product on the inlet side of the sewage pipe may not be emptied in time, resulting in overflow of the cleaning product. When the suction force of the suction component is too large, bubbles are easily sucked out, resulting in the inability to accurately detect the degree of dirtiness of the cleaning product, which will affect the judgment of the degree of dirtiness of the cleaning product and cause the cleaning device to repeat cleaning times or repeat self-cleaning times too many times. Summary of the invention

[0004] The present invention is proposed in view of the above problems. According to one aspect of the present invention, a control method of a cleaning system is provided, the cleaning system includes a sewage pipe, a suction component and a dirt detector, the sewage pipe is used to transport cleaning products, the suction component is used to provide power for the cleaning products to be transported through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe; the method includes: performing at least one cleaning control operation, each cleaning control operation includes: controlling the suction component to suck the cleaning products with a first preset suction force in a first time period, so that the cleaning products enter the dirt detection area of ​​the sewage pipe; the dirt detection area is the corresponding detection area of ​​the dirt detector in the sewage pipe; controlling the suction component to suck the cleaning products with a second preset suction force in a second time period after the first time period, so that the flow rate of the cleaning products in the dirt detection area is not greater than the target flow rate; based on the first dirt information detected by the dirt detector in the second time period, the cleaning products are detected for dirtiness; controlling the suction component to suck the cleaning products with a third preset suction force in a third time period after the second time period, so that the cleaning products on the inlet side of the sewage pipe are emptied.

[0005] Exemplarily, based on first dirt information detected by the dirt detector during the second time period, a dirt detection is performed on the cleaning product, including: based on the first dirt information, determining whether there are bubbles in the cleaning product; when there are no bubbles in the cleaning product, determining the degree of dirtiness of the cleaning product based on at least part of the dirt information in the first dirt information; when there are bubbles in the cleaning product, determining that the current dirt detection is invalid.

[0006] Exemplarily, at least one cleaning control operation is performed in the same cleaning task. When it is determined that the current dirt detection is invalid, the method also includes: when the second preset suction used in the current cleaning control operation is greater than the target suction threshold, a new second preset suction is determined by reducing the second preset suction used in the current cleaning control operation, and the new second preset suction is greater than or equal to the target suction threshold; wherein, if the second preset suction used in the current cleaning control operation is equal to the target suction threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction corresponding to the next cleaning control operation is the target suction threshold, or, the second preset suction corresponding to the first cleaning control operation in the next cleaning task is the target suction threshold; if the second preset suction used in the current cleaning control operation is greater than the target suction threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction corresponding to the next cleaning control operation is the new second preset suction, or, the second preset suction corresponding to the first cleaning control operation in the next cleaning task is the new second preset suction.

[0007] Exemplarily, at least one cleaning control operation is performed in the same cleaning task, and when it is determined that the current dirt detection is invalid, the current cleaning control operation is the last cleaning control operation performed in this cleaning task, or, when it is determined that the current dirt detection is invalid, the method also includes: in this cleaning task, controlling the suction component to suck the cleaning product with a default fourth preset suction force within a preset time period; or, when it is determined that the current dirt detection is invalid, the method also includes: in this cleaning task, continuing to use the default first preset suction force, the default second preset suction force and the default third preset suction force to perform a first preset number of cleaning control operations.

[0008] Exemplarily, a new second preset suction is determined by reducing the second preset suction used in the current cleaning control operation, including: reducing the second preset suction used in the current cleaning control operation by a preset reduction amount; determining whether the reduced second preset suction is greater than a target suction threshold; if the reduced second preset suction is greater than the target suction threshold, determining the reduced second preset suction as the new second preset suction; if the reduced second preset suction is less than or equal to the target suction threshold, determining the target suction threshold as the new second preset suction.

[0009] Exemplarily, before at least one cleaning control operation is performed, the method also includes: determining a preset initial suction force as the current suction force; increasing the suction force of the suction component from the current suction force to a new suction force according to a preset increase; calculating the current difference between the working current of the suction component under the new suction force and the working current under the current suction force; if the current difference is greater than the current difference threshold, determining the new suction force as the target suction force threshold, otherwise returning to execute the step of increasing the suction force of the suction component from the current suction force to the new suction force according to the preset increase amount.

[0010] Exemplarily, when there is at least one cleaning control operation in each cleaning task among the second preset number of cleaning tasks to determine that the dirt detection is invalid, the method also includes: performing dirt detection on the cleaning product based on second dirt information detected by the dirt detector within a fourth time period after the last cleaning task among the second preset number of cleaning tasks is completed.

[0011] Exemplarily, based on second dirt information detected by the dirt detector within a fourth time period after the last cleaning task among a second preset number of cleaning tasks is completed, dirt detection is performed on the cleaning product, including: judging whether the second dirt information meets a preset condition; if the second dirt information meets the preset condition, determining the degree of dirtiness of the cleaning product based on at least part of the dirt information in the second dirt information; if the second dirt information does not meet the preset condition, determining that the current dirt detection is invalid.

[0012] Exemplarily, the first dirt information includes multiple dirt values; based on the first dirt information, judging whether there are bubbles in the cleaning product, including: based on the sizes of the multiple dirt values, judging whether there is a target group of dirt values ​​among the multiple dirt values ​​whose distribution concentration meets the first preset requirement; when there is a target group of dirt values ​​among the multiple dirt values, determining that there are no bubbles in the cleaning product, and when there is no target group of dirt values ​​among the multiple dirt values, determining that there are bubbles in the cleaning product.

[0013] Exemplarily, the cleaning system also includes a drainage container, which is connected to the outlet of the sewage pipe; when the cleaning system is first turned on or replacement of the drainage container is detected, the method also includes: obtaining parameter information of the suction component and / or parameter information of the drainage container; based on the parameter information of the suction component and / or the parameter information of the drainage container, determining the initial cleaning parameters of the cleaning system; wherein the initial cleaning parameters include one or more of a first preset suction force, a second preset suction force, a third preset suction force, a first time period, a second time period and a third time period corresponding to the first cleaning control operation.

[0014] Exemplarily, the first preset suction is greater than the second preset suction, and the third preset suction is greater than the first preset suction; and / or, in a first time period, the first preset suction decreases as time increases and then decreases; and / or, in a second time period, the second preset suction first decreases and then increases as time increases; and / or, in a third time period, the third preset suction increases as time increases.

[0015] Exemplarily, the cleaning system also includes a cleaning element, which is used to clean the area to be cleaned, at least one cleaning control operation is performed in the same self-cleaning task for the cleaning element, and when the degree of dirtiness determined by dirtiness detection of the cleaning product in the current self-cleaning task is lower than or equal to the target degree of dirtiness, the current self-cleaning task is the last self-cleaning task; and / or, the method also includes: when the degree of dirtiness determined by dirtiness detection of the cleaning product in the current self-cleaning task is higher than the target degree of dirtiness, executing the next self-cleaning task for the cleaning element.

[0016] According to a second aspect of the present invention, a control device for a cleaning system is also provided, the cleaning system comprising a sewage pipe, a suction component and a dirt detector, the sewage pipe is used to transport cleaning products, the suction component is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe; the control device comprises a processor and a memory, wherein a computer program / instruction is stored in the memory, and when the computer program / instruction is executed by the processor, the control method of the cleaning system as described above is implemented.

[0017] According to a third aspect of the present invention, a cleaning system is also provided, which includes a sewage pipe, a suction component and a dirt detector. The sewage pipe is used to transport cleaning products, and the suction component is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe, wherein the cleaning system also includes a control device for the cleaning system as described above.

[0018] According to a fourth aspect of the present invention, there is further provided a computer-readable storage medium storing a computer program / instruction, wherein the computer program / instruction implements the above-mentioned control method of the cleaning system when executed by a processor.

[0019] According to the above technical scheme, the suction process of the cleaning product is divided into three stages, and these three stages correspond to the first time period, the second time period and the third time period. The cleaning product is sucked using the corresponding preset suction force in the three time periods. The suction operation in the first time period is mainly used to suck the cleaning product into the dirt detection area of ​​the sewage pipe. In the second time period, the cleaning product is sucked using the second preset suction force so that the flow rate of the cleaning product is not greater than the target flow rate, and the dirt detection is performed in the second time period, which is conducive to preventing the generation of bubbles in the cleaning product, and further helps to improve the accuracy of the dirt detection result. In the third time period, the cleaning product is sucked using the third preset suction force so that the cleaning product on the inlet side of the sewage pipe is emptied, which helps to prevent the overflow of the cleaning product. In short, this scheme can obtain a more accurate dirt detection result on the basis of ensuring that the cleaning product is emptied as much as possible.

[0020] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0022] Figure 1 A schematic flow chart showing a cleaning control operation according to an embodiment of the present application;

[0023] Figure 2 A schematic diagram showing the structure of a cleaning system according to an embodiment of the present application is shown;

[0024] Figure 3 A schematic structural diagram of a cleaning system according to another embodiment of the present application is shown;

[0025] Figure 4 A schematic diagram showing a method for determining a target suction threshold according to an embodiment of the present application;

[0026] Figure 5 A schematic flow chart showing a cleaning task according to a specific embodiment of the present application; and

[0027] Figure 6 A suction force variation curve diagram of a suction assembly according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0029] The cleaning system includes a cleaning device and / or a base station matched with the cleaning device. Cleaning equipment is widely used in daily life, and commonly used cleaning equipment includes cleaning robots, handheld floor scrubbers, etc. Cleaning equipment such as cleaning robots and handheld floor scrubbers can also be used with base stations, and the base station can charge and self-clean the cleaning equipment. The cleaning operation of the cleaning system may include cleaning the area to be cleaned by a cleaning device (which may be called area cleaning) and / or self-cleaning the cleaning parts of the cleaning device by a cleaning device or a base station. When the cleaning device cleans the area to be cleaned, and / or the cleaning device performs self-cleaning after completing the cleaning of at least part of the area to be cleaned, it is usually necessary to detect dirt on the cleaning product (mainly including sewage). The dirt detection result can be used as a basis for whether repeated cleaning is required during the cleaning process of the area to be cleaned, and / or whether repeated self-cleaning is required during the self-cleaning process. That is, during the cleaning process of the cleaning device for the area to be cleaned, if the dirt detection result shows that the current degree of dirtiness is high, it can be determined that the current area to be cleaned needs to be cleaned again. During the self-cleaning process of the cleaning device after completing the cleaning of at least part of the area to be cleaned, if the dirt detection result shows that the current dirtiness is high, it can be determined that the cleaning parts of the cleaning device need to be self-cleaned again, and / or, at least part of the current area to be cleaned needs to be cleaned again. The dirt detection performed by the cleaning device when cleaning the area to be cleaned can be performed on the cleaning device. As for the dirt detection performed by the cleaning device in the above-mentioned self-cleaning process, if the self-cleaning is completed on the cleaning device, the dirt detection can also be performed by the cleaning device, and if the self-cleaning is completed on the base station, the dirt detection can be performed by the base station. The cleaning parts described herein may include but are not limited to one or more of a roller brush, a roller, a mopping part (such as a mop), etc. The cleaning products described herein may include sewage and / or solid waste, etc.

[0030] The following takes a cleaning robot and a base station matched with the cleaning robot as examples to describe the sewage discharge method of the cleaning system and the dirt detection method during the sewage discharge process. The cleaning robot can mop the ground with the mopping and wiping member at the bottom. The mopping and wiping member often becomes dirty after mopping the ground for a period of time. In order to ensure the cleaning effect of the area to be cleaned, the cleaning robot needs to return to the corresponding base station to clean the mopping and wiping member. The base station may include a cleaning area, a clean water chamber and a sewage chamber. The clean water chamber is a chamber for placing clean water, such as the chamber of the clean water tank described below. The sewage chamber is a chamber for placing cleaning products such as sewage, such as the chamber of the sewage tank or the upper and lower water modules described below. When the cleaning robot is docked at the base station, the mopping and wiping member is accommodated in the cleaning area. The clean water chamber is connected to the cleaning area to supply clean water for cleaning the mopping and wiping member to the cleaning area. The sewage chamber is also connected to the cleaning area and can be connected to a negative pressure device (equivalent to the suction component below). The sewage chamber generates negative pressure under the action of the negative pressure device to suck the cleaning products containing sewage obtained after cleaning the mopping and wiping member in the cleaning area into the sewage chamber. A dirt detection device is provided on the sewage pipe between the cleaning area and the sewage chamber, which can detect the transmittance of the cleaning product, thereby obtaining the dirtiness of the cleaning product. The dirtiness of the cleaning product can be used to characterize the dirtiness of the mopping member. The dirtiness of the mopping member can be used to determine the number of times to continue cleaning the mopping member or the number of times to repeatedly mop the area to be cleaned.

[0031] The above description is made by taking a cleaning robot with a base station as an example. It is to be understood that the cleaning device of the present application is not limited to a cleaning robot, but may also be a handheld floor scrubber or the like.

[0032] In order to detect the dirtiness of the cleaning product, a detection scheme based on the transmittance of light after passing through the cleaning product can be used to judge the degree of dirtiness of the cleaning product. The higher the transmittance, the cleaner the cleaning product; conversely, the more turbid the cleaning product. However, in the process of the cleaning system sucking the cleaning product, when the suction force of the negative pressure device is too large or there is less sewage in the cleaning area (such as the tray pad), bubbles will be sucked out. When there are bubbles in the cleaning product, the obtained sewage transmittance cannot truly reflect the degree of dirtiness of the cleaning product, which leads to the failure of the dirtiness detection. The result of the dirtiness detection will affect the judgment of the degree of dirtiness of the mopping part, which may cause the cleaning robot to re-mop the area to be cleaned or self-clean the mopping part too many times.

[0033] Based on the above situation, the present application provides a control method and device for a cleaning system, a cleaning system and a computer-readable storage medium. The method can eliminate the influence of bubbles in the cleaning product on the detection results and improve the accuracy of the detection results. The control method and device, the cleaning system and the computer-readable storage medium are described in detail below.

[0034] According to one aspect of an embodiment of the present application, a control method for a cleaning system is provided. The method is used to control a cleaning system. The cleaning system includes a sewage pipe, a suction component, and a dirt detector. The sewage pipe is used to transport cleaning products. The suction component is used to provide power to transport the cleaning products through the sewage pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe.

[0035] Optionally, the dirt detector can be any existing or future developed photoelectric liquid transmittance sensor that uses light transmittance to detect the degree of dirtiness of the cleaning product. In a specific embodiment, the dirt detector can be an infrared detection device. The infrared detection device includes an infrared transmitting tube and an infrared receiving tube. The infrared transmitting tube emits quantifiable infrared light, and the infrared receiving tube receives the infrared light. When the infrared light passes through the sewage in the sewage pipe, physical phenomena such as reflection, refraction, and transmission will occur, resulting in attenuation and obstruction of the infrared light on the path. Finally, the degree of dirtiness of the cleaning product is determined based on the signal strength received by the infrared receiving tube.

[0036] The dirt detector can be set in any suitable position, as long as its detection range can cover the area to be tested in the sewage pipe. Optionally, the dirt detector can be set outside the sewage pipe. For example, the dirt detector can be set on the inner wall of the shell of the cleaning equipment or base station included in the cleaning system. This embodiment is convenient for replacing the dirt detector when it fails. When the dirt detector is set outside the sewage pipe, the sewage pipe can use a transparent material to avoid the color of the sewage pipe itself affecting the detection result. Alternatively, the dirt detector can be set inside the sewage pipe. Compared with setting the dirt detector outside the sewage pipe, setting the dirt detector inside the sewage pipe can avoid the introduction of uncontrollable variable factors as much as possible, and can also avoid missed detection, which is conducive to improving the accuracy of the detection results.

[0037] The control method may include the following steps: performing at least one cleaning control operation. Figure 1 FIG. 1 is a schematic flow chart of a cleaning control operation according to an embodiment of the present application. Figure 1 As shown, each cleaning control operation 100 may include the following steps S110 , S120 , S130 , and S140 .

[0038] In step S110, the suction component is controlled to suck the cleaning product with a first preset suction force within a first period of time, so that the cleaning product enters the dirt detection area of ​​the sewage pipe. The dirt detection area is the corresponding detection area of ​​the dirt detector in the sewage pipe.

[0039] The first preset suction force is used to suck the cleaning product into the dirt detection area of ​​the sewage pipe. The first preset suction force cannot be too small. A first preset suction force that is too small cannot suck the cleaning product into the sewage pipe. The first preset suction force cannot be too large. A first preset suction force that is too large may transport all the cleaning products in a very short time, and a first preset suction force that is too large may produce more bubbles, resulting in the inability to accurately detect the degree of dirtiness of the cleaning product in subsequent steps. Optionally, the first preset suction force can be an empirical value obtained by testing according to actual needs or a theoretical value determined by theoretical calculation. In some embodiments, the first preset suction force can be determined based on the diameter of the sewage pipe in the cleaning system and / or the parameter information of the suction component. Exemplarily, the above-mentioned cleaning system or other cleaning systems of the same type as the above-mentioned cleaning system can be tested in advance to determine the appropriate suction force that can suck the cleaning product into the dirt detection area of ​​the sewage pipe as the first preset suction force.

[0040] Optionally, the first time period can be set according to the magnitude of the first preset suction force. The greater the first preset suction force, the faster the speed at which the cleaning product enters the dirt detection area, and the shorter the first time period can be. Otherwise, vice versa.

[0041] In step S120, the suction assembly is controlled to suck the cleaning product with a second preset suction force in a second time period after the first time period, so that the flow rate of the cleaning product in the dirt detection area is not greater than the target flow rate.

[0042] Optionally, the target flow rate can be an empirical value obtained by testing according to actual needs or a theoretical value determined by theoretical calculation. Exemplarily, the target flow rate can be in the range of [0,0.5] m / s. In some embodiments, the target flow rate can be 0 m / s. That is, when the flow rate of the cleaning product is the target flow rate, the cleaning product does not flow in the sewage pipe. Optionally, the target flow rate can also be a value slightly greater than 0 m / s, such as 0.05 m / s, etc. In this way, although the cleaning product has a certain flow in the sewage pipe, it flows very slowly and will not affect the dirt detection.

[0043] Similar to the first preset suction, the second preset suction may also be an empirical value obtained by testing according to actual needs or a theoretical value determined by theoretical calculation. It is understandable that if the flow rate of the cleaning product in the sewage pipe is too fast, it is difficult to obtain sufficient effective detection data (i.e., the first dirt information below) in subsequent steps (e.g., step S130). In this embodiment, the second preset suction is used to make the flow rate of the cleaning product in the dirt detection area not greater than the target flow rate, so that the cleaning product remains in a stable or nearly stable state in the dirt detection area, so that the dirt detector can detect more effective data. As a result, this solution is conducive to improving the reliability of the detection results.

[0044] Optionally, the second period can be set according to the accuracy of the dirt detection result. During the second period, the dirt detector can continuously detect and obtain the first dirt information based on a preset detection frequency. The longer the second period, the more information of the first dirt information obtained, and the more accurate the dirt detection result obtained based on the first dirt information.

[0045] In step S130 , based on the first dirtiness information detected by the dirtiness detector in the second period, dirtiness detection is performed on the cleaning product.

[0046] After obtaining the first dirt information, the dirtiness of the cleaning product can be determined according to the first dirt information. Optionally, the first dirt information can be acquired by the dirt detector according to a preset frequency in the second time period. The preset frequency can be set according to actual needs. The larger the preset frequency, the more detection times in the second time period, the more computing resources occupied, and the more accurate the dirt detection result determined according to the first dirt information. The smaller the preset frequency, the fewer detection times in the second time period, the fewer computing resources occupied, but the dirt detection result determined according to the first dirt information may be less accurate.

[0047] The dirt information described herein may be information that can represent the degree of dirtiness of a cleaning product. Exemplarily, the dirt information may include one or more dirt values, and the dirt value may be the light intensity detected by a photoelectric liquid transmittance sensor (i.e., a dirt detector), or may be information further determined based on the light intensity, such as a transmittance value, etc. Optionally, the first dirt information obtained may be positively correlated with the degree of dirtiness of the cleaning product, or may be negatively correlated with the degree of cleanliness of the cleaning product. When a photoelectric liquid transmittance sensor such as an infrared detection device is used to detect the degree of dirtiness of a cleaning product, the received signal represents the light intensity (i.e., light intensity), and its magnitude is within the range of [0,255]. In one embodiment, the first dirt information includes one or more dirt values, and a corresponding conversion relationship between the dirt value and the signal intensity may be established to convert the received signal intensity into a corresponding dirt value. The corresponding conversion relationship between the dirt value and the signal intensity may be dirt value = 255-signal intensity. At this time, the first dirt information obtained may be positively correlated with the degree of dirtiness of the cleaning product. The larger the dirt value in the first dirt information, the dirtier the cleaning product. Alternatively, the signal strength received by the dirt detector can be directly used as the dirt value in the first dirt information. In other words, the received light intensity can be directly used as the dirt value. In this embodiment, the first dirt information is negatively correlated with the dirtiness of the cleaning product. The larger the dirt value in the first dirt information, the cleaner the cleaning product.

[0048] In step S140, the suction assembly is controlled to suck the cleaning product with a third preset suction force in a third time period after the second time period, so that the cleaning product on the inlet side of the sewage pipe is emptied.

[0049] Optionally, the suction described herein (including the first preset suction, the second preset suction, the third preset suction, and the fourth preset suction and target suction threshold described below) are all suction output by the suction component, which can be directly represented by the suction at the entrance of the suction component. Alternatively, the suction described herein can also be represented by the operating parameters of the suction component. For example, the operating parameters may include one or more of the following: the power of the motor in the suction component, the driving voltage value of the motor, the driving current value of the motor, etc. It can be understood that these operating parameters are positively correlated with the suction at the entrance of the suction component. By controlling the operating parameters such as the power of the motor in the suction component and the driving voltage value of the motor, the control of the suction at the entrance of the suction component can be achieved. Therefore, the above operating parameters can be used to characterize the suction. For example, controlling the suction component to suck the cleaning product with the first preset suction force can be controlling the suction component to work with the first preset working power to suck the cleaning product. Optionally, any suction described herein can be an empirical value obtained by testing according to actual needs or a theoretical value determined by theoretical calculation.

[0050] Optionally, the third preset suction force can be set as needed. For example, the third preset suction force can be the maximum suction force of the suction assembly. It is understandable that in the third period, there is no need to consider the problem of more bubbles in the cleaning product that may be caused by excessive suction force. It is mainly necessary to consider emptying the cleaning product on the inlet side of the sewage pipe. Therefore, at this time, the cleaning product can be quickly emptied with the maximum suction force of the suction assembly to shorten the time required for the entire cleaning control operation.

[0051] Optionally, the third time period can be an empirical value obtained by testing according to actual needs or a theoretical value determined by theoretical calculation. In some embodiments, the time required for the cleaning system to empty the cleaning products on one side of the inlet of the sewage pipe under the third preset suction force can be pre-tested. This time can be called the theoretical evacuation time. The duration of the third time period can be set to be equal to the theoretical evacuation time. Alternatively, the duration of the third time period can be greater than the theoretical evacuation time. Thus, it can be further ensured that the cleaning products on one side of the inlet of the sewage pipe are emptied.

[0052] Figure 2 FIG. 2 is a schematic diagram showing a cleaning system according to an embodiment of the present application. Figure 2As shown, in this embodiment, the cleaning system includes a cleaning robot and a base station. The suction component is an air pump. The dirt detector is a sewage sensor. The internal space of the sewage tank is a sewage chamber. In this embodiment, the user can manually change the water to inject clean water into the clean water tank / empty the sewage tank. After the cleaning robot returns to the base station, the clean water tank injects clean water into the tray pad through the clean water pump. At the same time, the cleaning liquid tank storing the cleaning liquid can inject the cleaning liquid into the tray pad. The mopping parts of the cleaning robot are cleaned in the tray pad (i.e., self-cleaning). After the cleaning is completed, the cleaning product enters the sewage tank through the sewage pipe arranged between the tray pad and the sewage tank under the suction of the air pump. A sewage sensor is arranged on the sewage pipe to detect the degree of dirtiness of the cleaning product. It can be understood that in this embodiment, the cleaning product on the inlet side of the sewage pipe is emptied, that is, the cleaning product in the tray pad is emptied.

[0053] Figure 3 FIG. 2 is a schematic diagram showing the structure of a cleaning system according to another embodiment of the present application. Figure 3 As shown, in this embodiment, the cleaning system includes a cleaning robot and a base station. The suction component is an air pump. The dirt detector is a sewage sensor. A clean water chamber and a sewage chamber are formed inside the upper and lower water modules. In this embodiment, after the cleaning robot returns to the base station, the clean water chamber of the upper and lower water modules injects clean water into the tray pad through the clean water pump. A water replenishment pipeline that can automatically replenish water is provided on the clean water chamber of the upper and lower water modules. The water inlet of the water replenishment pipeline can be connected to the tap water pipeline, so as to realize automatic water replenishment without manual water change. At the same time, the cleaning liquid tank storing cleaning liquid injects cleaning liquid into the tray pad. The mopping and wiping parts of the cleaning robot are cleaned in the tray pad. After cleaning, the cleaning product enters the sewage chamber of the upper and lower water modules through the sewage pipe provided between the tray pad and the sewage chamber of the upper and lower water modules under the suction of the air pump. And it is discharged through the drainage pipe of the upper and lower water modules. The outlet of the drainage pipe can be connected to the floor drain, so as to realize automatic drainage without manual water change. A sewage sensor is provided on the sewage pipe to detect the degree of dirtiness of the cleaning product. It can be understood that in this embodiment, the cleaning product on the inlet side of the sewage pipe is emptied, that is, the cleaning product in the tray pad is emptied.

[0054] The cleaning robot and base station shown above are still used as examples for explanation. In the related art, a common method is to use a fixed suction force to suck the sewage and other cleaning products in the cleaning area into the sewage chamber. However, this method has the following problems: the water suction system (equivalent to Figure 2 suction components, sewage pipes and sewage tanks in the Figure 3The suction components, sewage pipes and water up and down modules in the tray pad (i.e., the cleaning area, which is equivalent to the inlet side of the sewage pipe in the embodiment of the present application) need to suck away the cleaning products such as sewage in the tray pad within a fixed time. If a larger suction force is used to suck the cleaning products, the speed at which the cleaning products pass through the sewage pipe portion where the dirt detector is located is fast, and bubbles will be generated in the cleaning products, making it impossible to perform effective dirt detection. If a smaller suction force is used to suck the cleaning products, the cleaning products in the tray pad may not be completely sucked out within the specified time, resulting in water overflow. In summary, it is impossible to use a fixed suction force to simultaneously complete the tasks of emptying the cleaning products and detecting dirt on the cleaning products.

[0055] In this article, the generation of bubbles (or the presence of bubbles) in the cleaning product means that the amount of bubbles generated (or present) in the cleaning product is sufficient to have a significant impact on the dirtiness value of the cleaning product. The absence of bubbles (or the absence of bubbles) in the cleaning product means that the amount of bubbles in the cleaning product is insufficient to have a significant impact on the dirtiness value of the cleaning product or the impact is negligible.

[0056] In the above technical scheme, the suction process of the cleaning product is divided into three stages, and these three stages correspond to the first time period, the second time period and the third time period. The cleaning product is sucked using the corresponding preset suction force in the three time periods. The suction operation in the first time period is mainly used to suck the cleaning product into the dirt detection area of ​​the sewage pipe. In the second time period, the cleaning product is sucked using the second preset suction force so that the flow rate of the cleaning product is not greater than the target flow rate, and the dirt detection is performed in the second time period, which is conducive to preventing the generation of bubbles in the cleaning product, and further helps to improve the accuracy of the dirt detection result. In the third time period, the cleaning product is sucked using the third preset suction force so that the cleaning product on the inlet side of the sewage pipe is emptied, which helps to prevent the overflow of the cleaning product. In short, this scheme can obtain a more accurate dirt detection result on the basis of ensuring that the cleaning product is emptied as much as possible.

[0057] Exemplarily, step S130, based on the first dirt information detected by the dirt detector in the second time period, performing dirt detection on the cleaning product may include the following steps: based on the first dirt information, determining whether there are bubbles in the cleaning product. When there are no bubbles in the cleaning product, determining the degree of dirtiness of the cleaning product based on at least part of the dirt information in the first dirt information. When there are bubbles in the cleaning product, determining that the current dirt detection is invalid.

[0058] As mentioned above, when there are bubbles in the cleaning product, the detected first dirtiness information cannot accurately reflect the dirtiness of the cleaning product. When a photoelectric liquid transmittance sensor such as an infrared detection device is used as a dirtiness detector, if there are bubbles in the cleaning product, the transmittance of the detected cleaning product will be reduced, and the detected dirtiness will be dirtier than the actual dirtiness. In order to eliminate the interference of bubbles that may exist in the cleaning product on the current detection result, the first dirtiness information can be used to determine whether there are bubbles in the cleaning product before determining the dirtiness of the cleaning product. When there are bubbles in the cleaning product, it can be directly determined that the current dirtiness detection is invalid, and there is no need to perform the operation of determining the dirtiness of the cleaning product, which helps to reduce unnecessary calculations.

[0059] The above technical solution judges whether there are bubbles in the cleaning product based on the first dirtiness information before determining the dirtiness of the cleaning product, which can prevent the bubbles that may exist in the cleaning product from interfering with the current detection results, and is conducive to further improving the accuracy of the dirtiness detection results.

[0060] Exemplarily, the first dirt information includes a plurality of dirt values. Based on the first dirt information, judging whether there are bubbles in the cleaning product may include the following steps: judging whether there is a target group dirt value whose distribution concentration meets a first preset requirement among the plurality of dirt values ​​based on the size of the plurality of dirt values; when there is a target group dirt value among the plurality of dirt values, determining that there are no bubbles in the cleaning product; and when there is no target group dirt value among the plurality of dirt values, determining that there are bubbles in the cleaning product.

[0061] The first preset requirement may be the distribution concentration of the dirtiness value when there are no bubbles in the cleaning product or there are few bubbles in the cleaning product and the influence on the dirtiness value of the cleaning product can be ignored, which is determined in advance by theory or test. It can be understood that when there are bubbles and there are many bubbles in the cleaning product, the obtained dirtiness value data fluctuates greatly, and multiple dirtiness value data will be distributed in more different sections based on the value size. When there are no bubbles in the cleaning product or there are few bubbles in the cleaning product and the influence on the dirtiness value of the cleaning product can be ignored, the cleaning product in the sewage pipe is uniform and stable. The multiple dirtiness values ​​obtained are close in size, that is, multiple dirtiness value data will be distributed in a certain section more concentratedly based on the value size. The dirtiness value in the more concentrated section can be regarded as the target group dirtiness value. Therefore, it can be determined whether the obtained dirtiness value can accurately reflect the dirtiness degree of the cleaning product by whether there is a target group dirtiness value in multiple dirtiness values.

[0062] The method for determining whether there is a target group dirtiness value among multiple dirtiness values ​​can be determined by any suitable concentration degree analysis method currently available or developed in the future. For example, it can be determined whether there is a target group dirtiness value among multiple dirtiness values ​​based on a histogram or a clustering algorithm. For specific methods, see the embodiments below.

[0063] Optionally, based on the magnitudes of the multiple contamination values, determining whether there is a target group of contamination values ​​whose distribution concentration meets the first preset requirement among the multiple contamination values ​​may include the following steps:

[0064] A histogram of the multiple dirtiness values ​​is generated based on the magnitudes of the multiple dirtiness values.

[0065] The intervals of the histogram are traversed in order from large to small interval ranges, and the number of intervals and the total number of dirt values ​​contained in the intervals are accumulated until the total number of dirt values ​​accumulated is greater than or equal to the first quantity threshold or the accumulated number of intervals is equal to the second quantity threshold, so as to obtain the accumulated result.

[0066] If the accumulation result meets the second preset requirement when the accumulation is stopped, it is determined that there is a target segment that meets the second preset requirement, and it is determined that there is a target group dirtiness value among the multiple dirtiness values. The target segment includes the interval included in the accumulation result when the accumulation is stopped. The dirtiness value included in the target segment is the target group dirtiness value.

[0067] If the accumulation result does not meet the second preset requirement when the accumulation is stopped, it is determined that there is no target segment meeting the second preset requirement, and it is determined that there is no target group of dirtiness values ​​among the multiple dirtiness values.

[0068] That is, when there is a target segment that meets the second preset requirement, it can be determined that there is a target group of dirtiness values ​​in the multiple dirtiness values, and when there is no target segment that meets the second preset requirement, it can be determined that there is no target group of dirtiness values ​​in the multiple dirtiness values. The lower limit of the target segment is the lower limit of one of the non-empty intervals in the histogram, and the upper limit of the target segment is the upper limit of one of the non-empty intervals in the histogram. Exemplarily, the second preset requirement may include: the total number of dirtiness values ​​contained in the target segment is greater than or equal to the first number threshold, and the number of intervals contained in the target segment is less than or equal to the second number threshold.

[0069] In this example, the dirt value is represented by the signal strength received by the dirt detector. A histogram of multiple dirt values ​​can be generated. It can be understood that the histogram includes multiple continuous intervals, and the lengths of each interval can be the same. The target segment may include one interval or multiple continuous intervals in the histogram. The target segment that meets the second preset requirement can be searched in multiple continuous intervals of the histogram. Assuming that the currently found interval is a non-empty interval, and the next interval of the currently found interval is an empty interval (that is, an interval containing 0 dirt values), if the second preset requirement is met when the current interval is found, there is no need to continue searching for the next interval. Therefore, the first interval found and the last interval found in the first target segment are both non-empty intervals.

[0070] It can be understood that in order to reduce the influence of bubbles that may exist in the cleaning product on the detection result, the traversal can be started from the interval with a lower degree of dirtiness. And when the dirtiness value is the signal strength received by the dirtiness detector, the dirtiness value is negatively correlated with the degree of dirtiness of the cleaning product. Therefore, the intervals of the histogram can be traversed in order from large to small interval ranges, thereby ensuring the accuracy of the detection result.

[0071] Optionally, the size of the second quantity threshold can be determined based on the interval length and the fluctuation value of the dirtiness value. The fluctuation value represents the difference between the dirtiness value detected when there are bubbles and the dirtiness value detected when there are no bubbles for the same cleaning product determined in advance by theory or testing. The introduction of invalid dirtiness values ​​into the target segment can be avoided by making the length of the target segment less than or equal to the fluctuation value. In some embodiments, the second quantity threshold is equal to the ratio of the fluctuation value to the interval length. In a specific embodiment, if the fluctuation value is 40 and the interval length is 10, the second quantity threshold can be 4.

[0072] The size of the first quantity threshold can be determined according to the total number of dirt values ​​included in the first dirt information. For example, the first quantity threshold can be 1 / 4 of the total number of dirt values. In one embodiment, the total number of dirt values ​​is 60, and the first quantity threshold can be 15. Alternatively, the first quantity threshold can also be determined according to the maximum number of intervals in the target segment (i.e., the second quantity threshold). The larger the second quantity threshold, the larger the first quantity threshold. The smaller the second quantity threshold, the smaller the first quantity threshold. It can be understood that the more dirt values ​​there are in the second quantity threshold interval, the more concentrated the data distribution of multiple dirt values, and the more dirt values ​​are included in the target group dirt value; otherwise, vice versa. Therefore, a suitable first quantity threshold can be set according to the second quantity threshold. For example, when the total number of dirt values ​​is 60 and the interval length of the histogram is 10, the second quantity threshold can be 4 and the first quantity threshold can be 15.

[0073] In one embodiment, accumulation can be stopped when the total number of accumulated dirt values ​​is greater than or equal to the first number threshold, or when the accumulated number of intervals is equal to the second number threshold. For example, when the first number threshold is equal to 15 and the second number threshold is equal to 4, accumulation can be stopped when the total number of accumulated dirt values ​​is greater than or equal to the first number threshold or the accumulated number of intervals is equal to the second number threshold. Then, it is determined whether the accumulation result meets another condition (for example, if accumulation is stopped when the accumulated number of intervals is equal to the second number threshold, the other condition at this time is to determine whether the total number of accumulated dirt values ​​is greater than or equal to the first number threshold). If the other condition is met, the currently accumulated interval is the target segment.

[0074] Optionally, based on the magnitudes of the multiple contamination values, determining whether there is a target group of contamination values ​​whose distribution concentration meets the first preset requirement among the multiple contamination values ​​may include the following steps:

[0075] Based on the magnitudes of the multiple dirtiness values, the multiple dirtiness values ​​are clustered to obtain at least one cluster.

[0076] Determine the cluster with the largest cluster center in at least one cluster as the target cluster.

[0077] It is determined whether the number of dirt values ​​in the target cluster is greater than or equal to a third number threshold.

[0078] When the number of dirt values ​​in the target cluster is greater than or equal to the third quantity threshold, based on the ratio between the number of dirt values ​​in the target cluster and the span of the target cluster, it is determined whether the distribution concentration of the target cluster is greater than the degree threshold. The distribution concentration of the target cluster is represented by the ratio or a parameter value positively correlated with the ratio. The span of the target cluster is the difference between the maximum dirt value and the minimum dirt value in the target cluster.

[0079] If the distribution concentration degree of the target cluster is greater than the degree threshold, it is determined that the target group dirtiness value exists in the multiple dirtiness values. Otherwise, it is determined that the target group dirtiness value does not exist in the multiple dirtiness values.

[0080] When the distribution concentration degree of the target clustering cluster meets the first preset requirement, the dirtiness value included in the target clustering cluster is the target group dirtiness value.

[0081] The size of the third quantity threshold can be set arbitrarily as needed, and it can be the same as or different from the first quantity threshold. For example, the third quantity threshold can be equal to 15. The setting method of the third quantity threshold can be similar to the setting method of the first quantity threshold. The setting method of the first quantity threshold has been described in detail in the above embodiment. The setting method of the third quantity threshold can be understood by referring to the above embodiment. For the sake of brevity, it will not be repeated here.

[0082] Optionally, the degree threshold can be set according to actual needs. For example, the degree threshold can be determined based on the ratio of the third quantity threshold to the fluctuation value of the dirtiness value (the meaning of the fluctuation value is described above). In one embodiment, the third quantity threshold is 15 and the fluctuation value is 40. In this embodiment, the degree threshold can be 0.375. The span of the target cluster refers to the difference between the maximum value and the minimum value in the target cluster. Assuming that the span of the target cluster is 10, the ratio between the number of dirtiness values ​​in the target cluster 15 and the span of the target cluster 10 is greater than the degree threshold 0.375. At this time, it can be determined that there is a target group dirtiness value among the multiple dirtiness values.

[0083] When clustering multiple dirt values, clustering may be performed based on differences between dirt values. For example, for any cluster, the difference between any two dirt values ​​in the cluster does not exceed a preset difference threshold.

[0084] According to the above technical solution, by judging whether the distribution concentration of the target cluster is greater than the degree threshold, it is helpful to eliminate the influence of bubbles that may exist in the cleaning product on the detection result. This solution is conducive to further improving the accuracy of the detection result.

[0085] Exemplarily, determining the degree of contamination of the cleaning product based on at least part of the contamination information in the first contamination information may include the following steps:

[0086] An average of multiple dirtiness values ​​in the target group of dirtiness values ​​is calculated as the target dirtiness value, or any dirtiness value in the target group of dirtiness values ​​is determined as the target dirtiness value; wherein the dirtiness degree of the cleaning product is represented by the target dirtiness value.

[0087] Optionally, in an embodiment in which a histogram-based method is used to determine whether a target group dirtiness value exists in a plurality of dirtiness values, the target dirtiness value may be determined by using all or part of the dirtiness values ​​in the first target segment. In this embodiment, the mean of all or part of the dirtiness values ​​in the first target segment may be directly calculated, and the mean may be used as the target dirtiness value. For example, the mean of the largest predetermined number of dirtiness values ​​in the first target segment may be calculated as the target dirtiness value. Alternatively, any dirtiness value may be selected from the target group dirtiness value as the target dirtiness value, for example, the largest dirtiness value in the first target segment may be directly used as the target dirtiness value.

[0088] Optionally, in an embodiment in which a clustering method is used to determine whether there is a target group dirtiness value whose distribution concentration meets the first preset requirement among multiple dirtiness values, all or part of the dirtiness values ​​in the target clustering cluster can be used to determine the target dirtiness value. In this embodiment, the mean of all or part of the dirtiness values ​​in the target clustering cluster can be directly calculated, and the mean can be used as the target dirtiness value. Similarly, the dirtiness values ​​involved in the mean calculation can be the largest predetermined number of dirtiness values ​​in the target clustering cluster. Alternatively, a dirtiness value can be selected from the target group dirtiness values ​​as the target dirtiness value. For example, the target dirtiness value can be the largest dirtiness value in the target clustering cluster. Alternatively, the cluster center of the target clustering cluster can be directly used as the target dirtiness value. This method has been described in detail in the above embodiment. For the sake of brevity, it will not be repeated here.

[0089] In the above technical solution, the average of multiple dirtiness values ​​in the target group dirtiness value can be used as the target dirtiness value, which is conducive to accurately determining the actual dirtiness of the clean product. In addition, any dirtiness value in the target group dirtiness value can also be used as the target dirtiness value. This method has a relatively small amount of calculation.

[0090] Exemplarily, at least one cleaning control operation is performed in the same cleaning task. When it is determined that the current dirt detection is invalid, the method 100 may further include the following steps: when the second preset suction force used in the current cleaning control operation is greater than the target suction force threshold, a new second preset suction force is determined by reducing the second preset suction force used in the current cleaning control operation. The new second preset suction force is greater than or equal to the target suction force threshold.

[0091] If the second preset suction force used in the current cleaning control operation is equal to the target suction force threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction force corresponding to the next cleaning control operation is the target suction force threshold. Alternatively, the second preset suction force corresponding to the first cleaning control operation in the next cleaning task is the target suction force threshold.

[0092] If the second preset suction used in the current cleaning control operation is greater than the target suction threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction corresponding to the next cleaning control operation will be the new second preset suction, or, the second preset suction corresponding to the first cleaning control operation in the next cleaning task will be the new second preset suction.

[0093] It can be understood that when it is determined that the current dirt detection is invalid, it indicates that there are bubbles in the cleaning product. The bubbles may be generated due to the second preset suction being too large. Therefore, when the current dirt detection is invalid, the suction value of the second preset suction may be reduced to prevent bubbles from being generated in the cleaning product.

[0094] Optionally, the target suction threshold can be used to represent the minimum suction force with which the suction assembly can suck the cleaning product into the sewage pipe. When the suction force of the suction assembly is less than the target suction threshold, the cleaning product in the suction pipe may flow back. Therefore, in order to prevent the cleaning product in the suction pipe from flowing back, it is necessary to control the second preset suction force to be not less than the target suction threshold. The method for determining the target suction threshold is described in detail below.

[0095] Exemplarily, the above-mentioned cleaning task can be a self-cleaning task for the cleaning part. It is understood that a cleaning task may include multiple cleaning control operations. Taking a cleaning robot as an example, when the cleaning robot cleans the area to be cleaned, in order to ensure the cleaning effect, it is necessary to return to the base station when the mopping and wiping parts of the cleaning robot are dirty to clean the mopping and wiping parts. In order to ensure that the mopping and wiping parts can be cleaned, it may be necessary to clean the mopping and wiping parts multiple times. Each cleaning corresponds to a cleaning control operation. In some embodiments, the second preset suction in each cleaning control operation in a cleaning task (such as a self-cleaning task) can be determined according to the second preset suction in the last cleaning control operation. In this embodiment, if there is a next cleaning control operation in this cleaning task, the second preset suction corresponding to the next cleaning control operation can be directly set to the new second preset suction. In other embodiments, the second preset suction in each cleaning control operation in a cleaning task is the same. When the current dirt detection is invalid, the number of cleaning control operations in this cleaning task can be executed according to the default number of times. For example, the default number of times can be 2 times. When the current dirt detection is invalid, this cleaning task can end after executing 2 cleaning control operations. In this embodiment, the second preset suction force corresponding to the first cleaning control operation in the next cleaning task can be the new second preset suction force. This embodiment is conducive to improving the cleaning efficiency of the cleaning robot in this self-cleaning task by setting the default number of times.

[0096] It can be understood that when the second preset suction is equal to the target suction threshold, continuing to reduce the second preset suction will seriously affect the cleaning effect of the cleaning device. Therefore, when the second preset suction is equal to the target suction threshold, there is no need to determine a new second preset suction based on the second preset suction in the current cleaning control operation. And in subsequent cleaning control operations (such as the next cleaning control operation in this cleaning task or the first cleaning control operation in the next cleaning task), the target suction threshold can be directly used as the second preset suction.

[0097] When the above technical solution determines that the current dirt detection is invalid, the second preset suction force in the cleaning control operation of the current cleaning task or the next cleaning task is reduced, which is conducive to preventing bubbles from existing in the cleaning product in the subsequent cleaning control operation, and thus is conducive to realizing effective dirt detection of the cleaning product as soon as possible. In addition, by making the new second preset suction force greater than or equal to the target suction force threshold, the solution can more effectively prevent the backflow of the cleaning product caused by the second preset suction force being too small, which is conducive to ensuring the cleaning effect of the cleaning system.

[0098] Exemplarily, at least one cleaning control operation is performed in the same cleaning task.

[0099] Exemplarily, when at least one cleaning control operation is performed in the same cleaning task, when it is determined that the current dirt detection is invalid, the current cleaning control operation is the last cleaning control operation performed in this cleaning task. Alternatively, when at least one cleaning control operation is performed in the same cleaning task, when it is determined that the current dirt detection is invalid, method 100 may further include the following steps: in this cleaning task, controlling the suction component to suck the cleaning product with a default fourth preset suction force within a preset period of time.

[0100] Exemplarily, when at least one cleaning control operation is performed in the same cleaning task, when it is determined that the current dirt detection is invalid, method 100 may further include the following steps: in this cleaning task, continue to use the default first preset suction force, the default second preset suction force and the default third preset suction force to perform the first preset number of cleaning control operations.

[0101] As described above, a cleaning task (such as a self-cleaning task) may include multiple cleaning control operations. Optionally, the number of times a cleaning control operation is performed in a cleaning task can be determined according to the dirty detection result (the result used to indicate the degree of dirtiness of the cleaning product) obtained by each cleaning control operation in this cleaning task. In a cleaning task, if the dirty detection result obtained by the current cleaning control operation shows that the cleaning product is relatively clean, then this cleaning task ends. If the dirty detection result obtained by the current cleaning control operation shows that the cleaning product is relatively dirty, the next cleaning control operation can be continued, or the next cleaning control operation can be stopped and the number of subsequent cleaning operations can be determined based on the current dirty detection result. The cleaning operation described herein is different from the cleaning control operation, for example, it can be directly cleaned and directly sucked for cleaning products, without the need to suck the cleaning products in three stages as in the cleaning control operation of the present application. Optionally, if it is determined that the current dirty detection is invalid in the current cleaning control operation, the cleaning control operation can be stopped and the default number of cleaning operations can be performed, or the cleaning control operation can be continued for several times.

[0102] In some embodiments, for a cleaning task, the second preset suction force in each cleaning control operation in the cleaning task is the same. In other words, the operation of reducing the second preset suction force in the subsequent cleaning control operation when the current dirt detection is invalid is not performed between the cleaning control operations belonging to the same cleaning task. At this time, if it is determined that the current dirt detection is invalid, the dirt detection result cannot be obtained, or even if the dirt detection result is obtained, the dirt detection result cannot be used as a basis for determining the number of subsequent cleaning operations or subsequent cleaning control operations. In one implementation, if it is determined that the current dirt detection is invalid, the current cleaning control operation can be used as the last cleaning control operation performed in this cleaning task. In another implementation, when the current dirt detection is invalid, the number of cleaning control operations in this cleaning task can be performed according to the default number of times. In this implementation, if it is determined that the current dirt detection is invalid, the default first preset suction force, the default second preset suction force and the default third preset suction force can continue to be used to perform the first preset number of cleaning control operations. In this way, although the current dirt detection is invalid, the previous staged method can still be used for suction, which has lower requirements for program design. The default first / second / third preset suction force may be any pre-set fixed first / second / third preset suction force (which may be, for example, pre-stored in the storage space), or the first / second / third preset suction force corresponding to the current determination of dirtiness invalid may be used (which may be referred to as the current first / second / third preset suction force). Alternatively, in this implementation, the suction component may also be controlled to suck the cleaning product with the default fourth preset suction force within a preset period of time. It is understandable that if the current dirtiness detection is invalid, the purpose of sucking the cleaning product in stages to achieve dirtiness detection cannot be achieved. At this time, it makes little sense to continue sucking in stages. Therefore, the cleaning product may be sucked with a fixed fourth preset suction force within a preset period of time, so that the cleaning product on the inlet side of the sewage pipe is quickly emptied, that is, the cleaning product in the tray pad is quickly emptied.

[0103] Optionally, the first preset number can be set as required. For example, the first preset number can be 2 times.

[0104] Optionally, the fourth preset suction can be set as needed. For example, the fourth preset suction can be equal to the third preset suction. For another example, the fourth preset suction can be the maximum suction of the suction assembly. Optionally, the preset time period is less than the sum of the first time period, the second time period, and the third time period. As shown above, when the current dirt detection is invalid, it is meaningless to continue to perform dirt detection through cleaning control operations. At this time, only the rapid emptying of the cleaning product needs to be considered. Therefore, the cleaning product can be directly sucked with the fourth preset suction within the preset time period to reduce the control complexity of the cleaning system and improve the cleaning efficiency.

[0105] In the above technical solution, after the dirt detection fails, the current cleaning control operation is directly used as the last cleaning control operation performed in this cleaning task, or the default suction force (for example, the default first preset suction force, the default second preset suction force and the default third preset suction force) is used to perform subsequent cleaning control operations, or the default fourth preset suction force is used to suck the cleaning product. This is conducive to reducing unnecessary operations and simplifying the process of the control method of the cleaning system.

[0106] Exemplarily, by reducing the second preset suction force used in the current cleaning control operation, determining the new second preset suction force may include the following steps: reducing the second preset suction force used in the current cleaning control operation by a preset reduction amount. Determining whether the reduced second preset suction force is greater than a target suction force threshold. If the reduced second preset suction force is greater than the target suction force threshold, determining the reduced second preset suction force as the new second preset suction force. If the reduced second preset suction force is less than or equal to the target suction force threshold, determining the target suction force threshold as the new second preset suction force.

[0107] Optionally, the preset reduction amount can be a fixed value. For example, the second preset suction used in the current cleaning control operation can be represented by x, the preset reduction amount can be represented by m, and the new second preset suction can be represented by y. In this embodiment, the relationship between the new second preset suction and the second preset suction used in the current cleaning control operation can be expressed as: y=xm. Alternatively, the preset reduction amount can be a fixed ratio. For example, the second preset suction used in the current cleaning control operation is still represented by x, m represents the preset reduction amount, and y represents the new second preset suction. In this embodiment, the relationship between the new second preset suction and the second preset suction used in the current cleaning control operation can be expressed as: y=(1-m)

[0108] *x. In a specific embodiment, the preset reduction amount may be 10%.

[0109] As described above, when the suction force of the suction assembly is less than the target suction force threshold, the cleaning product in the suction pipe may flow back. Therefore, it is necessary to control the new second preset suction force to be not less than the target suction force threshold. In some embodiments, if the reduced second preset suction force is less than or equal to the target suction force threshold, the target suction force threshold can be directly determined as the new second preset suction force. This solution is conducive to preventing the problem of poor cleaning effect caused by the new second preset suction force being too low.

[0110] The above technical solution helps to accurately determine the new second preset suction force by reducing the second preset suction force used in the current cleaning control operation by a preset reduction amount and making the new second preset suction force not less than the target suction force threshold.

[0111] Exemplarily, before at least one cleaning control operation is performed, the method 100 may further include the following steps:

[0112] Confirm the preset initial suction force as the current suction force.

[0113] The suction force of the suction component is increased from the current suction force to the new suction force according to the preset increase amount.

[0114] The current difference between the operating current of the suction component under the new suction force and the operating current under the current suction force is calculated.

[0115] If the current difference is greater than the current difference threshold, the new suction force is determined to be the target suction force threshold, otherwise the process returns to the step of increasing the suction force of the suction component from the current suction force to the new suction force according to a preset increase amount.

[0116] Optionally, the initial preset suction force can be set as needed. For example, the initial preset suction force can be any suction force determined by theory or testing that cannot suck the cleaning product into the sewage pipe. In a specific embodiment, the initial preset suction force can be 0.

[0117] Optionally, the preset increment can be set as needed. The preset increment cannot be too large, as a too large preset increment may result in an inability to accurately determine the target suction threshold. The preset increment cannot be too small, as a too small preset increment may increase the time required to determine the target suction threshold and reduce overall work efficiency. In a specific embodiment, a suitable preset increment can be determined based on the working parameters of the suction assembly.

[0118] It can be understood that the state when the suction component cannot suck the cleaning product into the sewage pipe is equivalent to a no-load state. The state when the suction component can suck the cleaning product into the sewage pipe is equivalent to a loaded state. The working current of the suction component in these two states is not the same, and the difference is large. Therefore, by comparing the working current of the suction component under the new suction force with the working current under the current suction force, when the working current jumps (that is, the current difference is greater than the current difference threshold), it can be considered that the suction component is switched from a no-load state to a loaded state. At this time, the new suction force can be used as the target suction force threshold.

[0119] Optionally, the current difference threshold value can be set according to an empirical value. As shown above, the operating current of the suction component in the no-load state and the loaded state is quite different. Therefore, according to the operating parameters of the suction component, the operating current of the suction component in the no-load state and the loaded state can be tested to obtain a more accurate current difference threshold value.

[0120] Figure 4A schematic diagram of a method for determining a target suction force threshold according to an embodiment of the present application is shown. In this embodiment, the motor in the suction component uses a pulse width modulation (PWM) signal as a motor drive signal. At this time, the value of the PWM signal used by the suction component (i.e., the PWM value) can be used to represent the suction force of the suction component. Figure 4 As shown, first, the PWM value can be initialized (init) to obtain a preset initial PWM value, that is, a preset initial suction force. The preset initial suction force is used as the current suction force. Then, the suction force of the suction component is increased from the current PWM value to a new PWM value according to the preset increase (that is, the step setting value in the figure). That is, PWM+=step setting value. Next, the current difference between the working current of the suction component at the new PWM value and the working current at the current PWM value is calculated, that is, the current difference between two adjacent currents is calculated. If the current difference between two adjacent currents is greater than the current difference threshold (that is, the setting value in the figure), the new PWM value is determined to be the target suction force threshold PWM_start. Otherwise, return to the step of executing PWM+=step setting value.

[0121] According to the above technical solution, by calculating the current difference between the working current of the suction component under the new suction force and the working current under the current suction force, and comparing the current difference with the current difference threshold, it helps to more accurately determine the target suction force threshold.

[0122] Exemplarily, when there is at least one cleaning control operation in each cleaning task of the second preset number of cleaning tasks that determines that dirt detection is invalid, the method 100 may further include the following step S150.

[0123] In step S150 , based on second dirt information detected by the dirt detector within a fourth period after the last cleaning task of the second preset number of cleaning tasks is completed, dirt detection is performed on the cleaning product.

[0124] After the last cleaning task is completed, some cleaning products may remain in the sewage pipe. Since the suction component has stopped working at this time, that is, the power used to transport the cleaning products in the sewage pipe is 0. At this time, these residual cleaning products may flow back in the sewage pipe and pass through the dirt detection area on the sewage pipe. When there is at least one cleaning control operation in each cleaning task in the second preset number of cleaning tasks to determine that the dirt detection is invalid, the second dirt information of the refluxed cleaning product can be detected to determine the degree of dirtiness of the cleaning product. In some embodiments, the second preset suction corresponding to each cleaning task in the second preset number of cleaning tasks is a new second preset suction after the second preset suction corresponding to the previous cleaning task is reduced. Exemplarily, the second preset suction corresponding to at least the last cleaning control operation in the last cleaning task in the second preset number of cleaning tasks is equal to the target suction threshold. At this time, when there is at least one cleaning control operation in each cleaning task of the second preset number of consecutive cleaning tasks to determine that the dirt detection is invalid, it can be considered that after the second preset suction force is reduced to the minimum PWM value (equivalent to the target suction force threshold) of the suction component (such as an air pump), the problem of bubbles in the cleaning product still cannot be solved. At this time, step S150 can be tried. That is, the dirtiness of the cleaning product is detected by using the refluxed cleaning product.

[0125] Optionally, the second preset number can be set as needed. For example, the corresponding second preset number can be set according to the area to be cleaned. It can be understood that when the area to be cleaned is large, the cleaning system can divide the area to be cleaned into multiple sub-areas to be cleaned, and each cleaning task is used to clean one of the sub-areas to be cleaned. The second preset number of cleaning tasks can be at least one cleaning task corresponding to the completion of the cleaning of the entire area to be cleaned. Alternatively, the second preset number can also be a fixed number of times. For example, the second preset number can be set to 5 times. In this embodiment, if there is at least one cleaning control operation in each of the 5 consecutive cleaning tasks to determine that the dirt detection is invalid, the above step S150 is performed.

[0126] Similar to the first dirtiness information, the second dirtiness information may be positively correlated with the dirtiness of the cleaning product, or may be negatively correlated with the cleanliness of the cleaning product. The specific representation method has been described in detail above. For the sake of brevity, it will not be repeated here.

[0127] Optionally, the fourth time period can be determined based on a test value or an empirical value. For example, it can be determined by testing that when there is a backflow of cleaning product in the cleaning system, the time period during which the cleaning product backflows and passes through the dirt detection area can be used as the fourth time period.

[0128] According to the above technical solution, when there is at least one cleaning control operation in each cleaning task of the second preset number of cleaning tasks to determine that the dirt detection is invalid, the cleaning product is subjected to dirt detection by detecting the second dirt information of the refluxed cleaning product. This solution helps to more accurately determine the dirtiness of the cleaning product.

[0129] Exemplarily, step S150, based on the second dirt information detected by the dirt detector in the fourth time period after the last cleaning task in the second preset number of cleaning tasks is completed, performing dirt detection on the cleaning product may include the following steps: determining whether the second dirt information meets the preset condition. If the second dirt information meets the preset condition, determining the dirt degree of the cleaning product based on at least part of the dirt information in the second dirt information. If the second dirt information does not meet the preset condition, determining that the current dirt detection is invalid.

[0130] It can be understood that after the last cleaning task is completed, if the suction time in the third time period of the cleaning task is long or the third preset suction force is large, there may be no backflow of cleaning products in the sewage pipe. In addition, even if there is backflow of cleaning products in the sewage pipe, the cleaning products may pass through the dirt detection area at a faster speed. In other words, the cleaning products will not temporarily exist in the dirt detection area. And because the third preset suction force used in the third time period is large, there may be bubbles in the cleaning products. When the above situation exists, the dirt detection area may be an empty pipe or there may be bubbles in the cleaning products inside it when the dirt detector detects the second dirt information. The second dirt information detected at this time cannot be used as a basis for determining the degree of dirtiness of the cleaning products. Therefore, in this embodiment, the interference of the above abnormal situation can be eliminated by judging whether the second dirt information meets the preset conditions.

[0131] Optionally, the second dirt information is negatively correlated with the degree of dirtiness of the cleaning product. The second dirt information may include one or more dirt values. The meaning of the dirt value can be referred to the above description and will not be repeated here. Exemplarily, the preset condition may be: whether there is a target group dirt value whose distribution concentration meets the first preset requirement among the dirt values ​​in the second dirt information. Both the first preset requirement and the target group dirt value can be referred to the above description and will not be repeated here.

[0132] Optionally, the step of determining whether the second dirtiness information satisfies a preset condition may specifically include the following steps: determining whether the second dirtiness information is greater than or equal to a dirtiness information threshold. When the second dirtiness information is greater than or equal to the dirtiness information threshold, confirming that the second dirtiness information satisfies the preset condition. When the second dirtiness information is less than the dirtiness information threshold, confirming that the second dirtiness information does not satisfy the preset condition.

[0133] In some embodiments, the second dirt information is represented by the signal intensity (e.g., light intensity) received by the dirt detector. As described above, when there are bubbles in the cleaning product, the degree of dirt corresponding to the dirt information detected is dirtier than the actual degree of dirt. In other words, the second dirt information detected at this time is less than the actual dirt information. When the dirt detection area is in an empty pipe state, the medium in the dirt detection area is air. It can be understood that when there is only air in the dirt detection area, the transmittance is lower than the case where there is a cleaning product in the dirt detection area. It can be seen that when the dirt detection area is an empty pipe or there are bubbles in the cleaning product inside it, its transmittance is low. The signal intensity received by the dirt detector is also low. Therefore, the second dirt information can be compared with the dirt information threshold. When the second dirt information is small, it can be considered that the dirt detection area at this time is an empty pipe or there are bubbles in the cleaning product inside it. At this time, it can be directly confirmed that the dirt detection fails.

[0134] Figure 5 FIG. 1 is a schematic flow chart of a cleaning task according to a specific embodiment of the present application. Figure 5 As shown, the cleaning system includes a base station, which includes a clean water pump, a cleaning part, and a cleaning area for cleaning the mopping part (equivalent to the inlet side of the sewage pipe mentioned above). First, turn on the clean water pump and inject clean water into the cleaning area to clean the cleaning part. The clean water pump works continuously for 17 seconds (it can be understood that there is a delay of 2 to 3 seconds when the clean water pump is turned on). Then, use the suction component (an air pump in this case) to suck the cleaning product. The suction time is 10 seconds (including the first period, the second period and the third period). In the second period of the suction process, execute Figure 5In step SA1, the first dirt information is obtained, and then, based on the first dirt information, bubble detection is performed to detect whether there are bubbles in the cleaning product corresponding to the first dirt information. If the bubble detection result is normal, there are no bubbles in the cleaning product corresponding to the first dirt information, and dirt detection can be performed based on the first dirt information. If the bubble detection result shows that the first dirt information is invalid, and there are bubbles in the cleaning product corresponding to the first dirt information, the suction of the air pump corresponding to the second time period (i.e., the second preset suction) can be reduced by 10%, that is, the new suction is 90% of the current suction. After the suction is reduced, the above-mentioned step of bubble detection based on the first dirt information is continued to be performed based on the new suction in the next cleaning task. If there is at least one cleaning control operation in each cleaning task in the second preset number of consecutive cleaning tasks to determine that the first dirt information is invalid, it can be considered that the dirt detection cannot be completed due to too many bubbles in the cleaning product. Then, after the water absorption is completed, the dirt value of the reflux water (i.e., the dirt value of the cleaning product refluxed in the sewage pipe) can be tried to be detected. Specifically, step SA2 can be performed within 3s after the water absorption is completed to obtain the second dirt information. And based on the second contamination information, a validity test is performed to determine whether the second contamination information meets the preset conditions. As described above, there is a certain probability that the return water will not temporarily exist in the detection area. At this time, the contamination detection area corresponding to the contamination value is an empty pipe or there are bubbles in the cleaning product inside it. In this embodiment, the second contamination information includes multiple contamination values. Each contamination value or the average value of each contamination value can be compared with a set value (i.e., the contamination information threshold value mentioned above). If each contamination value is lower than the set value, or at least some of the contamination values ​​are lower than the set value, or the average value of each contamination value is lower than the set value, the detection is considered to be invalid. Otherwise, contamination detection can be performed based on the second contamination information.

[0135] According to the above technical solution, by judging whether the second dirt information meets the preset conditions, it helps to eliminate the interference of abnormal conditions such as the dirt detection area being an empty pipe or the presence of bubbles in the cleaning product inside the pipe on the dirt detection result, which is beneficial to improve the accuracy of the dirt detection result.

[0136] Exemplarily, the cleaning system further comprises a drainage container, which is connected to the outlet of the sewage pipe.

[0137] When the cleaning system is turned on for the first time or the replacement of the drainage container is detected, the method may further include the following steps: obtaining parameter information of the suction component and / or parameter information of the drainage container. Based on the parameter information of the suction component and / or the parameter information of the drainage container, determining the initial cleaning parameters of the cleaning system. The initial cleaning parameters include one or more of the first preset suction force, the second preset suction force, the third preset suction force, the first time period, the second time period, and the third time period corresponding to the first cleaning control operation.

[0138] The drainage container can be any container with a sewage cavity, such as the sewage tank or the upper and lower water modules. In the related art, the water absorption system can use a sewage tank or an upper and lower water module as a drainage container. Since the air tightness of the sewage cavity inside the sewage tank is different from that of the sewage cavity inside the upper and lower water modules, and the air tightness of the sewage cavity inside the upper and lower water modules is better, when the air pump outputs the same suction force, the actual suction force on water when using the upper and lower water modules is much greater than the actual suction force when using the sewage tank. Therefore, if the air pump always outputs the same suction force, it cannot be applied to different drainage containers, and it is impossible to obtain good dirt detection and cleaning effects.

[0139] The parameter information of the suction component and / or the parameter information of the drainage container may be an empirical value or a theoretical value obtained by testing or theoretical calculation. Exemplarily, the parameter information of the suction component may include the brand and / or model of the suction component. It can be understood from the above description that when the suction force is represented by the PWM value, suction components of different brands or models may have different suction effects when the PWM value is the same. When the suction components are the same, the cleaning system using the drainage container with different parameter information may also have different suction effects. For example, when the drainage container is replaced by the sewage tank with the upper and lower water modules, the air tightness of the upper and lower water modules is better, and the sewage chamber of the upper and lower water modules for storing sewage is much smaller than the sewage chamber of the sewage tank. Therefore, when the PWM values ​​are the same, the actual suction force of the cleaning system using the upper and lower water modules on the cleaning product is greater than the actual suction force of the cleaning system using the sewage tank on the cleaning product. In order to ensure that the dirt detection results of different cleaning systems are all of high accuracy, the initial cleaning parameters used in the first cleaning control operation in any cleaning task can be set in a targeted manner according to the parameter information of the suction component and / or the parameter information of the drainage container in the current cleaning system.

[0140] In a specific embodiment, the suction component may be a first suction component, a second suction component or a third suction component. The drainage container may be a sewage tank or an upper and lower water module. In this embodiment, the initial cleaning parameters corresponding to different combinations may be pre-tested based on the parameter information of the suction component and the parameter information of the drainage container. For example, 6 initial cleaning parameters may be pre-tested. The first initial cleaning parameter corresponds to a cleaning system using the first suction component and a sewage tank. The second initial cleaning parameter corresponds to a cleaning system using the first suction component and the upper and lower water modules. The third initial cleaning parameter corresponds to a cleaning system using the second suction component and a sewage tank. The fourth initial cleaning parameter corresponds to a cleaning system using the first suction component and the upper and lower water modules. The fifth initial cleaning parameter corresponds to a cleaning system using the third suction component and a sewage tank. The sixth initial cleaning parameter corresponds to a cleaning system using the third suction component and the upper and lower water modules. When the cleaning system is first turned on or the suction component and / or drainage container are detected to be replaced, the parameter information of the suction component and / or the parameter information of the drainage container may be obtained, and the corresponding initial cleaning parameter may be selected based on the acquisition result.

[0141] According to the above technical solution, by determining the initial cleaning parameters of the cleaning system based on the parameter information of the suction component and / or the parameter information of the drainage container, it is helpful to ensure that the initial cleaning parameters match the expected suction effect of the cleaning system. This solution helps to further improve the accuracy of the dirt detection result and helps to improve the cleaning effect of the cleaning system.

[0142] Exemplarily, the first preset suction force is greater than the second preset suction force, and the third preset suction force is greater than the first preset suction force. And / or, in the first time period, the first preset suction force decreases as time increases. And / or, in the second time period, the second preset suction force decreases first and then increases as time increases. And / or, in the third time period, the third preset suction force increases as time increases.

[0143] As described above, the first preset suction force is used to suck the cleaning product into the dirt detection area of ​​the sewage pipe. The second preset suction force is used to make the flow rate of the cleaning product in the dirt detection area not greater than the target flow rate. The third preset suction force is used to empty the cleaning product on the inlet side of the sewage pipe. Therefore, when setting the first preset suction force, the second preset suction force and the third preset suction force, the third preset suction force>the first preset suction force>the second preset suction force.

[0144] Optionally, the first preset suction force, the second preset suction force and the third preset suction force may be constant values. For example, the third preset suction force may be the maximum suction force of the suction assembly, the first preset suction force may be 40% or 50% of the maximum suction force of the suction assembly, and the second preset suction force may be 10% of the maximum suction force of the suction assembly.

[0145] Figure 6FIG. 2 shows a suction force variation curve of a suction assembly according to an embodiment of the present application. Figure 6 As shown, the first preset suction force, the second preset suction force and the third preset suction force can be constant values. The first preset suction force is equal to 20% of the maximum suction force of the suction component. The second preset suction force is equal to 1% of the maximum suction force of the suction component. The third preset suction force is equal to 100% of the maximum suction force of the suction component. In other words, the third preset suction force is equal to the maximum suction force of the suction component. Figure 6 In the described embodiment, the first duration (i.e., the first period) is the shortest, the second duration (i.e., the second period) is the second, and the third duration (i.e., the third period) is the longest. This is because the purpose of the first duration is to bring up the water (equivalent to allowing the cleaning product to enter the dirt detection area), and this time is very short. The second duration is the time to detect the degree of dirtiness of the cleaning product, which is slightly longer than the first duration. The purpose of the third duration is to suck away all the water (equivalent to emptying the cleaning product on the inlet side of the sewage pipe), and the amount of water (equivalent to the amount of cleaning product) is large, so the time is the longest.

[0146] Optionally, the first preset suction, the second preset suction and the third preset suction can all change in a curve. For example, the first preset suction can increase and decrease with time in the first time period. The second preset suction can first increase and decrease with time in the second time period, and then increase with time. The third preset suction can increase and increase with time in the third time period. In this embodiment, optionally, the minimum value of the first preset suction (i.e., the final value of the first preset suction in the first time period) can be equal to the initial value of the second preset suction in the second time period. The final value of the second preset suction in the second time period can be equal to the minimum value of the third preset suction (i.e., the initial value of the third preset suction in the third time period). As a result, the suction change of the suction component in a cleaning control operation is a continuous curve. The suction change of this scheme in each time period is a smooth curve change, which is conducive to preventing the problem of bubbles in the cleaning product caused by abrupt changes in suction.

[0147] In the above technical solution, the first preset suction force is greater than the second preset suction force, and the third preset suction force is greater than the first preset suction force. This suction setting method helps to obtain more accurate dirt detection results while ensuring that the cleaning products are emptied.

[0148] Exemplarily, the cleaning system further includes a cleaning member. The cleaning member is used to clean the area to be cleaned. At least one cleaning control operation is performed in the same self-cleaning task for the cleaning member. When the degree of dirtiness determined by performing a dirtiness detection on the cleaning product in the current self-cleaning task is lower than or equal to the target degree of dirtiness, the current self-cleaning task is the last self-cleaning task. And / or, the method 100 may further include the following steps: when the degree of dirtiness determined by performing a dirtiness detection on the cleaning product in the current self-cleaning task is higher than the target degree of dirtiness, the next self-cleaning task for the cleaning member is performed.

[0149] As described above, when the cleaning system performs self-cleaning on the cleaning element, the dirt detection result can be used to determine whether repeated self-cleaning is required. In this example, by comparing the dirtiness of the cleaning product with the target dirtiness, it is determined whether the cleaning system needs to perform the next self-cleaning task for the cleaning element. The target dirtiness can be set as needed. The smaller the target dirtiness, the better the self-cleaning effect of the cleaning system is required. Otherwise, vice versa.

[0150] For example, in Figure 5 In the embodiment shown, if the result of the dirt detection is clean, that is, the dirt level of the cleaning product is lower than or equal to the target dirt level, the cleaning element can be further spun dry, and the current self-cleaning task is the last self-cleaning task. If the result of the dirt detection is dirty, that is, the dirt level of the cleaning product is greater than the target dirt level, the process returns to the step of starting the clean water pump and performs the next self-cleaning task for the cleaning element.

[0151] According to the above technical solution, by comparing the dirtiness of the cleaning product with the target dirtiness, and when the dirtiness of the cleaning product is higher than the target dirtiness, performing the next self-cleaning task for the cleaning element, it helps to improve the cleaning effect of the cleaning element.

[0152] According to another aspect of the embodiment of the present application, a control device of a cleaning system is provided, the cleaning system includes a sewage pipe, a suction component and a dirt detector, the sewage pipe is used to transport cleaning products, the suction component is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe. The control device includes a processor and a memory, wherein a computer program / instruction is stored in the memory, and when the computer program / instruction is executed by the processor, the control method of the cleaning system described above is implemented.

[0153] According to another aspect of an embodiment of the present application, a cleaning system is provided, characterized in that the cleaning system includes a sewage pipe, a suction component and a dirt detector, the sewage pipe is used to transport cleaning products, the suction component is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe, wherein the cleaning system also includes the control device of the above-mentioned cleaning system.

[0154] According to another aspect of the embodiment of the present application, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program / instruction, and the computer program / instruction is executed by the processor to implement the control method of the cleaning system described above. The computer-readable storage medium may include, for example, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above-mentioned computer-readable storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

[0155] A person skilled in the art can easily understand the implementation structure, working principle and beneficial effects of the control device of the cleaning system, the cleaning system and the computer-readable storage medium by reading the control method of the cleaning system. For the sake of brevity, no further description is given here.

[0156] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0157] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0158] In the several embodiments provided by the present invention, it should be understood that the disclosed 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, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0159] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0160] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0161] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0162] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0163] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules in the cleaning system according to an embodiment of the present invention and the control device of the cleaning system. The present invention can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0164] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0165] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control method for a cleaning system, characterized in that: The cleaning system comprises a sewage pipe, a suction assembly and a dirt detector, wherein the sewage pipe is used to transport cleaning products, and the suction assembly is used to provide power to transport the cleaning products through the sewage pipe; The dirt detector is used to detect the dirtiness of the cleaning product in the sewage pipe; The method comprises: Perform at least one cleaning control operation, each cleaning control operation includes: Controlling the suction component to suck the cleaning product with a first preset suction force within a first time period, so that the cleaning product enters a dirt detection area of ​​the sewage pipe; the dirt detection area is a corresponding detection area of ​​the dirt detector in the sewage pipe; Controlling the suction component to suck the cleaning product with a second preset suction force in a second time period after the first time period, so that the flow rate of the cleaning product in the dirt detection area is not greater than a target flow rate; Based on the first dirt information detected by the dirt detector during the second time period, performing dirt detection on the cleaning product; The suction component is controlled to suck the cleaning product with a third preset suction force in a third time period after the second time period, so that the cleaning product on the inlet side of the sewage pipe is emptied.

2. The control method according to claim 1, characterized in that: The performing dirt detection on the cleaning product based on the first dirt information detected by the dirt detector during the second time period includes: Based on the first dirt information, determining whether there are bubbles in the cleaning product; When there are no bubbles in the cleaning product, determining the degree of contamination of the cleaning product based on at least part of the contamination information in the first contamination information; When bubbles exist in the cleaning product, it is determined that the current dirt detection is invalid.

3. The control method according to claim 2, characterized in that: The at least one cleaning control operation is performed in the same cleaning task, and when it is determined that the current dirt detection is invalid, the method further includes: When the second preset suction force used in the current cleaning control operation is greater than the target suction force threshold, a new second preset suction force is determined by reducing the second preset suction force used in the current cleaning control operation, wherein the new second preset suction force is greater than or equal to the target suction force threshold; Wherein, if the second preset suction force used in the current cleaning control operation is equal to the target suction force threshold, then when there is a next cleaning control operation in the current cleaning task, the second preset suction force corresponding to the next cleaning control operation is the target suction force threshold, or the second preset suction force corresponding to the first cleaning control operation in the next cleaning task is the target suction force threshold; If the second preset suction used in the current cleaning control operation is greater than the target suction threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction corresponding to the next cleaning control operation is the new second preset suction, or, the second preset suction corresponding to the first cleaning control operation in the next cleaning task is the new second preset suction.

4. The control method according to claim 2 or 3, characterized in that: The at least one cleaning control operation is performed in the same cleaning task, When it is determined that the current dirt detection is invalid, the current cleaning control operation is the last cleaning control operation performed in the current cleaning task, or, when it is determined that the current dirt detection is invalid, the method further includes: in the current cleaning task, controlling the suction component to suck the cleaning product with a default fourth preset suction force within a preset time period; or, When it is determined that the current dirt detection is invalid, the method further includes: In this cleaning task, the first preset number of cleaning control operations are performed continuously using the default first preset suction force, the default second preset suction force, and the default third preset suction force.

5. The control method according to claim 3, characterized in that: The step of determining a new second preset suction force by reducing the second preset suction force used in the current cleaning control operation comprises: reducing the second preset suction force used in the current cleaning control operation by a preset reduction amount; Determining whether the reduced second preset suction force is greater than the target suction force threshold; If the reduced second preset suction force is greater than the target suction force threshold, determining the reduced second preset suction force as the new second preset suction force; If the reduced second preset suction force is less than or equal to the target suction force threshold, the target suction force threshold is determined as the new second preset suction force.

6. The control method according to claim 3, characterized in that: Before the at least one cleaning control operation is performed, the method further includes: Determine the preset initial suction force as the current suction force; Increasing the suction force of the suction assembly from the current suction force to a new suction force according to a preset increase amount; Calculating a current difference between an operating current of the suction component under the new suction force and an operating current of the suction component under the current suction force; If the current difference is greater than the current difference threshold, the new suction force is determined to be the target suction force threshold, otherwise the process returns to the step of increasing the suction force of the suction component from the current suction force to the new suction force according to a preset increase amount.

7. The control method according to claim 3, characterized in that: When there is at least one cleaning control operation in each cleaning task of the second preset number of cleaning tasks to determine that the dirt detection is invalid, the method further includes: The cleaning product is subjected to a dirt detection based on second dirt information detected by the dirt detector within a fourth time period after the last cleaning task of the second preset number of cleaning tasks is completed.

8. The control method according to claim 7, characterized in that: The performing dirt detection on the cleaning product based on the second dirt information detected by the dirt detector within a fourth time period after the last cleaning task of the second preset number of cleaning tasks is completed includes: Determining whether the second dirt information meets a preset condition; If the second dirtiness information satisfies the preset condition, determining the dirtiness degree of the cleaning product based on at least part of the dirtiness information in the second dirtiness information; If the second dirt information does not meet the preset condition, it is determined that the current dirt detection is invalid.

9. The control method according to claim 2, characterized in that: The first dirtiness information includes a plurality of dirtiness values; The determining whether bubbles exist in the cleaning product based on the first dirt information includes: Based on the magnitudes of the multiple dirtiness values, determining whether there is a target group of dirtiness values ​​whose distribution concentration degree meets a first preset requirement among the multiple dirtiness values; When the target group of dirt values ​​exists among the plurality of dirt values, it is determined that no bubbles exist in the cleaning product, and when the target group of dirt values ​​does not exist among the plurality of dirt values, it is determined that bubbles exist in the cleaning product.

10. The control method according to any one of claims 1 to 3, characterized in that: The cleaning system further comprises a drainage container, wherein the drainage container is in communication with an outlet of the sewage pipe; When the cleaning system is first turned on or when the replacement of the drainage container is detected, the method further comprises: Acquiring parameter information of the suction component and / or parameter information of the drainage container; Determining initial cleaning parameters of the cleaning system based on parameter information of the suction component and / or parameter information of the drainage container; The initial cleaning parameters include one or more of a first preset suction force, a second preset suction force, a third preset suction force, a first time period, a second time period and a third time period corresponding to the first cleaning control operation.

11. The control method according to any one of claims 1 to 3, characterized in that: The first preset suction force is greater than the second preset suction force, and the third preset suction force is greater than the first preset suction force; and / or, During the first period of time, the first preset suction force decreases as time increases; and / or, During the second period, the second preset suction force first decreases and then increases as time increases; and / or, During the third time period, the third preset suction force increases with time.

12. The control method according to any one of claims 1 to 3, characterized in that: The cleaning system further comprises a cleaning member, the cleaning member being used to clean the area to be cleaned, the at least one cleaning control operation being performed in a same self-cleaning task for the cleaning member, When the dirtiness level determined by dirtiness detection of the cleaning product in the current self-cleaning task is lower than or equal to the target dirtiness level, the current self-cleaning task is the last self-cleaning task; and / or, The method further comprises: When the dirtiness level determined by dirtiness detection of the cleaning product in the current self-cleaning task is higher than the target dirtiness level, the next self-cleaning task for the cleaning element is performed.

13. A control device for a cleaning system, characterized in that: The cleaning system comprises a sewage pipe, a suction assembly and a dirt detector, wherein the sewage pipe is used to transport cleaning products, the suction assembly is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the dirtiness of the cleaning products in the sewage pipe; The control device comprises a processor and a memory, wherein the memory stores a computer program / instruction, and when the computer program / instruction is executed by the processor, the control method of the cleaning system according to any one of claims 1 to 12 is implemented.

14. A cleaning system, characterized in that: The cleaning system comprises a sewage pipe, a suction assembly and a dirt detector, wherein the sewage pipe is used to transport cleaning products, the suction assembly is used to provide power to transport the cleaning products through the sewage pipe; the dirt detector is used to detect the degree of dirtiness of the cleaning products in the sewage pipe, wherein: The cleaning system further comprises a control device for the cleaning system according to claim 13.

15. A computer-readable storage medium, characterized in that: A computer program / instruction is stored, and when the computer program / instruction is executed by a processor, the control method of the cleaning system according to any one of claims 1 to 12 is implemented.

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