Cleaning method, controller and cleaning equipment

Abstract

The invention provides a cleaning method, a controller and cleaning equipment. The method comprises the following steps: sewage in the sewage tank is purified after flowing through the purification device to obtain filtered water. The detection device can detect the filtered water to obtain the purification value of the filtered water. And the controller can obtain the purification value of the filtered water from the detection device. A first threshold value and a second threshold value can be preset in the controller. And the controller determines the clean water output quantity and the filtered water output quantity according to the first threshold value, the second threshold value, the purification value and the maximum clean water pump output quantity of the clean water pump. And the controller generates a first instruction for controlling the clean water pump to discharge water and a second instruction for controlling the sewage pump to discharge water according to the clean water output quantity and the filtered water output quantity. According to the method, the utilization rate of sewage is improved, and the continuation capacity of the cleaning equipment in the cleaning process is improved.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular to a cleaning method, a controller and a cleaning equipment. Background Art

[0002] With the development of science and technology and the improvement of living standards, household cleaning equipment such as vacuum cleaners and floor scrubbers have become more and more popular, and their functions are becoming more and more numerous. Take floor scrubbers as an example. In addition to the vacuuming function, floor scrubbers also have the function of mopping the floor.

[0003] In the prior art, a clean water tank and a sewage tank are usually provided in a cleaning device. The cleaning device can use the water in the clean water tank to participate in floor cleaning or mop cleaning. The cleaning device can use the sewage tank to collect sewage generated during floor cleaning or mop cleaning.

[0004] However, the recycling of sewage in the sewage tank can easily reduce the cleaning effect of the cleaning equipment, thereby leading to the problem of low cleaning efficiency. Summary of the invention

[0005] The present application provides a cleaning method, a controller and a cleaning device, which are used to solve the problem of low use efficiency of the cleaning device.

[0006] In a first aspect, the present application provides a cleaning method, comprising:

[0007] Obtaining a purification value of filtered water from a detection device of the cleaning equipment, where the filtered water is sewage purified by a purification device of the cleaning equipment;

[0008] Determine the output of clean water and filtered water in the water outlet component of the cleaning device according to the purification value, the first threshold, the second threshold, and the maximum output of the water outlet component;

[0009] Generate a first instruction for controlling the water discharge of a clean water pump and a second instruction for controlling the water discharge of a sewage pump according to the clean water output and the filtered water output;

[0010] The first threshold and the second threshold are purification values, and the first threshold is smaller than the second threshold.

[0011] Optionally, when the purification value is greater than or equal to the first threshold value and less than or equal to the second threshold value, a first instruction for controlling the output of the clean water pump and a second instruction for controlling the output of the sewage pump are generated according to the clean water output and the filtered water output, specifically including:

[0012] determining a clean water output according to the first threshold, the second threshold, the purification value, and a clean water pump maximum output of the clean water pump;

[0013] The filtered water output of the filtered water is determined based on the maximum output of the water outlet component and the clean water output.

[0014] Optionally, when the purification value is less than the first threshold, a first instruction for controlling the output of the clean water pump and a second instruction for controlling the output of the sewage pump are generated according to the clean water output and the filtered water output, specifically including:

[0015] Determine that the filtered water output of the water outlet assembly is 0.

[0016] The clean water output of the filtered water is determined based on the maximum output of the water outlet component.

[0017] Optionally, the method further comprises:

[0018] A third instruction is generated, and the third instruction is used to instruct the sewage pump to restart after being shut down for a first period of time.

[0019] Optionally, when the purification value is greater than the second threshold, a first instruction for controlling the output of the clean water pump and a second instruction for controlling the output of the sewage pump are generated according to the clean water output and the filtered water output, specifically including:

[0020] Determine the output of filtered water according to the preset maximum output of the sewage pump;

[0021] Determine the clean water output based on the maximum output of the water outlet assembly and the filtered water output.

[0022] Optionally, the preset maximum output is determined according to the sewage recovery rate of the cleaning equipment.

[0023] Optionally, the method further comprises:

[0024] When the amount of sewage in the sewage tank is less than the third threshold, a fourth control instruction is generated, and the fourth control instruction is used to turn off the sewage pump;

[0025] When the sewage volume is greater than or equal to the third threshold, a fifth control instruction is generated, and the fifth control instruction is used to start the sewage pump.

[0026] Optionally, the purification value is the clarity of the filtered water.

[0027] In a second aspect, the present application provides a cleaning device, comprising:

[0028] An acquisition module, used to acquire a purification value of filtered water from a detection device of the cleaning equipment, where the filtered water is sewage purified by a purification device of the cleaning equipment;

[0029] A processing module is used to determine the clean water output and filtered water output of a water outlet component of a cleaning device according to a purification value, a first threshold value, a second threshold value, and a maximum output of the water outlet component; and to generate a first instruction for controlling the water outlet of a clean water pump and a second instruction for controlling the water outlet of a sewage pump according to the clean water output and the filtered water output; wherein the first threshold value and the second threshold value are purification values, and the first threshold value is less than the second threshold value.

[0030] Optionally, when the purification value is greater than or equal to the first threshold and less than or equal to the second threshold, the processing module is specifically configured to:

[0031] determining a clean water output according to the first threshold, the second threshold, the purification value, and a clean water pump maximum output of the clean water pump;

[0032] The filtered water output of the filtered water is determined based on the maximum output of the water outlet component and the clean water output.

[0033] Optionally, when the purification value is less than the first threshold, the processing module is specifically configured to:

[0034] Determine that the filtered water output of the water outlet assembly is 0.

[0035] The clean water output of the filtered water is determined based on the maximum output of the water outlet component.

[0036] Optionally, the processing module is further configured to:

[0037] A third instruction is generated, and the third instruction is used to instruct the sewage pump to restart after being shut down for a first period of time.

[0038] Optionally, when the purification value is greater than the second threshold, the processing module is specifically configured to:

[0039] Determine the output of filtered water according to the preset maximum output of the sewage pump;

[0040] Determine the clean water output based on the maximum output of the water outlet assembly and the filtered water output.

[0041] Optionally, the preset maximum output is determined according to the sewage recovery rate of the cleaning equipment.

[0042] Optionally, the processing module is further configured to:

[0043] When the amount of sewage in the sewage tank is less than the third threshold, a fourth control instruction is generated, and the fourth control instruction is used to turn off the sewage pump;

[0044] When the sewage volume is greater than or equal to the third threshold, a fifth control instruction is generated, and the fifth control instruction is used to start the sewage pump.

[0045] Optionally, the purification value is the clarity of the filtered water.

[0046] In a third aspect, the present application provides a controller, including: a memory and a processor;

[0047] The memory is used to store instructions; the processor is used to execute the cleaning method in the first aspect and any possible design of the first aspect according to the instructions stored in the memory.

[0048] In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein. When at least one processor of a controller executes the instructions, the controller executes the cleaning method in the first aspect and any possible design of the first aspect.

[0049] In a fifth aspect, the present application provides a computer program product, which includes instructions. When at least one processor of a controller executes the instructions, the controller executes the cleaning method in the first aspect and any possible design of the first aspect.

[0050] In a sixth aspect, the present application provides a cleaning device, comprising: a controller, a detection device, a clean water pump, a sewage pump, a clean water tank, a sewage tank, a purification device, and a water outlet component as in the third aspect and any possible design of the third aspect;

[0051] The controller is connected to the detection device, and the controller is connected to the clean water pump and the sewage pump respectively; when the cleaning device is running, the controller implements the cleaning method in the first aspect and any possible design of the first aspect;

[0052] The clean water tank is connected to the clean water pump through the water circuit; the clean water pump is connected to the water outlet assembly through the water circuit; the sewage tank is connected to the purification device through the water circuit; the purification device is connected to the detection device through the water circuit; the detection device is connected to the sewage pump through the water circuit; the sewage pump is connected to the water outlet assembly through the water circuit.

[0053] The cleaning method, controller and cleaning equipment provided by the present application obtain the purification value of filtered water; determine the clean water output and the filtered water output according to the first threshold, the second threshold, the purification value and the maximum output of the clean water pump; and generate a first instruction for controlling the water output of the clean water pump and a second instruction for controlling the water output of the sewage pump according to the clean water output and the filtered water output, thereby achieving maximum use of sewage while ensuring the cleaning effect, improving the utilization of sewage, and improving the sustainability of the cleaning equipment during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 A schematic diagram of a cleaning device provided in one embodiment of the present application;

[0056] Figure 2 A flow chart of a cleaning method provided in one embodiment of the present application;

[0057] Figure 3 A schematic diagram of the structure of a cleaning device provided in one embodiment of the present application;

[0058] Figure 4 A schematic diagram of the hardware structure of a controller provided in one embodiment of the present application;

[0059] Figure 5 A schematic diagram of the hardware structure of a controller provided in one embodiment of the present application;

[0060] Figure 6 A schematic diagram of an operation flow of a cleaning method provided in one embodiment of the present application;

[0061] Figure 7 A schematic diagram of the operation flow of a cleaning method provided in one embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] The word "if" as used herein may be interpreted as "when" or "when" or "in response to determining," depending on the context.

[0065] Furthermore, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context indicates otherwise.

[0066] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0067] With the development of science and technology and the improvement of living standards, household cleaning equipment such as vacuum cleaners and floor scrubbers have become more and more popular, and their functions are becoming more and more. Take floor scrubbers as an example. In addition to the vacuuming function, floor scrubbers also have the function of mopping the floor. Clean water tanks and sewage tanks are usually provided in cleaning equipment such as floor scrubbers. The cleaning equipment can use the water in the clean water tank to participate in floor cleaning or mop cleaning. The cleaning equipment can use the sewage tank to collect sewage generated during floor cleaning or mop cleaning. In the prior art, in cleaning equipment such as floor scrubbers, the volume of the clean water tank usually directly determines the running time of the cleaning equipment. For example, cleaning equipment with a larger clean water tank usually has a longer running time. Cleaning equipment with a smaller clean water tank needs to frequently add water to the clean water tank during the cleaning process. At the same time, the volume of the clean water tank also directly affects the user's experience. For example, when the volume of the clean water tank is large, it is easy to cause the cleaning equipment to increase in volume and weight, which is not conducive to user operation. Therefore, the prior art proposes a method of filtering the sewage in the sewage tank and recycling it. This method can simultaneously reduce the volume of the clean water tank and the sewage tank, thereby reducing the volume and weight of the host. Alternatively, this method can also extend the running time of the cleaning equipment without increasing the volume of the clean water tank.

[0068] However, filtering the sewage in the sewage tank and reusing it may easily reduce the cleaning effect of the cleaning equipment, thus leading to low cleaning efficiency. The sewage filtration system used in the cleaning equipment is limited by volume and cost, and generally its filtering effect cannot purify the sewage into a state of clear water. Therefore, using filtered water after filtration will significantly reduce the cleaning effect of the floor. For example, after absorbing colored dirt such as soy sauce, the filtered water after filtration usually cannot completely eliminate the color. The direct use of this filtered water is likely to lead to a reduction in the cleaning effect. Therefore, how to improve the cleaning effect of the cleaning equipment when the filtering effect is limited has become a technical problem that needs to be solved urgently.

[0069] In order to solve the above technical problems, the inventive concept of the cleaning method provided in the embodiment of the present application is to control the mixing ratio of clean water and filtered water by detecting the color of the filtered water after filtration, so as to prevent the filtered water from being too dirty and affecting the cleaning effect. Specifically, when the amount of water in the sewage tank of the cleaning equipment is greater than or equal to the third threshold value, the controller can control the sewage pump to work so that the sewage in the sewage tank reaches the detection device after passing through the purification device. The detection device detects the filtered water obtained after the purification device filters the sewage and obtains a purification value. The controller can obtain the purification value from the detection device, and determine the mixing ratio of clean water and sewage when the water outlet component discharges water based on the purification value. The controller can generate a first instruction and a second instruction based on the mixing ratio. Among them, the first instruction can be used to control the discharge of the clean water pump. The second instruction can be used to control the discharge of the sewage pump.

[0070] The following is an introduction to exemplary application scenarios of the embodiments of the present application.

[0071] Figure 1 A schematic diagram of a cleaning device provided by an embodiment of the present application is shown. The cleaning device may be a floor scrubber. A clean water tank and a sewage tank may be provided inside the main unit of the floor scrubber. And the floor scrubber may also include a purification device. The user may use the floor scrubber after filling the clean water tank of the floor scrubber with water and completing the charging. When the user uses the floor scrubber to clean the floor, the water outlet assembly of the floor scrubber will discharge water to wet the mop to achieve the effect of mopping the floor. In the process, the sewage tank can also recycle excess sewage to ensure the residual water on the floor after cleaning. When the user uses the floor scrubber for self-cleaning, the floor scrubber can use the water in the clean water tank to wash the mop and use the sewage tank to recycle the sewage. Since the main unit of the floor scrubber needs to be manually controlled by the user, the main unit of the floor scrubber usually has a portable requirement. Therefore, the volume of the clean water tank and the sewage tank of the floor scrubber, as well as the volume of the purification device, are greatly limited.

[0072] In the present application, the cleaning method of the following embodiments is executed with the controller as the execution subject. Specifically, the execution subject may be a hardware device of the controller, or a software application implementing the following embodiments in the controller, or a computer-readable storage medium having the software application implementing the following embodiments installed thereon, or a code implementing the software application implementing the following embodiments.

[0073] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0074] Figure 2 A flow chart of a cleaning method provided by an embodiment of the present application is shown. Figure 1 Based on the embodiment shown, Figure 2 As shown, with the controller as the execution subject, the method of this embodiment may include the following steps:

[0075] S101. Obtaining a purification value of filtered water from a detection device of a cleaning device, where the filtered water is sewage purified by a purification device of the cleaning device.

[0076] In this embodiment, the sewage in the sewage tank is purified to obtain filtered water after passing through the purification device. The detection device can detect the filtered water to obtain a purification value of the filtered water. The purification value can be used to indicate the cleanliness of the filtered sewage. Generally, the higher the purification value, the closer the filtered water is to clean water. Optionally, the purification value can specifically be the transparency of the filtered water.

[0077] The controller may periodically obtain the purification value of the filtered water from the detection device. Alternatively, the controller may obtain the purification value of the filtered water from the detection device in real time. Optionally, the period may be 0.5 seconds, 1 second, 5 seconds, etc. Alternatively, the detection device may periodically send the purification value of the filtered water detected by it to the controller. Alternatively, the detection device may send the purification value of the filtered water detected by it to the controller in real time. Optionally, when the sewage pump stops working, the controller stops requesting the detection device to obtain the purification value. Alternatively, when the sewage pump stops working, the detection device stops sending the purification value to the controller.

[0078] S102, determining the output of clean water and filtered water in the water outlet component of the cleaning device according to the purification value, the first threshold, the second threshold, and the maximum output of the water outlet component.

[0079] In this embodiment, a first threshold and a second threshold may be preset in the controller. The first threshold and the second threshold are two endpoints of the purification value. Among them, the first threshold is less than the second threshold. When the purification value is less than the first threshold, it means that the filtered water is still relatively dirty and cannot be directly used for cleaning. When the purification value is greater than the second threshold, it means that the filtered water is relatively clean and can be recycled to the greatest extent. Therefore, the controller can calculate the clean water output and the filtered water output in three cases according to the purification value, the first threshold and the second threshold.

[0080] In one implementation, during the cleaning process of the cleaning device, the water output of the water outlet component can be determined according to the cleaning mode of the cleaning device. Therefore, in the calculation of the mixing ratio, the water output of the water outlet component can be recorded as the maximum output of the component. And the maximum output of the component is a fixed value determined according to the cleaning mode.

[0081] In another implementation, when the cleaning device starts the sewage recycling function, the actual water output of the water outlet component can be determined according to the actual situation of sewage recycling. At the same time, the water outlet component is provided with a maximum output of the component. The maximum water output of the component can be determined according to the water output of the water outlet of the water outlet component.

[0082] The calculation process of the mixing ratio of the clean water and the filtered water can be shown in the following three examples.

[0083] In one example, when the purification value is greater than or equal to the first threshold value and less than or equal to the second threshold value, the calculation steps of the clean water output and the filtered water output specifically include:

[0084] Step 1: Determine the clean water output according to the first threshold, the second threshold, the purification value and the maximum output of the clean water pump.

[0085] In this step, the maximum output of the clean water pump can be recorded as Q1 max , the first threshold is recorded as M1, the second threshold is recorded as M2, and the purification value is recorded as x. Then the calculation formula for the clean water output Q1 can be:

[0086]

[0087] Step 2: Determine the filtered water output of the filtered water according to the maximum output of the water outlet component and the clean water output.

[0088] In this step, the maximum output of the water outlet component can be recorded as A. The calculation formula for the output of filtered water Q2 can be:

[0089] Q2=A-Q1

[0090] In another example, when the purification value is less than the first threshold, the specific steps of the clean water output and the filtered water output include:

[0091] Step 1: Determine that the filtered water output of the water outlet assembly is 0.

[0092] In this step, when the purification value of the filtered water is less than the first threshold, it means that the filtered water is still relatively polluted. For example, when the cleaning device cleans stains such as soy sauce, the color of the filtered water is still darker. The purification value obtained by the filtered water detection can be 0.7. The first threshold can be 1. At this time, the purification value is less than the first threshold, and the filtered water cannot be used for cleaning. Therefore, in this case, the controller can determine that the output of the filtered water of the water outlet component is 0. That is, at this time, the cleaning device only uses clean water for cleaning.

[0093] Optionally, the controller may also generate a third instruction when it is determined that the purification value of the filtered water is less than the first threshold value. The third instruction is used to control the sewage pump to be turned off for the first duration. When the sewage pump is turned off for the first duration, the sewage pump can be restarted. For example, when the sewage is used to clean the stains left by soy sauce, due to the caramel color in the soy sauce, the purification value of the stain may be low after being purified. At this time, the controller can control the sewage tank to continue collecting sewage, and the sewage may dilute the color of the soy sauce in the sewage tank. Therefore, when the purification value of the filtered water is less than the first threshold value, the controller can control the sewage pump to be turned off for the first duration. The first duration can be 1 minute, 30 seconds, etc. After the first duration is turned off, the controller controls the sewage pump to work again so that the new sewage is purified by the purification device and then detected by the detection device.

[0094] Optionally, the controller may also determine a fourth threshold value when determining that the purification value of the filtered water is less than the first threshold value. The fourth threshold value may be the amount of water in the sewage tank. When the amount of water in the sewage tank is greater than or equal to the fourth threshold value, the controller controls the sewage pump to work again so that the new sewage is purified by the purification device and then detected by the detection device. Otherwise, the controller may control the sewage pump to shut down. Optionally, the fourth threshold value may be determined based on the third threshold value. Optionally, the fourth threshold value may be the third threshold value plus a fixed value. For example, when the third threshold value is 10ml, the fixed value may be 15ml, and the fourth threshold value may be 25ml. Optionally, the fourth threshold value may be determined based on the current amount of water in the sewage tank. Optionally, the fourth threshold value may be the current amount of water in the sewage tank plus a fixed value. For example, when the amount of water in the sewage tank is 23ml, the fixed value may be 15ml, and the fourth threshold value may be 38ml.

[0095] Step 2: Determine the clean water output according to the maximum output of the water outlet component.

[0096] In this step, the controller can determine the clean water output according to the difference between the maximum output of the water outlet component and the filtered water output.

[0097] In another example, when the purification value is greater than the second threshold, the specific steps of the clean water output and the filtered water output include:

[0098] Step 1: Determine the filtered water output according to the preset maximum output of the sewage pump.

[0099] In this step, when the purification value is greater than the second threshold value, it means that the filtered water is relatively clean and can be used in large quantities for cleaning. For example, the second threshold value may be 2. When the purification value is 5, the controller may directly determine the output of the filtered water according to the preset maximum output of the sewage pump. Optionally, the preset maximum output of the sewage pump may be determined according to the water output of the sewage pump. Optionally, the preset maximum output is determined according to the sewage recovery rate of the cleaning equipment. The preset maximum output may be a value less than or equal to the sewage recovery rate. For example, when the sewage recovery rate is 5ml / s, the preset maximum output may be 5ml.

[0100] Step 2: Determine the clean water output according to the maximum output of the water outlet component and the filtered water output.

[0101] In this step, the controller can determine the clean water output according to the difference between the maximum output of the water outlet component and the filtered water output.

[0102] S103. Generate a first instruction for controlling the water output of the clean water pump and a second instruction for controlling the water output of the sewage pump according to the clean water output and the filtered water output.

[0103] In this embodiment, the controller can generate a first instruction for controlling the clean water pump according to the clean water output. The first instruction is used to control the water volume output by the clean water pump to be the clean water output. The controller can also generate a second instruction for controlling the sewage pump according to the filtered water output. The second instruction is used to control the water volume output by the sewage pump to be the filtered water output. When the clean water pump and the sewage pump receive the first instruction and the second instruction, the clean water pump and the sewage pump can work simultaneously so that the water output of the water outlet component reaches the maximum output of the component.

[0104] The cleaning method provided by the present application is that the sewage in the sewage tank is purified to obtain filtered water after passing through the purification device. The detection device can detect the filtered water to obtain the purification value of the filtered water. The controller can obtain the purification value of the filtered water from the detection device. The controller can be preset with a first threshold and a second threshold. The controller determines the clean water output and the filtered water output according to the first threshold, the second threshold, the purification value and the maximum output of the clean water pump of the clean water pump. The controller generates a first instruction for controlling the water output of the clean water pump and a second instruction for controlling the water output of the sewage pump according to the clean water output and the filtered water output. In the present application, by obtaining the purification value of the filtered water, the output of the filtered water and the clean water in the water outlet component is determined, so as to achieve the maximum use of sewage on the basis of ensuring the cleaning effect, improve the utilization of sewage, and improve the continuous operation ability of the cleaning equipment during the cleaning process.

[0105] Based on the above embodiment, this embodiment also includes the following steps:

[0106] S104: When the amount of water in the sewage tank is less than the third threshold, a fourth control instruction is generated, the fourth control instruction is used to turn off the sewage pump. When the amount of sewage is greater than or equal to the third threshold, a fifth control instruction is generated, the fifth control instruction is used to turn on the sewage pump.

[0107] In this embodiment, a third threshold value may also be provided in the controller. The third threshold value is the minimum amount of water in the sewage tank when the sewage circulation function is turned on. When the amount of water in the sewage tank is lower than the third threshold value, it can be considered that the sewage in the sewage tank is too little and is not worth using. When the amount of water in the sewage tank is greater than or equal to the third threshold value, it can be considered that the sewage in the sewage tank is sufficient for reuse. Therefore, the controller may generate a fourth control instruction when the amount of water in the sewage tank is lower than the third threshold value. The fourth instruction is used to instruct the sewage pump to turn off. For example, when the cleaning device is just started, the amount of sewage collected in the sewage tank is still small. At this time, the controller may control the sewage pump to turn off. Alternatively, when the sewage in the sewage tank is used up, the controller may control the sewage pump to turn off. The controller may generate a fifth control instruction when the amount of sewage is greater than or equal to the third threshold value. The fifth control instruction may be used to control the sewage pump to turn on so that the sewage in the sewage tank flows through the purification device and reaches the detection device.

[0108] The cleaning method provided in the present application uses the third threshold value to control the sewage pump, avoids turning on the sewage recycling function when the sewage is too little, and improves the utilization rate of the sewage.

[0109] Figure 3 A schematic diagram of the structure of a cleaning device provided in one embodiment of the present application is shown. Figure 3 As shown, the cleaning device 10 of this embodiment is used to implement the operation corresponding to the controller in any of the above method embodiments. The cleaning device 10 of this embodiment includes:

[0110] An acquisition module 11 is used to acquire a purification value of filtered water from a detection device of a cleaning device, where the filtered water is sewage purified by a purification device of the cleaning device;

[0111] The processing module 12 is used to determine the clean water output and filtered water output of the water outlet component of the cleaning equipment according to the purification value, the first threshold value, the second threshold value, and the maximum output of the water outlet component; based on the clean water output and the filtered water output, generate a first instruction for controlling the water outlet of the clean water pump and a second instruction for controlling the water outlet of the sewage pump; wherein the first threshold value and the second threshold value are purification values, and the first threshold value is less than the second threshold value.

[0112] Optionally, when the purification value is greater than or equal to the first threshold and less than or equal to the second threshold, the processing module 12 is specifically configured to:

[0113] determining a clean water output according to the first threshold, the second threshold, the purification value, and a clean water pump maximum output of the clean water pump;

[0114] The filtered water output of the filtered water is determined based on the maximum output of the water outlet component and the clean water output.

[0115] Optionally, when the purification value is less than the first threshold, the processing module 12 is specifically configured to:

[0116] Determine that the filtered water output of the water outlet assembly is 0.

[0117] The clean water output of the filtered water is determined based on the maximum output of the water outlet component.

[0118] Optionally, the processing module 12 is further configured to:

[0119] A third instruction is generated, and the third instruction is used to instruct the sewage pump to restart after being shut down for a first period of time.

[0120] Optionally, when the purification value is greater than the second threshold, the processing module 12 is specifically configured to:

[0121] Determine the output of filtered water according to the preset maximum output of the sewage pump;

[0122] Determine the clean water output based on the maximum output of the water outlet assembly and the filtered water output.

[0123] Optionally, the preset maximum output is determined according to the sewage recovery rate of the cleaning equipment.

[0124] Optionally, the processing module 12 is further configured to:

[0125] When the amount of sewage in the sewage tank is less than the third threshold, a fourth control instruction is generated, and the fourth control instruction is used to turn off the sewage pump;

[0126] When the sewage volume is greater than or equal to the third threshold, a fifth control instruction is generated, and the fifth control instruction is used to start the sewage pump.

[0127] Optionally, the purification value is the clarity of the filtered water.

[0128] The cleaning device 10 provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principle and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0129] Figure 4 FIG. 1 shows a hardware structure diagram of a controller provided in an embodiment of the present application. Figure 4 As shown, the controller 20 is used to implement the operations corresponding to the controller in any of the above method embodiments. The controller 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0130] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0131] Processor 22 is used to execute the computer program stored in the memory to implement the cleaning method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as a hardware processor to execute, or the hardware and software modules in the processor can be combined to execute.

[0132] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0133] When the memory 21 is a device independent of the processor 22, the controller 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0134] The communication interface 24 can be connected to the processor 21 through the bus 23. The processor 22 can obtain the purification value from the detection device of the cleaning equipment through the communication interface 24. The processor 22 can also send a control instruction to the clean water pump and / or the sewage pump through the communication interface 24 to achieve control of the water output of the clean water pump and / or the sewage pump.

[0135] The controller provided in this embodiment can be used to execute the above-mentioned cleaning method, and its implementation method and technical effect are similar, so this embodiment will not be repeated here.

[0136] Figure 5 FIG. 1 shows a hardware structure diagram of a controller provided in an embodiment of the present application. Figure 5 As shown, the cleaning device 30 is provided with Figure 4The controller 20, the detection device 31, the clean water pump 32, the sewage pump 33, the clean water tank 34, the sewage tank 35, the purification device 36 and the water outlet component 37 are shown.

[0137] The controller 20 is connected to the detection device 31. The controller 20 is also connected to the clean water pump 32 and the sewage pump 33 respectively. Optionally, the controller 20 can be connected to the detection device 31, the clean water pump 32 and the sewage pump 33 via a data line. Alternatively, the controller 20 and the detection device 31, the clean water pump 32 and the sewage pump 33 can achieve data transmission through a wireless connection. Optionally, the connection method between the controller 20 and the detection device 31, the clean water pump 32 and the sewage pump 33 can be different. When the cleaning device is running, the controller 20 can execute Figure 2 and Figure 3 The cleaning method of the illustrated embodiment. Specifically, the controller 20 can obtain the purification value from the detection device 31. The controller 20 can send a control instruction to the corresponding clean water pump 32 and / or sewage pump 33 to control the clean water pump 32 and / or sewage pump 33.

[0138] In the cleaning device 30, the clean water tank 34 is connected to the clean water pump 32 through the waterway 38. The clean water pump 32 is connected to the water outlet assembly 37 through the waterway 38. That is, the clean water pump 32 is located downstream of the clean water tank 34, and the water outlet assembly 37 is located downstream of the clean water pump 32. The clean water pump 32 provides power for outputting clean water. When the clean water pump 32 is turned on, the clean water in the clean water tank 34 can flow to the water outlet assembly 37 through the waterway 38. The sewage tank 35 is connected to the purification device 36 through the waterway 38. The purification device 36 is connected to the detection device 31 through the waterway 38. The detection device 31 is connected to the sewage pump 33 through the waterway 38. The sewage pump 33 is connected to the water outlet assembly 37 through the waterway 38. When the sewage pump 33 is turned on, the sewage in the sewage tank 35 can flow into the purification device 36, the detection device 31, the sewage pump 33 in sequence through the waterway 38, and finally reach the water outlet assembly 37. That is, the purification device 36 is located downstream of the sewage tank 35. The detection device 31 is located downstream of the purification device 36. The sewage pump 33 is located downstream of the detection device 31, and the water outlet component 37 is located downstream of the sewage pump 33. When the sewage passes through the purification device 36, the sewage can be filtered and purified to obtain purified filtered water. When the filtered water passes through the detection device 31, the purification value of the purified water body can be detected. Among them, the sewage pump 33 provides power for outputting sewage.

[0139] The cleaning device provided in this embodiment can be used to perform the above-mentioned cleaning method. Its implementation method and technical effect are similar, and this embodiment will not be repeated here.

[0140] On the basis of the above embodiment, when the cleaning device is turned on and executes the above cleaning method, the specific operation process of the cleaning device can be as follows: Figure 6 As shown:

[0141] S201, the clean water pump works alone for the second time period.

[0142] In this embodiment, since not enough sewage has been collected in the sewage tank when the cleaning device is just turned on, the controller can control the clean water pump to work alone for a period of time when the cleaning device is just turned on. During this period of time, the cleaning device only draws clean water to the roller brush of the cleaning device to clean the floor. At the same time, the cleaning device collects the sewage generated during the cleaning process into the sewage tank. The short time can be a second duration. The second duration can be set by the staff according to the sewage recovery efficiency of the cleaning device. Alternatively, the second duration can be set by the controller according to the sewage recovery efficiency of the cleaning device during the last cleaning process. For example, the second duration can be 1 minute, 5 minutes, etc. The setting of the second duration can ensure that there is enough sewage in the sewage tank when the sewage pump is turned on.

[0143] S202, sewage pump is working.

[0144] In this embodiment, after the clean water pump works alone for the second time period, the sewage pump starts to work. When the sewage pump starts to work, the sewage in the sewage tank flows to the purification device through the waterway. After passing through the purification device, the sewage can continue to flow to the detection device.

[0145] S203, the detection device detects the water purification value.

[0146] In this embodiment, the detection device can detect the purified sewage and obtain a purification value. Specifically, the purification value can be the transparency of the water body. Generally, the higher the purification value of the filtered water, the higher the cleanliness of the water body. The lower the purification value, the higher the pollution level of the water body. Optionally, when there is liquid in the detection device, the detection device can detect in real time and obtain the purification value in real time. Optionally, the detection device can detect its purification value when the liquid therein is in a flowing state.

[0147] S204: Determine whether the purification value is less than a first threshold.

[0148] In this embodiment, after obtaining the purification value, the controller may compare the purification value with a first threshold value. The first threshold value may be 1. When the purification value is less than the first threshold value, the controller may jump to step S208. Otherwise, when the purification value is greater than or equal to the first threshold value, the controller may continue to execute step S205.

[0149] S205: Determine whether the purification value is greater than a second threshold.

[0150] In this embodiment, the controller may continue to compare the purification value with the second threshold value. When the second threshold value may be 2. When the purification value is less than or equal to the second threshold value, the controller may continue to execute S206. Otherwise, when the purification value is greater than the second threshold value, the controller may continue to execute S209.

[0151] S206: When the purification value is greater than or equal to the first threshold value and less than or equal to the second threshold value, calculate the clean water output and the filtered water output.

[0152] In this embodiment, the controller can determine the output of filtered water according to the purification value. Since the water output of the water outlet component is constant, the closer the purification value is to the second threshold, the greater the output of filtered water. That is, the greater the proportion of filtered water output. The specific calculation steps can be shown in step S102. After executing the current step, the controller can return to step S203 to continue to obtain the purification value of the water body.

[0153] S207: When the purification value is greater than the second threshold, calculate the clean water output and the filtered water output.

[0154] In this embodiment, both the clean water pump and the sewage pump are in working state. The clean water pump can output clean water according to the preset minimum output volume set by it. The sewage pump can output filtered water according to the preset maximum output volume set by it. Optionally, the preset maximum output volume can be determined according to the sewage recovery rate of the cleaning equipment. Alternatively, the preset maximum output volume can be a fixed value slightly lower than the sewage recovery rate. The specific calculation steps can be shown in step S102. After executing the current step, the controller can return to step S203 to continue to obtain the purification value of the water body.

[0155] S208: When the purification value is less than the first threshold, the sewage pump stops working.

[0156] In this embodiment, when the purification value is less than the first threshold, it means that the filtered water is highly dirty and is not suitable for reuse. Therefore, the controller can control the sewage pump to stop working when it is determined that the purification value is less than the first threshold. In the subsequent work, the clean water pump can work alone until it stops.

[0157] S209, the clean water pump works alone.

[0158] In this embodiment, when the sewage pump stops working, the controller can control the clean water pump to work alone. The controller can control the clean water pump to work alone until the cleaning device is shut down.

[0159] On the basis of the above embodiment, when the cleaning device is turned on and executes the above cleaning method, the specific operation process of the cleaning device can also be as follows: Figure 7 As shown:

[0160] S301, the clean water pump works alone for the second time period.

[0161] S302, the sewage pump works.

[0162] S303, the detection device detects the water purification value.

[0163] S304: Determine whether the purification value is less than a first threshold.

[0164] S305: Determine whether the purification value is greater than a second threshold.

[0165] S306: When the purification value is greater than or equal to the first threshold value and less than or equal to the second threshold value, calculate the clean water output and the filtered water output.

[0166] S307: When the purification value is greater than the second threshold, calculate the clean water output and the filtered water output.

[0167] S308: When the purification value is less than the first threshold, the sewage pump stops working.

[0168] Among them, the implementation method of S301 to S308 is similar to or the same as the implementation method of S201 to S208 mentioned above, and will not be repeated in this embodiment.

[0169] S309: The clean water pump works alone for the third time period.

[0170] In this embodiment, after the sewage pump stops working, the controller can control the clean water pump to work alone for a third time period. During the third time period when the clean water pump works alone, the sewage tank continues to collect sewage. The newly collected sewage in the sewage tank may dilute the dirtiness of the sewage in the sewage tank. Therefore, after the third time period, the controller can return to step S302 and control the sewage tank to work again. This setting method can avoid the situation where the sewage pump cannot be used once it is turned off, and can further improve the utilization rate of sewage.

[0171] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed by a processor, they are used to implement the methods provided in the various embodiments described above.

[0172] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0173] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0174] The present application also provides a computer program product, which includes instructions stored in a computer-readable storage medium. At least one processor of a device can read the instructions from the computer-readable storage medium, and at least one processor executes the instructions so that the device implements the methods provided in the various embodiments described above.

[0175] An embodiment of the present application also provides a chip, which includes a memory and a processor, the memory is used to store instructions, and the processor is used to call and execute instructions from the memory, so that a device equipped with the chip executes the methods in various possible implementation modes as described above.

[0176] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0177] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0178] When each module is implemented as an integrated module in the form of a software function module, it can be stored in a computer-readable storage medium. The above-mentioned software function module is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the methods of each embodiment of the present application.

[0179] It should be understood that, although the various steps in the flowchart in the above-described embodiment are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning method, characterized in that: Applied to cleaning equipment, the method comprises: Obtaining a purification value of filtered water from a detection device of the cleaning device, wherein the filtered water is sewage purified by a purification device of the cleaning device; Determining the output of clean water and filtered water in the water outlet component of the cleaning device according to the purification value, the first threshold, the second threshold, and the maximum output of the water outlet component; Generate a first instruction for controlling the water discharge of a clean water pump and a second instruction for controlling the water discharge of a sewage pump according to the clean water output and the filtered water output; The first threshold and the second threshold are purification values, and the first threshold is smaller than the second threshold.

2. The method according to claim 1, characterized in that When the purification value is greater than or equal to the first threshold value and less than or equal to the second threshold value, generating a first instruction for controlling the output of a clean water pump and a second instruction for controlling the output of a sewage pump according to the clean water output and the filtered water output, specifically includes: determining a clean water output according to the first threshold, the second threshold, the purification value, and a clean water pump maximum output of the clean water pump; The filtered water output of the filtered water is determined according to the maximum output of the water outlet component and the clean water output.

3. The method according to claim 2, characterized in that When the purification value is less than a first threshold, generating a first instruction for controlling the output of a clean water pump and a second instruction for controlling the output of a sewage pump according to the clean water output and the filtered water output, specifically includes: Determine that the filtered water output of the water outlet component is 0; The clean water output of the filtered water is determined according to the maximum output of the water outlet component.

4. The method according to claim 3, characterized in that The method further comprises: A third instruction is generated, where the third instruction is used to instruct the sewage pump to restart after being shut down for a first period of time.

5. The method according to claim 2, characterized in that: When the purification value is greater than a second threshold, generating a first instruction for controlling the output of a clean water pump and a second instruction for controlling the output of a sewage pump according to the clean water output and the filtered water output, specifically includes: Determining the output of filtered water according to the preset maximum output of the sewage pump; The clean water output is determined according to the maximum output of the water outlet component and the filtered water output.

6. The method according to claim 5, characterized in that The preset maximum output is determined according to the wastewater recovery rate of the cleaning equipment.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: When the amount of sewage in the sewage tank is less than a third threshold, generating a fourth control instruction, wherein the fourth control instruction is used to shut down the sewage pump; When the sewage volume is greater than or equal to the third threshold, a fifth control instruction is generated, and the fifth control instruction is used to start the sewage pump.

8. The method according to any one of claims 1 to 6, characterized in that The purification value is the clarity of the filtered water.

9. A controller, characterized in that: The controller includes: a memory and a processor; The memory is used to store instructions; the processor is used to implement the cleaning method as described in any one of claims 1 to 8 according to the instructions stored in the memory.

10. A cleaning device, characterized in that: The cleaning device comprises: a controller as claimed in claim 9, a detection device, a clean water pump, a sewage pump, a clean water tank, a sewage tank, a purification device and a water outlet assembly; The controller is connected to the detection device, and the controller is respectively connected to the clean water pump and the sewage pump; when the cleaning device is running, the controller implements the cleaning method described in any one of claims 1 to 7; The clean water tank is connected to the clean water pump through a water circuit; the clean water pump is connected to the water outlet assembly through a water circuit; the sewage tank is connected to the purification device through a water circuit; the purification device is connected to the detection device through a water circuit; the detection device is connected to the sewage pump through a water circuit; the sewage pump is connected to the water outlet assembly through a water circuit.

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