Control method and apparatus of a cleaning system, cleaning system, and storage medium

Abstract

Embodiments of the present application provide a cleaning system control method, a cleaning system and a computer readable storage medium. The method comprises: performing at least one cleaning control operation, the cleaning control operation comprising: controlling a suction assembly to suck cleaning products at a first preset suction force in a first time period, so that the cleaning products enter a dirt detection area; controlling the suction assembly to suck the cleaning products at a second preset suction force in a second time period after the first time period, so that a flow rate of the cleaning products in the dirt detection area is not greater than a target flow rate; performing dirt detection on the cleaning products based on first dirt information detected by a dirt detector in the second time period; and controlling the suction assembly to suck the cleaning products at a third preset suction force in a third time period after the second time period, so that the cleaning products on a side of an inlet of a dirt discharge pipeline are emptied. The scheme can obtain a more accurate dirt detection result on the basis of ensuring that the cleaning products are emptied as much as possible.

Description

Technical Field

[0001] This invention relates to the field of cleaning system technology, 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 Technology

[0002] Currently, cleaning equipment is widely used in daily life, with common examples including cleaning robots and handheld floor scrubbers. During the cleaning process of an area to be cleaned and / or the self-cleaning process of cleaning components, cleaning equipment typically requires the use of suction components and drainage pipes to transport cleaning products and to detect dirt in the drainage pipes containing the cleaning products (mainly wastewater). The suction components provide the power to transport the cleaning products through the drainage pipes to the wastewater area.

[0003] In related technologies, when the suction force of the suction component is too weak, it may not be able to empty the cleaning product on the inlet side of the drain pipe in time, resulting in the overflow of the cleaning product. On the other hand, when the suction force of the suction component is too strong, it is easy to suck up air bubbles, making it impossible to accurately detect the degree of dirtiness of the cleaning product. This will affect the judgment of the degree of dirtiness of the cleaning product, resulting in the cleaning equipment repeating cleaning or self-cleaning too many times. Summary of the Invention

[0004] The present invention is proposed in view of the above-mentioned problems. According to one aspect of the present invention, a control method for a cleaning system is provided. The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, and the suction assembly is used to provide power for transporting the cleaning products through the drain pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning products in the drain pipe. The method includes: performing at least one cleaning control operation, each cleaning control operation including: controlling the suction assembly to suction the cleaning products with a first preset suction force in a first time period, so that the cleaning products enter a dirt detection area in the drain pipe; the dirt detection area is a corresponding detection area of ​​the dirt detector in the drain pipe; controlling the suction assembly to suction 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 a target flow rate; performing dirt detection on the cleaning products based on the first dirt information detected by the dirt detector in the second time period; and controlling the suction assembly to suction 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 drain pipe are emptied.

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

[0006] For example, 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 further includes: if the second preset suction power used in the current cleaning control operation is greater than the target suction power threshold, determining a new second preset suction power by reducing the second preset suction power used in the current cleaning control operation, wherein the new second preset suction power is greater than or equal to the target suction power threshold; wherein, if the second preset suction power used in the current cleaning control operation is equal to the target suction power threshold, then when there is a next cleaning control operation in the current cleaning task, the second preset suction power corresponding to the next cleaning control operation is the target suction power threshold, or the second preset suction power corresponding to the first cleaning control operation in the next cleaning task is the target suction power threshold; if the second preset suction power used in the current cleaning control operation is greater than the target suction power threshold, then when there is a next cleaning control operation in the current cleaning task, the second preset suction power corresponding to the next cleaning control operation is the new second preset suction power, or the second preset suction power corresponding to the first cleaning control operation in the next cleaning task is the new second preset suction power.

[0007] For example, 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 it is determined that the current dirt detection is invalid, the method further includes: controlling the suction component to suction the cleaning product with a default fourth preset suction force within a preset time period in this cleaning task; or, when it is determined that the current dirt detection is invalid, the method further includes: continuing to perform a first preset number of cleaning control operations using the default first preset suction force, the default second preset suction force, and the default third preset suction force in this cleaning task.

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

[0009] For example, before at least one cleaning control operation is performed, the method further includes: determining a preset initial suction power as the current suction power; increasing the suction power of the suction component from the current suction power to a new suction power by a preset increment; calculating the current difference between the operating current of the suction component under the new suction power and the operating current under the current suction power; if the current difference is greater than a current difference threshold, determining the new suction power as a target suction power threshold, otherwise returning to the step of increasing the suction power of the suction component from the current suction power to a new suction power by a preset increment.

[0010] For example, when at least one cleaning control operation determines that the dirt detection is invalid in each of the second preset number of cleaning tasks, the method further includes: performing dirt detection on the cleaning product based on the second dirt information detected by the dirt detector in a fourth time period after the completion of the last cleaning task in the second preset number of cleaning tasks.

[0011] For example, based on the second dirt information detected by the dirt detector during a fourth time period after the completion of the last cleaning task in a second preset number of cleaning tasks, dirt detection is performed on the cleaning product, including: determining whether the second dirt information meets preset conditions; if the second dirt information meets the preset conditions, determining the degree of dirt on the cleaning product based on at least a portion of the dirt information in the second dirt information; if the second dirt information does not meet the preset conditions, determining that the current dirt detection has failed.

[0012] For example, the first dirt information includes multiple dirt values; determining whether there are air bubbles in the cleaning product based on the first dirt information includes: determining whether there is a target group of dirt values ​​whose distribution concentration meets a first preset requirement among the multiple dirt values ​​based on the magnitude of the multiple dirt values; when the target group of dirt values ​​exists among the multiple dirt values, determining that there are no air bubbles in the cleaning product; when the target group of dirt values ​​does not exist among the multiple dirt values, determining that there are air bubbles in the cleaning product.

[0013] For example, the cleaning system further includes a drain container connected to the outlet of a sewage pipe; when the cleaning system is first turned on or when the drain container is detected to be replaced, the method further includes: acquiring parameter information of the suction component and / or parameter information of the drain container; determining initial cleaning parameters of the cleaning system based on the parameter information of the suction component and / or parameter information of the drain container; wherein the initial cleaning parameters include one or more of the first preset suction, second preset suction, third preset suction, first time period, second time period, and third time period corresponding to the first cleaning control operation.

[0014] For example, 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 time period, the first preset suction force decreases as time increases; and / or, during the second time 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 as time increases.

[0015] For example, the cleaning system further includes a cleaning component for cleaning the area to be cleaned, at least one cleaning control operation is performed in the same self-cleaning task for the cleaning component, and the current self-cleaning task is the last self-cleaning task when the degree of dirt determined by dirt detection of the cleaning product in the current self-cleaning task is lower than or equal to the target degree of dirt; and / or, the method further includes: performing a next self-cleaning task for the cleaning component when the degree of dirt determined by dirt detection of the cleaning product in the current self-cleaning task is higher than the target degree of dirt.

[0016] According to a second aspect of the present invention, a control device for a cleaning system is also provided. The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, and the suction assembly is used to provide power for transporting the cleaning products through the drain pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning products in the drain pipe. The control device includes a processor and a memory, wherein the memory stores computer programs / instructions, and when the computer programs / instructions are 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, the cleaning system including a drain pipe, a suction assembly and a dirt detector, the drain pipe being used to transport cleaning products, the suction assembly being used to provide power for transporting the cleaning products through the drain pipe; the dirt detector being used to detect the degree of dirtiness of the cleaning products in the drain pipe, wherein the cleaning system also includes a control device as described above.

[0018] According to a fourth aspect of the present invention, a computer-readable storage medium is also provided, storing a computer program / instructions that, when executed by a processor, implement the control method of the cleaning system described above.

[0019] According to the above technical solution, the suction process of the cleaning product is divided into three stages, corresponding to the first, second, and third time periods. During each of the three time periods, a corresponding preset suction force is used to suction the cleaning product. In the first time period, the suction operation is mainly used to draw the cleaning product into the dirt detection area of ​​the drain pipe. In the second time period, a second preset suction force is used to suction the cleaning product to ensure that the flow rate of the cleaning product does not exceed the target flow rate, and dirt detection is performed during this period. This helps prevent the formation of air bubbles in the cleaning product, thereby improving the accuracy of the dirt detection results. In the third time period, a third preset suction force is used to suction the cleaning product, emptying the cleaning product from the inlet side of the drain pipe, thus preventing spillage. In summary, this solution can obtain relatively accurate dirt detection results while ensuring that the cleaning product is emptied as much as possible.

[0020] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0021] The above and other objects, features, and advantages of the present invention will become more apparent from the more detailed description of the embodiments of the invention in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts or steps.

[0022] Figure 1 A schematic flowchart illustrating a cleaning control operation according to an embodiment of this application is shown;

[0023] Figure 2 This diagram illustrates the structure of a cleaning system according to an embodiment of the present application.

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

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

[0026] Figure 5 A schematic flowchart illustrating a cleaning task according to a specific embodiment of this application; and

[0027] Figure 6 A graph showing the suction force variation of a suction assembly according to an embodiment of this application is provided. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of the present invention, and not all of the embodiments of the present invention. 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 herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of the present invention.

[0029] A cleaning system includes cleaning equipment and / or a base station compatible with the cleaning equipment. Cleaning equipment is widely used in daily life; common examples include cleaning robots and handheld floor scrubbers. Cleaning robots and handheld floor scrubbers can also be used with base stations, which can perform maintenance such as charging and self-cleaning. The cleaning operation of a cleaning system can include cleaning the area to be cleaned using the cleaning equipment (which can be called area cleaning) and / or self-cleaning of the cleaning components of the cleaning equipment using the cleaning equipment or the base station. During the cleaning process, whether the cleaning equipment is cleaning the area to be cleaned, and / or self-cleaning after cleaning at least part of the area to be cleaned, it is usually necessary to detect dirt on the cleaning products (mainly including wastewater). The dirt detection result can serve as the basis for determining whether repeated cleaning is needed during the cleaning process of the area to be cleaned, and / or whether repeated self-cleaning is needed during the self-cleaning process. That is, if the dirt detection result shows a high level of dirt during the cleaning process of the cleaning equipment on the area to be cleaned, it can be determined that the area to be cleaned needs to be cleaned again. During the self-cleaning process of the cleaning equipment after completing the cleaning of at least part of the area to be cleaned, if the dirt detection result shows that the current level of dirt is high, it can be determined that the cleaning components of the cleaning equipment need to be self-cleaned again, and / or that at least part of the area to be cleaned needs to be cleaned again. The dirt detection performed by the cleaning equipment while cleaning the area to be cleaned can be performed on the cleaning equipment itself. Regarding the dirt detection performed by the cleaning equipment during the aforementioned self-cleaning process, if the self-cleaning is completed on the cleaning equipment, the dirt detection can also be performed by the cleaning equipment; if the self-cleaning is completed on the base station, the dirt detection can be performed by the base station. The cleaning components described herein may include, but are not limited to, one or more of roller brushes, rollers, mopping components (e.g., mops). The cleaning products described herein may include wastewater and / or solid waste.

[0030] The following describes the wastewater discharge method of the cleaning system and the dirt detection method during the wastewater discharge process, using a cleaning robot and its matching base station as an example. The cleaning robot can mop the floor using a mopping component on its bottom. After mopping for a period of time, the mopping component often becomes dirty. To ensure the cleaning effect on the area to be cleaned, the cleaning robot needs to return to its corresponding base station to clean the mopping component. The base station can include a cleaning area, a clean water chamber, and a wastewater chamber. The clean water chamber is a cavity for holding clean water, such as the cavity of a clean water tank described below. The wastewater chamber is a cavity for holding wastewater and other cleaning products, such as the cavity of a wastewater tank or a water supply and drainage module described below. When the cleaning robot docks at the base station, the mopping component is housed in the cleaning area. The clean water chamber is connected to the cleaning area to supply clean water for cleaning the mopping component. The wastewater chamber is also connected to the cleaning area and can be connected to a negative pressure device (equivalent to the suction component described below). The wastewater chamber generates negative pressure under the action of the negative pressure device to suck the cleaning products containing wastewater obtained after cleaning the mopping component in the cleaning area into the wastewater chamber. A dirt detection device is installed on the drain pipe between the cleaning area and the wastewater chamber. This device detects the transmittance of the cleaning products, thus determining the degree of dirtiness of the cleaning products. The degree of dirtiness of the cleaning products can be used to characterize the dirtiness of the mop. The degree of dirtiness of the mop can be used to determine the number of times the mop needs to be cleaned again or the number of times the area to be cleaned needs to be mopped repeatedly.

[0031] The above explanation uses a cleaning robot equipped with a base station as an example. It is understood that the cleaning equipment in this application is not limited to cleaning robots, but can also include handheld floor scrubbers, etc.

[0032] To detect dirt in cleaning products, a detection scheme based on the transmittance of light passing through the product can be used to determine its level of dirt. Higher transmittance indicates a cleaner product, while lower transmittance indicates a more cloudy product. However, during the suction process, if the negative pressure device is too strong or there is insufficient wastewater in the cleaning area (e.g., the tray mat), air bubbles may be drawn out. When air bubbles are present in the cleaning product, the measured transmittance cannot accurately reflect the degree of dirt, leading to detection failure. The results of dirt detection can affect the assessment of the dirt level of the mop, potentially causing the cleaning robot to perform excessive re-mopping of the area or excessive self-cleaning of the mop.

[0033] Based on the above, this application provides a control method and apparatus for a cleaning system, a cleaning system, and a computer-readable storage medium. This method can eliminate the influence of air bubbles in the cleaning product on the detection results, thereby improving the accuracy of the detection results. The control method and apparatus, cleaning system, and computer-readable storage medium are described in detail below.

[0034] According to one aspect of this application, a control method for a cleaning system is provided. The method is used to control the cleaning system. The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products. The suction assembly is used to provide power for transporting the cleaning products through the drain pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning products within the drain 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 cleaning products. In a specific embodiment, the dirt detector can be an infrared detection device. This infrared detection device includes an infrared emitting tube and an infrared receiving tube. The infrared emitting tube emits quantifiable infrared light, and the infrared receiving tube receives the infrared light. When the infrared light passes through the sewage in the drain pipe, physical phenomena such as reflection, refraction, and transmission occur, causing attenuation and blockage of the infrared light along the path. Finally, the degree of dirtiness of the cleaning product is determined based on the signal intensity received by the infrared receiving tube.

[0036] The dirt detector can be placed in any suitable location, as long as its detection range covers the area to be tested within the sewage pipe. Optionally, the dirt detector can be placed outside the sewage pipe. For example, the dirt detector can be placed on the inner wall of the housing of the cleaning equipment or base station included in the cleaning system. This embodiment facilitates replacement when the dirt detector malfunctions. When the dirt detector is placed outside the sewage pipe, the sewage pipe can be made of a transparent material to avoid the color of the sewage pipe itself affecting the detection results. Alternatively, the dirt detector can be placed inside the sewage pipe. Compared to placing the dirt detector outside the sewage pipe, placing it inside the sewage pipe can minimize the introduction of uncontrollable variables and avoid missed detections, thus 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 A schematic flowchart illustrating cleaning control operations according to one embodiment of this application is shown. 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 assembly is controlled to suction the cleaning product with a first preset suction force during the first time period, 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 draw the cleaning product into the dirt detection area of ​​the drain pipe. The first preset suction force cannot be too low, as this will prevent the cleaning product from being drawn into the drain pipe. The first preset suction force also cannot be too high, as this may result in the complete delivery of all the cleaning product in a very short time, and may also generate excessive air bubbles, making it impossible 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 through testing based on actual needs or a theoretical value determined through theoretical calculations. In some embodiments, the first preset suction force can be determined based on the pipe diameter of the drain pipe in the cleaning system and / or the parameter information of the suction component. For example, the first preset suction force can be determined by testing the above-described cleaning system or other cleaning systems of the same type beforehand to determine a suitable suction force capable of drawing the cleaning product into the dirt detection area of ​​the drain pipe.

[0040] Optionally, the first time period can be set according to the magnitude of the first preset suction power. The greater the first preset suction power, the faster the cleaning products enter the dirt detection area, and the shorter the first time period can be. Otherwise, the opposite is true.

[0041] In step S120, the suction component is controlled to suction the cleaning product with a second preset suction force during the 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 through testing based on actual needs or a theoretical value determined through theoretical calculation. For example, 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 drain pipe. Optionally, the target flow rate can also be a value slightly greater than 0 m / s, such as 0.05 m / s. In this way, although the cleaning product has some flow in the drain pipe, the flow is very slow and will not affect the dirt detection.

[0043] Similar to the first preset suction force, the second preset suction force can also be an empirical value obtained through testing based on actual needs or a theoretical value determined through theoretical calculation. It is understood that if the flow rate of the cleaning product in the drain pipe is too fast, it will be difficult to obtain sufficient effective detection data (i.e., the first dirt information hereinafter) in subsequent steps (e.g., step S130). In this embodiment, the second preset suction force is used to ensure that the flow rate of the cleaning product in the dirt detection area is not greater than the target flow rate, thus ensuring that the cleaning product remains in a stable or near-stable state within the dirt detection area, allowing the dirt detector to detect more effective data. Therefore, this approach helps improve the reliability of the detection results.

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

[0045] In step S130, the cleaning product is subjected to dirt detection based on the first dirt information detected by the dirt detector during the second time period.

[0046] After obtaining the initial dirt information, the degree of dirtiness of the cleaning product can be determined based on this information. Optionally, the initial dirt information can be collected by the dirt detector at a preset frequency during a second time period. The preset frequency can be set according to actual needs. A higher preset frequency results in more detections during the second time period, consuming more computing resources, and yielding more accurate dirt detection results based on the initial dirt information. A lower preset frequency results in fewer detections during the second time period, consuming fewer computing resources, but the accuracy of the dirt detection results determined based on the initial dirt information may be lower.

[0047] The dirt information described herein can be information that indicates the degree of dirtiness of a cleaning product. Exemplarily, the dirt information may include one or more dirt values, which can be light intensity detected by a photoelectric liquid transmittance sensor (i.e., a dirt detector), or information further determined based on light intensity, such as transmittance values. Optionally, the acquired first dirt information may be positively correlated with the degree of dirtiness of the cleaning product, or negatively correlated with the degree of cleanliness of the cleaning product. When detecting the degree of dirtiness of a cleaning product using a photoelectric liquid transmittance sensor such as an infrared detection device, the received signal represents light intensity (i.e., light strength), which is within the range of [0, 255]. In one embodiment, the first dirt information includes one or more dirt values, and a conversion relationship between dirt values ​​and signal intensity can be established to convert the received signal intensity into the corresponding dirt value. The conversion relationship between dirt value and signal intensity can be dirt value = 255 - signal intensity. In this case, the acquired first dirt information 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 intensity 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 degree of dirtiness of the cleaning product. The higher the dirt value in the first dirt information, the cleaner the cleaning product.

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

[0049] Optionally, the suction power described herein (including the first preset suction power, the second preset suction power, the third preset suction power, and the fourth preset suction power and target suction power threshold described below) refers to the suction power output by the suction component, which can be directly represented by the suction power at the inlet of the suction component. Alternatively, the suction power described herein can also be represented by the operating parameters of the suction component. For example, these 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 power at the inlet of the suction component. By controlling the operating parameters such as the power of the motor and the driving voltage value of the motor in the suction component, the suction power at the inlet of the suction component can be controlled. Therefore, the above operating parameters can be used to characterize the suction power. For example, controlling the suction component to suction cleaning products with the first preset suction power can be controlling the suction component to operate at the first preset working power to suction cleaning products. Optionally, any suction power 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 power can be set as needed. For example, the third preset suction power can be the maximum suction power of the suction component. It is understood that in the third time period, there is no need to consider the problem of excessive air bubbles in the cleaning product due to excessive suction. The main concern is to empty the cleaning product from the inlet side of the drain pipe. Therefore, at this time, the cleaning product can be quickly emptied using the maximum suction power of the suction component, thereby shortening the time required for the entire cleaning control operation.

[0051] Optionally, the third time period can be an empirical value obtained through testing based on actual needs or a theoretical value determined through theoretical calculation. In some embodiments, the time required for the cleaning system to empty the cleaning products on the inlet side of the drain pipe under a third preset suction force can be tested in advance. This time can be referred to as 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. This further ensures that the cleaning products on the inlet side of the drain pipe are emptied.

[0052] Figure 2 A schematic diagram of a cleaning system according to an embodiment of this application is shown. 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 wastewater sensor. The internal space of the wastewater tank is a wastewater chamber. In this embodiment, the user can manually change the water to add clean water to the clean water tank / empty the wastewater tank. After the cleaning robot returns to the base station, the clean water tank injects clean water into the tray pad via the clean water pump. At the same time, the cleaning fluid tank, which stores cleaning fluid, can inject cleaning fluid into the tray pad. The cleaning robot's mopping component cleans itself within the tray pad (i.e., self-cleaning). After cleaning, the cleaning products are suctioned by the air pump and enter the wastewater tank through a drain pipe located between the tray pad and the wastewater tank. A wastewater sensor is installed on the drain pipe to detect the degree of dirtiness of the cleaning products. It can be understood that in this embodiment, the cleaning products on the inlet side of the drain pipe are emptied, thus emptying the cleaning products within the tray pad.

[0053] Figure 3 A schematic diagram of a cleaning system according to another embodiment of this application is shown. 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 wastewater sensor. The water supply and drainage module internally forms a clean water chamber and a wastewater chamber. In this embodiment, after the cleaning robot returns to the base station, the clean water chamber of the water supply and drainage module injects clean water into the tray pad through the clean water pump. The clean water chamber of the water supply and drainage module is equipped with an automatic water replenishment pipe. The inlet of this water replenishment pipe can be connected to a tap water pipe, thereby achieving automatic water replenishment without manual water replacement. At the same time, a cleaning liquid tank storing cleaning liquid injects cleaning liquid into the tray pad. The cleaning robot's mopping parts clean the tray pad. After cleaning, the cleaning products are suctioned by the air pump and enter the wastewater chamber of the water supply and drainage module through a drain pipe located between the tray pad and the wastewater chamber of the water supply and drainage module. They are then discharged through the drain pipe of the water supply and drainage module. The outlet of the drain pipe can be connected to a floor drain, thereby achieving automatic drainage without manual water replacement. A wastewater sensor is installed on the drain pipe to detect the degree of dirtiness of the cleaning products. It is understood that in this embodiment, the cleaning product on the inlet side of the sewage pipe is emptied, which means that the cleaning product in the tray pad is emptied.

[0054] Let's continue with the example of the cleaning robot and base station mentioned above. In related technologies, a common method is to use a fixed suction force to draw wastewater and other cleaning products from the cleaning area into the wastewater chamber. However, this method has the following problems: the water suction system (equivalent to...) Figure 2 The suction components, drain pipes, and wastewater tank in the middle, or Figure 3The suction components, drain pipes, and water supply / drainage modules in the system need to remove wastewater and other cleaning products from the tray mat (i.e., the cleaning area, equivalent to the inlet side of the drain pipe in this embodiment) within a fixed time. If a large suction force is used to suction the cleaning products, the cleaning products pass through the drain pipe section where the dirt detector is located very quickly, generating air bubbles in the cleaning products, making effective dirt detection impossible. If a small suction force is used to suction the cleaning products, it may not be possible to completely remove the cleaning products from the tray mat 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 in the cleaning products.

[0055] In this article, the presence of air bubbles in a cleaning product means that the amount of air bubbles present is sufficient to significantly affect the dirt value of the cleaning product. The absence of air bubbles in a cleaning product means that the amount of air bubbles present is insufficient to significantly affect the dirt value of the cleaning product or the effect is negligible.

[0056] In the above technical solution, the suction process of the cleaning product is divided into three stages, corresponding one-to-one with the first, second, and third time periods. During each of the three time periods, a corresponding preset suction force is used to suction the cleaning product. The suction operation in the first time period is mainly used to draw the cleaning product into the dirt detection area of ​​the drain pipe. In the second time period, a second preset suction force is used to suction the cleaning product to ensure that the flow rate of the cleaning product does not exceed the target flow rate, and dirt detection is performed during this second time period. This helps prevent the formation of air bubbles in the cleaning product, thereby improving the accuracy of the dirt detection results. In the third time period, a third preset suction force is used to suction the cleaning product, so that the cleaning product on the inlet side of the drain pipe is emptied, thus preventing the cleaning product from overflowing. In summary, this solution can obtain relatively accurate dirt detection results while ensuring that the cleaning product is emptied as much as possible.

[0057] For example, step S130, which involves detecting dirt in the cleaning product based on the first dirt information detected by the dirt detector during the second time period, may include the following steps: determining whether air bubbles exist in the cleaning product based on the first dirt information; determining the degree of dirt in the cleaning product based on at least a portion of the dirt information in the first dirt information when no air bubbles are present; and determining that the current dirt detection is invalid when air bubbles are present in the cleaning product.

[0058] As mentioned above, when air bubbles are present in the cleaning product, the detected initial dirt information cannot accurately reflect the degree of dirtiness. When using photoelectric liquid transmittance sensors, such as infrared detectors, as dirt detectors, the presence of air bubbles in the cleaning product reduces the transmittance, resulting in a detected dirtiness level that is higher than the actual dirtiness. To eliminate the interference of air bubbles in the cleaning product on the current detection results, the presence of air bubbles can be determined using the initial dirt information before determining the degree of dirtiness. If air bubbles are present in the cleaning product, the current dirt detection can be directly determined as invalid, eliminating the need to perform the operation of determining the degree of dirtiness, thus reducing unnecessary calculations.

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

[0060] For example, the first dirt information includes multiple dirt values. Determining whether air bubbles exist in the cleaning product based on the first dirt information may include the following steps: based on the magnitude of the multiple dirt values, determining whether there is a target group of dirt values ​​whose distribution concentration meets a first preset requirement; if the target group of dirt values ​​exists among the multiple dirt values, determining that no air bubbles exist in the cleaning product; if the target group of dirt values ​​does not exist among the multiple dirt values, determining that air bubbles exist in the cleaning product.

[0061] The first pre-defined requirement can be the degree of concentration of dirt values ​​when the cleaning product contains few or no air bubbles, and their impact on the dirt value is negligible, as determined by theory or testing. It's understood that when there are many air bubbles in the cleaning product, the obtained dirt value data fluctuates significantly, and multiple dirt values ​​will be distributed across many different segments based on their numerical values. When there are few or no air bubbles in the cleaning product, and their impact on the dirt value is negligible, the cleaning product in the drain pipe is uniform and stable. The obtained dirt values ​​are close in magnitude, meaning they are relatively concentrated in a certain segment based on their numerical values. The dirt values ​​in this concentrated segment can be considered the target group of dirt values. Therefore, by checking whether the target group of dirt values ​​exists among the multiple dirt values, it can be determined whether the obtained dirt values ​​accurately reflect the degree of dirtiness of the cleaning product.

[0062] The method for determining whether a target group of dirt values ​​exists among multiple dirt values ​​can be determined using any suitable concentration analysis method, whether existing or developed in the future. For example, histograms or clustering algorithms can be used to determine whether a target group of dirt values ​​exists among multiple dirt values. See the examples below for specific methods.

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

[0064] A histogram of multiple dirt values ​​is generated based on the magnitude of the dirt values.

[0065] Traverse the histogram intervals in descending order of range, accumulating the number of intervals and the total number of dirty values ​​contained within each interval, until the total number of accumulated dirty values ​​is greater than or equal to the first threshold or the number of accumulated intervals is equal to the second threshold, to obtain the cumulative result.

[0066] If the cumulative result meets the second preset requirement when accumulation stops, then it is determined that a target segment meets the second preset requirement, and a target group of dirt values ​​is determined to exist among the multiple dirt values. The target segment includes the interval contained in the cumulative result when accumulation stops. The dirt values ​​contained in the target segment are the target group of dirt values.

[0067] If the cumulative result does not meet the second preset requirement when the cumulative accumulation is stopped, it is determined that there is no target segment that meets the second preset requirement, and that there is no target group dirt value among the multiple dirt values.

[0068] In other words, when a target segment that meets the second preset requirement exists, it can be determined that a target group of dirty values ​​exists among multiple dirty values; when no target segment that meets the second preset requirement exists, it can be determined that no target group of dirty values ​​exists among multiple dirty values. The lower limit of the target segment is the lower limit of one non-empty interval in the histogram, and the upper limit of the target segment is the upper limit of one non-empty interval in the histogram. For example, the second preset requirement may include: the total number of dirty values ​​contained in the target segment is greater than or equal to a first quantity threshold, and the number of intervals contained in the target segment is less than or equal to a second quantity 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 consecutive intervals, each of which can be of equal length. The target segment can include one or more consecutive intervals in the histogram. A target segment satisfying the second preset requirement can be searched among the multiple consecutive intervals in the histogram. Assuming the currently found interval is a non-empty interval, and the next interval after the currently found interval is an empty interval (i.e., an interval containing 0 dirt values), if the second preset requirement is met exactly when the current interval is found, there is no need to continue searching for the next interval. Therefore, the first and last found intervals in the first target segment are both non-empty intervals.

[0070] It's understandable that, to reduce the impact of potential air bubbles in the cleaning product on the detection results, the traversal can begin with the range of lower contamination levels. Furthermore, when the contamination value is the signal strength received by the contamination detector, the contamination value is negatively correlated with the degree of contamination in the cleaning product. Therefore, the histogram ranges can be traversed in descending order of range to ensure the accuracy of the detection results.

[0071] Optionally, the magnitude of the second quantity threshold can be determined based on the interval length and the fluctuation value of the dirt value. The fluctuation value represents the difference between the dirt value detected with bubbles and the dirt value detected without bubbles for the same cleaning product, as determined in advance by theoretical or testing methods. Invalid dirt values ​​can be avoided in the target interval by making the length of the target interval less than or equal to this 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 based on 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 based on 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 ​​in the intervals of the second quantity threshold, the more concentrated the data distribution of multiple dirt values, and the more dirt values ​​are included in the target group of dirt values; otherwise, the opposite is true. Therefore, an appropriate first quantity threshold can be set based on 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 stop when the total number of accumulated dirt values ​​is greater than or equal to a first threshold, or when the number of accumulated intervals is equal to a second threshold. For example, when the first threshold is 15 and the second threshold is 4, accumulation can stop when the total number of accumulated dirt values ​​is greater than or equal to the first threshold or when the number of accumulated intervals is equal to the second threshold. Then, it continues to determine whether the accumulation result meets another condition (for example, if accumulation stops when the number of accumulated intervals is equal to the second threshold, the other condition is whether the total number of accumulated dirt values ​​is greater than or equal to the first threshold). If the other condition is met, the currently accumulated interval is the target segment.

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

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

[0076] Identify the cluster with the largest cluster center among at least one cluster cluster as the target cluster cluster.

[0077] Determine whether the number of dirty values ​​in the target cluster is greater than or equal to the third quantity threshold.

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

[0079] If the concentration of the target cluster exceeds a threshold, it is determined that the target group of dirty values ​​exists among the multiple dirty values. Otherwise, it is determined that the target group of dirty values ​​does not exist among the multiple dirty values.

[0080] When the distribution concentration of the target cluster meets the first preset requirement, the dirt value contained in the target cluster is the dirt value of the target group.

[0081] The value of the third quantity threshold can be arbitrarily set as needed, and it can be the same as or different from the first quantity threshold mentioned above. 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 embodiments. You can refer to the above embodiments to understand the setting method of the third quantity threshold. For the sake of brevity, it will not be described again here.

[0082] Optionally, the severity threshold can be set according to actual needs. For example, the severity threshold can be determined based on the ratio of a third quantity threshold to the fluctuation value of the dirt 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 severity threshold can be 0.375. The span of the target cluster refers to the difference between the maximum and minimum values ​​in the target cluster. Assuming the span of the target cluster is 10, the ratio between the number of dirt values ​​(15) in the target cluster and the span (10) of the target cluster is greater than the severity threshold of 0.375. In this case, it can be determined that the target group of dirt values ​​exists among multiple dirt values.

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

[0084] According to the above technical solution, determining whether the concentration of the target cluster exceeds a threshold helps to eliminate the influence of air bubbles in the cleaning product on the detection results. This solution is beneficial for further improving the accuracy of the detection results.

[0085] For example, determining the degree of soiling of a cleaning product based on at least a portion of the soiling information in the first soiling information may include the following steps:

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

[0087] Optionally, in embodiments where a histogram-based method is used to determine whether a target group of dirt values ​​exists among multiple dirt values, the target dirt value can be determined using all or part of the dirt values ​​in the first target segment. In this embodiment, the average of all or part of the dirt values ​​in the first target segment can be directly calculated and used as the target dirt value. For example, the average of the largest predetermined number of dirt values ​​in the first target segment can be calculated as the target dirt value. Alternatively, any dirt value can be selected from the target group of dirt values ​​as the target dirt value; for example, the largest dirt value in the first target segment can be directly used as the target dirt value.

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

[0089] In the above technical solution, the average of multiple dirt values ​​in the target group can be used as the target dirt value, which is beneficial for accurately determining the actual dirt level of the cleaning product. Alternatively, any dirt value in the target group can be used as the target dirt value; this method requires less computation.

[0090] For example, 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: if the second preset suction force used in the current cleaning control operation is greater than a target suction force threshold, determine a new second preset suction force 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] Specifically, if the second preset suction power used in the current cleaning control operation is equal to the target suction power threshold, then when there is a next cleaning control operation in this cleaning task, the second preset suction power corresponding to the next cleaning control operation will be the target suction power threshold. Alternatively, the second preset suction power corresponding to the first cleaning control operation in the next cleaning task will be the target suction power threshold.

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

[0093] It is understandable that if the current dirt detection is deemed ineffective, it indicates the presence of air bubbles in the cleaning product. These air bubbles may be caused by excessive second preset suction power. Therefore, when the current dirt detection is ineffective, the suction power of the second preset suction power can be reduced to prevent the formation of air bubbles in the cleaning product.

[0094] Optionally, the target suction threshold can be used to represent the minimum suction force required for the suction assembly to draw cleaning products into the drain pipe. When the suction force of the suction assembly is less than this target suction threshold, the cleaning products in the suction pipe may flow back. Therefore, to prevent the backflow of cleaning products in the suction pipe, the second preset suction force needs to be controlled to be no less than the target suction threshold. The method for determining the target suction threshold is described in detail below.

[0095] For example, the cleaning task described above can be a self-cleaning task for the cleaning component. It is understood that a single 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, to ensure cleaning effectiveness, it needs to return to the base station when the cleaning robot's mopping component becomes dirty, in order to clean the mopping component. To ensure the mopping component is clean, it may be necessary to clean it multiple times. Each cleaning corresponds to one cleaning control operation. In some embodiments, the second preset suction force in each cleaning control operation within a single cleaning task (e.g., a self-cleaning task) can be determined based on the second preset suction force in the previous cleaning control operation. In this embodiment, if there is a next cleaning control operation in the current cleaning task, the second preset suction force corresponding to the next cleaning control operation can be directly set as the new second preset suction force. In other embodiments, the second preset suction force is the same in each cleaning control operation within a single cleaning task. When the current dirt detection is invalid, the number of cleaning control operations in this cleaning task can be executed according to a default number. For example, the default number 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 set as the new second preset suction force. By setting a default number of times, this embodiment helps to improve the cleaning efficiency of the cleaning robot in this self-cleaning task.

[0096] It is understandable that if the second preset suction power equals the target suction power threshold, further reducing the second preset suction power would severely affect the cleaning effect of the cleaning equipment. Therefore, when the second preset suction power equals the target suction power threshold, there is no need to determine a new second preset suction power based on the second preset suction power in the current cleaning control operation. Furthermore, 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 power threshold can be directly used as the second preset suction power.

[0097] When the above technical solution determines that the current dirt detection is invalid, it reduces the second preset suction power in the cleaning control operation of the current or next cleaning task. This helps prevent air bubbles in the cleaning products during subsequent cleaning control operations, thereby facilitating the rapid and effective detection of dirt in the cleaning products. Furthermore, by ensuring that the new second preset suction power is greater than or equal to the target suction power threshold, this solution effectively prevents the backflow of cleaning products caused by excessively low second preset suction power, thus ensuring the cleaning effect of the cleaning system.

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

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

[0100] For example, when 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, method 100 may further include the following steps: in the current cleaning task, continue to perform a first preset number of cleaning control operations using the default first preset suction power, the default second preset suction power, and the default third preset suction power.

[0101] As described above, a cleaning task (e.g., 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 based on the dirt detection results (results indicating the degree of dirtiness of the cleaning product) obtained from each cleaning control operation in this cleaning task. In a cleaning task, if the dirt detection result obtained from the current cleaning control operation shows that the cleaning product is relatively clean, then the cleaning task ends. If the dirt detection result obtained from the current cleaning control operation shows that the cleaning product is relatively dirty, then the next cleaning control operation can be performed, or the next cleaning control operation can be stopped and the number of subsequent cleaning operations can be determined based on the current dirt detection result. The cleaning operation described herein differs from the cleaning control operation; for example, it can be direct cleaning and direct aspiration of the cleaning product, without the need for three-stage aspiration of the cleaning product as described in the cleaning control operation of this application. Optionally, if it is determined that the current dirt detection is invalid in the current cleaning control operation, then the cleaning control operation can be stopped and the default number of cleaning operations can be performed, or several more cleaning control operations can be performed.

[0102] In some embodiments, for a single cleaning task, the second preset suction power is the same in each cleaning control operation within that task. In other words, the operation of reducing the second preset suction power in subsequent cleaning control operations when the current dirt detection is invalid is not performed between cleaning control operations belonging to the same cleaning task. In this case, if the current dirt detection is determined to be invalid, a dirt detection result cannot be obtained, or even if a dirt detection result is obtained, it cannot be used as a basis for determining the number of subsequent cleaning operations or subsequent cleaning control operations. In one implementation, if the current dirt detection is determined to be invalid, the current cleaning control operation can be taken 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 a default number. In this implementation, if the current dirt detection is determined to be invalid, the first preset suction power, the second preset suction power, and the third preset suction power can continue to be used to perform a first preset number of cleaning control operations. Thus, although the current dirt detection is invalid, the previous staged suction method can still be used, which reduces the requirements for program design. The default first / second / third preset suction power can be any pre-set fixed first / second / third preset suction power (which can be, for example, pre-stored in storage space), or it can be the first / second / third preset suction power corresponding to when the current dirt detection is invalid (which can be called the current first / second / third preset suction power). Alternatively, in this implementation, the suction component can also be controlled to suction the cleaning product with a default fourth preset suction power within a preset time period. It can be understood that if the current dirt detection is invalid, the purpose of achieving dirt detection by suctioning the cleaning product in stages cannot be achieved. At this time, continuing to suction in stages is not very meaningful. Therefore, the cleaning product can be suctioned with a fixed fourth preset suction power within a preset time period so that the cleaning product on the inlet side of the drain 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 needed. For example, the first preset number can be 2 times.

[0104] Optionally, the fourth preset suction power can be set as needed. For example, the fourth preset suction power can be equal to the third preset suction power. Alternatively, the fourth preset suction power can be the maximum suction power of the suction component. Optionally, the preset time period is less than the sum of the first, second, and third time periods. As shown above, when the current dirt detection is invalid, continuing to perform dirt detection through cleaning control operations is meaningless. In this case, only rapid emptying of cleaning products needs to be considered. Therefore, cleaning products can be directly suctioned with the fourth preset suction power within the preset time period to reduce the control complexity of the cleaning system and improve 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 to be performed in this cleaning task, or the default suction (such as the default first preset suction, the default second preset suction and the default third preset suction) is used to perform subsequent cleaning control operations, or the default fourth preset suction is used to suck up cleaning products. This helps to reduce unnecessary operations and simplify the process of the cleaning system control method.

[0106] For example, determining a new second preset suction power by reducing the second preset suction power used in the current cleaning control operation may include the following steps: reducing the second preset suction power used in the current cleaning control operation by a preset reduction amount; determining whether the reduced second preset suction power is greater than a target suction power threshold; if the reduced second preset suction power is greater than the target suction power threshold, then the reduced second preset suction power is determined as the new second preset suction power; if the reduced second preset suction power is less than or equal to the target suction power threshold, then the target suction power threshold is determined as the new second preset suction power.

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

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

[0109] As mentioned above, when the suction force of the suction component is less than the target suction threshold, cleaning products in the suction channel may flow back. Therefore, it is necessary to control the new second preset suction force to be no less than the target suction threshold. In some embodiments, if the reduced second preset suction force is less than or equal to the target suction threshold, the target suction threshold can be directly determined as the new second preset suction force. This approach helps prevent the problem of poor cleaning performance caused by an excessively low new second preset suction force.

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

[0111] For example, prior to the execution of at least one cleaning control operation, method 100 may further include the following steps:

[0112] Set the preset initial suction power as the current suction power.

[0113] The suction power of the suction component will be increased from the current suction power to a new suction power according to the preset increase amount.

[0114] Calculate 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.

[0115] If the current difference is greater than the current difference threshold, the new suction force is determined as 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 by a preset increment.

[0116] Optionally, the initial preset suction power can be set as needed. For example, the initial preset suction power can be any suction power determined by theoretical or testing methods that cannot draw cleaning products into the drain pipe. In a specific embodiment, the initial preset suction power can be 0.

[0117] Optionally, the preset increment can be set as needed. The preset increment should not be too large, as this may prevent accurate determination of the target suction threshold. Conversely, the preset increment should not be too small, as this will increase the time required to determine the target suction threshold and reduce overall efficiency. In a specific embodiment, a suitable preset increment can be determined based on the operating parameters of the suction component.

[0118] It's understandable that the state where the suction component cannot draw cleaning products into the drain pipe is equivalent to an unloaded state. The state where the suction component can draw cleaning products into the drain pipe is equivalent to a loaded state. The operating current of the suction component in these two states is different, and the difference is significant. Therefore, by comparing the operating current of the suction component under the new suction force with the operating current under the current suction force, when there is a jump in the operating current (i.e., the current difference is greater than the current difference threshold), it can be considered that the suction component has switched from an unloaded 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 can be set based on empirical values. As shown above, the operating current of the suction component differs significantly between no-load and loaded states. Therefore, a more accurate current difference threshold can be obtained by analyzing the operating parameters of the suction component and testing its operating current under both no-load and loaded states.

[0120] Figure 4This diagram illustrates a method for determining a target suction threshold according to an embodiment of this application. In this embodiment, the motor in the suction assembly uses a pulse width modulation (PWM) signal as the motor drive signal. The value of the PWM signal used by the suction assembly (i.e., the PWM value) can then be used to represent the magnitude of the suction force of the suction assembly. Figure 4 As shown, firstly, the PWM value can be initialized (init) to obtain a preset initial PWM value, i.e., a preset initial suction force. This 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 by a preset increment (i.e., the step setting value in the figure). That is, PWM += the step setting value. Next, the current difference between the operating current of the suction component under the new PWM value and the operating current under the current PWM value is calculated, i.e., the difference between two adjacent currents is calculated. If the difference between two adjacent currents is greater than the current difference threshold (i.e., the setting value in the figure), then the new PWM value is determined to be the target suction force threshold PWM_start. Otherwise, the process returns to the step of PWM += the 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 is helpful to determine the target suction force threshold more accurately.

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

[0123] In step S150, the cleaning product is detected based on the second dirt information detected by the dirt detector in the fourth time period after the completion of the last cleaning task in the second preset number of cleaning tasks.

[0124] After the final cleaning task is completed, some cleaning products may remain in the drain pipe. Since the suction component has stopped working at this point, the power for transporting the cleaning products in the drain pipe is zero. These residual cleaning products may then flow back into the drain pipe and pass through the dirt detection area on the drain pipe. If, in each of the second preset number of cleaning tasks, at least one cleaning control operation determines that the dirt detection is invalid, the degree of dirtiness of the cleaning products can be determined by detecting the second dirt information of the flowing cleaning products. In some embodiments, the second preset suction power corresponding to each cleaning task in the second preset number of cleaning tasks is a new second preset suction power based on a reduction of the second preset suction power corresponding to the previous cleaning task. For example, the second preset suction power corresponding to at least the last cleaning control operation in the last cleaning task of the second preset number of cleaning tasks is equal to the target suction power threshold. At this point, if in each of the second preset number of cleaning tasks, at least one cleaning control operation determines that the dirt detection is invalid, it can be considered that even after the second preset suction force is reduced to the minimum PWM value of the suction component (e.g., the air pump) (equivalent to the target suction force threshold), the problem of air bubbles in the cleaning product still cannot be solved. In this case, step S150 can be tried, that is, using the returned cleaning product to detect the degree of dirt in the cleaning product.

[0125] Optionally, the second preset number can be set as needed. For example, the 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, and each cleaning task is used to clean one of the sub-areas. The second preset number of cleaning tasks can be at least one cleaning task corresponding to cleaning the entire area to be cleaned. Alternatively, the second preset number can also be a fixed number. For example, the second preset number can be set to 5 times. In this embodiment, if at least one cleaning control operation determines that the dirt detection is invalid in each of the 5 consecutive cleaning tasks, then step S150 above is executed.

[0126] Similar to the first level of soiling information, the second level of soiling information can be positively correlated with the degree of soiling of the cleaning product, or negatively correlated with the degree of cleanliness of the cleaning product. The specific representation methods have been described in detail above. For the sake of brevity, they will not be repeated here.

[0127] Optionally, the fourth time period can be determined based on test values ​​or empirical values. For example, it can be the period during which cleaning products flow back and pass through the dirt detection area when the cleaning system is found to have backflowed cleaning products. This period can be used as the fourth time period.

[0128] According to the above technical solution, in each of the second preset number of cleaning tasks, if at least one cleaning control operation determines that the dirt detection is invalid, the dirt detection of the cleaning product is performed by detecting the second dirt information of the returned cleaning product. This solution helps to determine the degree of dirt of the cleaning product more accurately.

[0129] For example, step S150, which involves detecting dirt on the cleaning product based on second dirt information detected by the dirt detector during a fourth time period after the completion of the last cleaning task in a second preset number of cleaning tasks, may include the following steps: determining whether the second dirt information meets preset conditions. If the second dirt information meets the preset conditions, then determining the degree of dirt on the cleaning product based on at least a portion of the dirt information in the second dirt information. If the second dirt information does not meet the preset conditions, then determining that the current dirt detection has failed.

[0130] It is understandable that after the final cleaning task is completed, if the third suction period in that cleaning task is long or the third preset suction force is high, there may be no backflow of cleaning products in the drain pipe. Furthermore, even if there is backflow of cleaning products in the drain pipe, these products may pass through the dirt detection area at a relatively high speed. In other words, the cleaning products will not temporarily remain in the dirt detection area. And because the third preset suction force used in the third period is high, air bubbles may be present in the cleaning products. In the event of the above situations, when the dirt detector detects the second dirt information, the dirt detection area may be empty or contain air bubbles in the cleaning products inside. In this case, the detected second dirt information 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-mentioned abnormal situations can be eliminated by determining whether the second dirt information meets the preset conditions.

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

[0132] Optionally, the step of determining whether the second dirt information meets the preset conditions may specifically include the following steps: determining whether the second dirt information is greater than or equal to a dirt information threshold. If the second dirt information is greater than or equal to the dirt information threshold, confirm that the second dirt information meets the preset conditions. If the second dirt information is less than the dirt information threshold, confirm that the second dirt information does not meet the preset conditions.

[0133] In some embodiments, the second dirt information is represented by the signal intensity (e.g., light intensity) received by the dirt detector. As mentioned above, when air bubbles are present in the cleaning product, the detected dirt information corresponds to a dirtier level than the actual dirt level. In other words, the detected second dirt information is less than the actual dirt information. When the dirt detection area is an empty tube, the medium within the dirt detection area is air. It is understood that when only air is present in the dirt detection area, the transmittance is lower than when cleaning products are present in the dirt detection area. Therefore, the transmittance is low when the dirt detection area is an empty tube or when air bubbles are present in the cleaning product inside. The signal intensity received by the dirt detector is also low. Therefore, the second dirt information can be compared with a dirt information threshold. When the second dirt information is small, it can be considered that the dirt detection area is an empty tube or when air bubbles are present in the cleaning product inside. In this case, the dirt detection failure can be directly confirmed.

[0134] Figure 5 A schematic flowchart illustrating a cleaning task according to a specific embodiment of this application is shown. Figure 5 As shown, the cleaning system includes a base station, which comprises a water pump, cleaning components, and a cleaning area for washing the mop (equivalent to the inlet side of the drain pipe mentioned above). First, the water pump is turned on to inject water into the cleaning area to clean the cleaning components. The water pump operates continuously for 17 seconds (it can be understood that there is a 2-3 second delay in the water pump's startup). Next, the cleaning products are suctioned out using a suction assembly (an air pump in this example). The suction time is 10 seconds (including the first, second, and third time periods). During the second time period of the suction process, the cleaning is performed... Figure 5In step SA1, first dirt information is obtained, and then bubble detection is performed based on the first dirt information to check whether bubbles exist 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 power of the air pump corresponding to the second time period (i.e., the second preset suction power) can be reduced by 10%, that is, the new suction power is 90% of the current suction power. After the suction power is reduced, the above steps of bubble detection based on the first dirt information are continued in the next cleaning task based on the new suction power. If at least one cleaning control operation determines that the first dirt information is invalid in each cleaning task in a second preset number of consecutive cleaning tasks, it can be considered that the dirt detection cannot be completed due to too many bubbles in the cleaning product. Then, after the water suction is completed, the dirt value of the return water (i.e., the dirt value of the cleaning product returning in the drain pipe) can be tested. Specifically, step SA2 can be executed within 3 seconds after the water suction is completed to obtain the second dirt information. The validity of the second dirt information is then checked to determine whether it meets preset conditions. As mentioned above, there is a certain probability that the return water will not temporarily remain in the detection area. In this case, the dirt detection area corresponding to the dirt value is an empty pipe or the cleaning product inside it contains air bubbles. In this embodiment, the second dirt information includes multiple dirt values. Each dirt value or the average of each dirt value can be compared with a set value (i.e., the dirt information threshold mentioned above). If all dirt values ​​are lower than the set value, or at least some dirt values ​​are lower than the set value, or the average of each dirt value is lower than the set value, then the detection is considered to have failed. Otherwise, dirt detection can be performed based on the second dirt 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 situations such as the dirt detection area being an empty pipe or the presence of air bubbles in the cleaning products inside it on the dirt detection results, thereby improving the accuracy of the dirt detection results.

[0136] For example, the cleaning system also includes a drain container connected to the outlet of a sewage pipe.

[0137] When the cleaning system is first turned on or when a replacement of the drain container is detected, the method may further include the following steps: obtaining parameter information of the suction component and / or the drain container. Based on the parameter information of the suction component and / or the drain container, determining the initial cleaning parameters of the cleaning system. The initial cleaning parameters include one or more of the following: 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.

[0138] The drainage container can be any container with a sewage chamber, such as a sewage tank or a water supply / drainage module. In related technologies, the water suction system can use either a sewage tank or a water supply / drainage module as the drainage container. However, because the airtightness of the sewage chamber inside the sewage tank differs from that inside the water supply / drainage module, and the latter has a better airtightness, the actual suction force when using the water supply / drainage module is much greater than that when using the sewage tank, even with the same suction output from the air pump. Therefore, if the air pump always outputs the same suction force, it cannot be applied to different drainage containers, thus failing to achieve good dirt detection and cleaning results.

[0139] The parameter information of the suction component and / or drainage container can be empirical or theoretical values ​​obtained from testing or theoretical calculations. For example, the parameter information of the suction component may include the brand and / or model of the suction component. As can be understood from the above description, when using PWM values ​​to represent suction power, suction components of different brands or models may have different suction effects when the PWM value is the same. Similarly, cleaning systems using drainage containers with different parameter information may also have different suction effects when the suction components are the same. For example, when the drainage container is changed from a sewage tank to a water inlet / outlet module, the water inlet / outlet module has better airtightness, and its sewage chamber is much smaller than that of the sewage tank. Therefore, when the PWM value is the same, the actual suction power of the cleaning system using the water inlet / outlet module is greater than that of the cleaning system using the sewage tank. To ensure high accuracy in dirt detection results across different cleaning systems, the initial cleaning parameters used in the first cleaning control operation of any cleaning task can be specifically set based on the parameter information of the suction component and / or drainage container in the current cleaning system.

[0140] In one specific embodiment, the suction component can be a first suction component, a second suction component, or a third suction component. The drainage container can be a wastewater tank or a water supply and drainage module. In this embodiment, initial cleaning parameters corresponding to different combinations can be pre-tested based on the parameter information of the suction component and the parameter information of the drainage container. For example, six initial cleaning parameters can be pre-tested. The first initial cleaning parameter corresponds to the cleaning system using the first suction component and the wastewater tank. The second initial cleaning parameter corresponds to the cleaning system using the first suction component and the water supply and drainage module. The third initial cleaning parameter corresponds to the cleaning system using the second suction component and the wastewater tank. The fourth initial cleaning parameter corresponds to the cleaning system using the first suction component and the water supply and drainage module. The fifth initial cleaning parameter corresponds to the cleaning system using the third suction component and the wastewater tank. The sixth initial cleaning parameter corresponds to the cleaning system using the third suction component and the water supply and drainage module. When the cleaning system is first turned on or when the replacement of the suction component and / or the drainage container is detected, the parameter information of the suction component and / or the parameter information of the drainage container can be obtained, and the corresponding initial cleaning parameter can be selected based on the obtained results.

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

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

[0143] As described above, the first preset suction power is used to draw the cleaning product into the dirt detection area of ​​the drain pipe. The second preset suction power is used to ensure that the flow rate of the cleaning product in the dirt detection area does not exceed the target flow rate. The third preset suction power is used to empty the cleaning product on the inlet side of the drain pipe. Therefore, when setting the first, second, and third preset suction powers, the third preset suction power can be greater than the first preset suction power, which in turn can be greater than the second preset suction power.

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

[0145] Figure 6A graph showing the suction force variation of a suction assembly according to one embodiment of this application is provided. Figure 6 As shown, the first preset suction force, the second preset suction force, and the third preset suction force can be constant values. Specifically, 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 segment (i.e., the first time period) is the shortest, the second segment (i.e., the second time period) is the next shortest, and the third segment (i.e., the third time period) is the longest. This is because the purpose of the first segment is to bring the water up (equivalent to allowing the cleaning product to enter the dirt detection area), and this time is very short. The second segment is the time to detect the degree of dirtiness of the cleaning product, which is relatively longer than the first segment. The purpose of the third segment is to suck all the water away (equivalent to emptying the cleaning product on the inlet side of the drain pipe), and since the amount of water (equivalent to the amount of cleaning product) is larger, this segment takes the longest time.

[0146] Optionally, the first, second, and third preset suction forces can all exhibit a curved variation. For example, the first preset suction force can decrease as time increases during a first time period. The second preset suction force can first decrease as time increases during a second time period, and then increase as time increases again. The third preset suction force can increase as time increases during a third time period. In this embodiment, optionally, the minimum value of the first preset suction force (i.e., the final value of the first preset suction force in the first time period) can be equal to the initial value of the second preset suction force in the second time period. The final value of the second preset suction force in the second time period can be equal to the minimum value of the third preset suction force (i.e., the initial value of the third preset suction force in the third time period). Thus, the suction force change of the suction component in a single cleaning control operation is a continuous curve. This scheme exhibits a smooth curved change in suction force across different time periods, which helps prevent the formation of air bubbles in the cleaning product caused by abrupt changes in suction force.

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

[0148] Exemplarily, the cleaning system also includes a cleaning component. The cleaning component is used to clean the area to be cleaned. At least one cleaning control operation is performed within the same self-cleaning task for the cleaning component. The current self-cleaning task is the last self-cleaning task if the degree of soiling determined by soil detection of the cleaning product in the current self-cleaning task is lower than or equal to a target degree of soiling. And / or, method 100 may further include the step of performing a next self-cleaning task for the cleaning component if the degree of soiling determined by soil detection of the cleaning product in the current self-cleaning task is higher than a target degree of soiling.

[0149] As mentioned above, when the cleaning system performs self-cleaning on the cleaned parts, the dirt detection results can be used to determine whether repeated self-cleaning is necessary. In this example, the degree of dirtiness of the cleaned product is compared with the target degree of dirtiness to determine whether the cleaning system needs to perform the next self-cleaning task on the cleaned parts. The target degree of dirtiness can be set as needed. The lower the target degree of dirtiness, the better the self-cleaning effect of the cleaning system is required. Conversely, the lower the target degree of dirtiness, the better the self-cleaning effect of the cleaning system.

[0150] For example, in such Figure 5 In the illustrated embodiment, if the dirt detection result is clean, meaning the dirt level of the cleaning product is lower than or equal to the target dirt level, the cleaning component can be further spun dry, and the current self-cleaning task is the last self-cleaning task. If the dirt detection result is dirty, meaning 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 to execute the next self-cleaning task for the cleaning component.

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

[0152] According to another aspect of the embodiments of this application, a control device for a cleaning system is provided. The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, and the suction assembly is used to provide power for transporting the cleaning products through the drain pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning products in the drain pipe. The control device includes a processor and a memory, wherein the memory stores computer programs / instructions, and when the computer programs / instructions are executed by the processor, the control method of the cleaning system described above is implemented.

[0153] According to another aspect of the embodiments of this application, a cleaning system is provided, characterized in that the cleaning system includes a drain pipe, a suction assembly, and a dirt detector, wherein the drain pipe is used to transport cleaning products, the suction assembly is used to provide power for transporting the cleaning products through the drain pipe, and the dirt detector is used to detect the degree of dirtiness of the cleaning products in the drain pipe, wherein the cleaning system also includes the control device of the cleaning system described above.

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

[0155] Those skilled in the art can readily understand the implementation structure, working principle, and beneficial effects of the control device, cleaning system, and computer-readable storage medium of the cleaning system by reading the above-described control method. For the sake of brevity, further details are omitted here.

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

[0157] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0158] In the several embodiments provided by this 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 merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0159] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0160] Similarly, it should be understood that, in order to streamline the invention and aid in understanding one or more of the various aspects of the invention, features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the description of exemplary embodiments of the invention. However, this approach should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the corresponding claims, its inventive point lies in solving the corresponding technical problem with fewer features than all of those in a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0161] Those skilled in the art will understand that, apart from the mutual exclusion of features, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus so disclosed can be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0162] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

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

[0164] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0165] The above description is merely a specific embodiment of the present invention or an explanation of that embodiment. The scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for a cleaning system, characterized in that, The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, and the suction assembly is used to provide power to transport the cleaning products through the drain pipe. The dirt detector is used to detect the degree of dirtiness of the cleaning product in the sewage pipe; The method includes: Perform at least one cleaning control operation, each of which includes: The suction component is controlled to suction the cleaning product with a first preset suction force during a first time period, 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. The suction component is controlled to suction the cleaning product with a second preset suction force during 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. Based on the first dirt information detected by the dirt detector during the second time period, the cleaning product is subjected to dirt detection; The suction component is controlled to suction the cleaning product with a third preset suction force during 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 step of detecting dirt 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, determine whether there are air bubbles in the cleaning product; When there are no air bubbles in the cleaning product, the degree of dirtiness of the cleaning product is determined based on at least a portion of the dirtiness information in the first dirtiness information; If air bubbles are present in the cleaning product, the current dirt detection is deemed invalid.

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

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 this cleaning task; or, when it is determined that the current dirt detection is invalid, the method further includes: in this cleaning task, controlling the suction component to suction 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 suction power, the second preset suction power, and the third preset suction power will continue to be used to perform the first preset number of cleaning control operations.

5. The control method according to claim 3, characterized in that, The step of determining a new second preset suction power by reducing the second preset suction power used in the current cleaning control operation includes: Reduce the second preset suction power used in the current cleaning control operation by a preset reduction amount; Determine 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, then the reduced second preset suction force is determined 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, then 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, Prior to the execution of the at least one cleaning control operation, the method further includes: Set the preset initial suction power as the current suction power; The suction power of the suction component is increased from the current suction power to a new suction power by a preset increase amount; Calculate the current difference between the operating current of the suction assembly under the new suction force and the operating current under the current suction force; If the current difference is greater than the current difference threshold, then 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 by a preset increment.

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

8. The control method according to claim 7, characterized in that, The method of detecting dirt on the cleaning products based on the second dirt information detected by the dirt detector during a fourth time period after the completion of the last cleaning task in the second preset number of cleaning tasks includes: Determine whether the second dirt information meets the preset conditions; If the second dirt information meets the preset conditions, then the degree of dirtiness of the cleaning product is determined based on at least a portion of the dirt information in the second dirt information; If the second dirt information does not meet the preset conditions, then the current dirt detection is determined to be invalid.

9. The control method according to claim 2, characterized in that, The first dirt information includes multiple dirt values; The step of determining whether air bubbles exist in the cleaning product based on the first dirt information includes: Based on the magnitude of the multiple dirt values, determine whether there is a target group of dirt values ​​whose distribution concentration meets the first preset requirement among the multiple dirt values; If the target group of dirt values ​​is present among the plurality of dirt values, it is determined that there are no air bubbles in the cleaning product; if the target group of dirt values ​​is not present among the plurality of dirt values, it is determined that there are air bubbles in the cleaning product.

10. The control method according to any one of claims 1-3, characterized in that, The cleaning system also includes a drainage container connected to the outlet of the sewage pipe; When the cleaning system is initially turned on or when the drain container is detected to have been replaced, the method further includes: Obtain parameter information of the suction component and / or the drainage container; Based on the parameter information of the suction component and / or the parameter information of the drainage container, the initial cleaning parameters of the cleaning system are determined; The initial cleaning parameters include one or more of the following: first preset suction power, second preset suction power, third preset suction power, first time period, second time period, and third time period, corresponding to the first cleaning control operation.

11. The control method according to any one of claims 1-3, 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 time period, the first preset suction force decreases as time increases; And / or, During the second time period, the second preset suction force first decreases and then increases over time; 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 1-3, characterized in that, The cleaning system also includes a cleaning component for cleaning the area to be cleaned, and the at least one cleaning control operation is performed within the same self-cleaning task for the cleaning component. When the degree of dirtiness determined by dirt 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 further includes: If the degree of dirtiness determined by dirt detection of 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 part is executed.

13. A control device for a cleaning system, characterized in that, The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, the suction assembly is used to provide power for transporting the cleaning products through the drain pipe, and the dirt detector is used to detect the degree of dirtiness of the cleaning products in the drain pipe. The control device includes a processor and a memory, wherein the memory stores a computer program / instruction, which, when executed by the processor, implements the control method of the cleaning system as described in any one of claims 1-12.

14. A cleaning system, characterized in that, The cleaning system includes a drain pipe, a suction assembly, and a dirt detector. The drain pipe is used to transport cleaning products, and the suction assembly provides the power to transport the cleaning products through the drain pipe. The dirt detector detects the degree of dirtiness of the cleaning products within the drain pipe. The cleaning system also includes a control device for the cleaning system as described in claim 13.

15. A computer-readable storage medium, characterized in that, The system stores a computer program / instruction that, when executed by a processor, implements the control method of the cleaning system as described in any one of claims 1-12.

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