Self-cleaning method and device of cleaning equipment and cleaning system

Abstract

The invention provides a self-cleaning method and device of cleaning equipment and a cleaning system, relates to the field of cleaning equipment, and is applied to the cleaning system comprising the cleaning equipment and a cleaning base station, and the cleaning equipment comprises a floor brush assembly and a scraping strip assembly; the scraping strip assembly is provided with a first position in contact with a to-be-cleaned surface and a second position at which a preset distance is kept between the first position and the to-be-cleaned surface; comprising the steps that when it is detected that cleaning equipment is located in a cleaning base station and is in an initial cleaning mode, a scraping strip assembly is controlled to reciprocate between a first position and a second position; when it is detected that the smudginess degree of the scraping strip assembly is the target smudginess degree, a target self-cleaning mode corresponding to the target smudginess degree is controlled to be switched, and self-cleaning is conducted; each smudginess degree corresponds to a respective self-cleaning mode, so that the cleaning of smudginess on the scraping strip assembly is facilitated by controlling the scraping strip assembly to perform reciprocating lifting brushing operation and applying different self-cleaning modes according to different smudginess degrees, and the self-cleaning effect is enhanced.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and in particular to a self-cleaning method, device and cleaning system for cleaning equipment. Background Art

[0002] In order to solve the problem of water stains during floor cleaning, current cleaning equipment has a front scraper assembly installed in front of the floor brush of the cleaning equipment. However, during the operation of the cleaning equipment, the front scraper assembly will also accumulate dirt, water stains and other dirt when scraping water stains. If the scraper assembly is not cleaned in time, the dirt may affect the performance of the scraper assembly, resulting in a decrease in the cleaning effect.

[0003] However, in the prior art, when the cleaning device is located at the cleaning base station for self-cleaning, the surface and corners of the front scraper assembly cannot be fully cleaned, resulting in that the dirt on the scraper assembly cannot be effectively removed, thereby affecting the cleaning effect of the scraper assembly during the ground cleaning process. Summary of the invention

[0004] The present application provides a self-cleaning method, device and cleaning system for a cleaning device. When the cleaning device performs self-cleaning at a cleaning base station, the scraper bar assembly is controlled to move back and forth so that the scraper bar assembly can be more comprehensively contacted with the cleaning liquid, ensuring that each area in the scraper bar assembly is effectively cleaned. By real-time detection of the degree of dirtiness of the scraper bar assembly, the method automatically selects and switches to a suitable self-cleaning mode, so as to deal with different degrees of dirtiness in a targeted manner, ensuring that a better self-cleaning effect can be achieved at each degree of dirtiness.

[0005] In a first aspect, the present application provides a self-cleaning method for a cleaning device, which is applied to a cleaning system, wherein the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is mounted at the front end of the cleaning device and is located at the front side of a cleaning member on the floor brush assembly; the scraper assembly has a first position in contact with a surface to be cleaned and a second position at a preset distance from the surface to be cleaned; the method comprises:

[0006] When it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, controlling the scraper assembly to reciprocate between a first position and a second position;

[0007] When it is detected that the dirtiness of the scraper strip assembly is the target dirtiness, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

[0008] At present, the self-cleaning method of cleaning equipment only includes self-cleaning of the cleaning parts. Due to the special structural setting of the front scraper bar assembly on the cleaning equipment, and the fact that the scraper bar assembly is located at a second position at a preset distance from the surface to be cleaned when the cleaning equipment is in a non-working state, that is, when the cleaning equipment is placed on the cleaning base station, the scraper bar assembly is spaced a certain distance from the cavity of the cleaning parts on the cleaning base station, and there is also a gap between the scraper bar assembly and the cleaning parts; therefore, in the process of cleaning the cleaning parts, it is difficult for the water level to contact the scraper bar assembly or the scraper bar assembly is only cleaned by the water thrown out from the cleaning parts, and it is not easy to clean the scraper bar assembly; what is more prominent is that due to the cleaning dead corners such as the bending structure of the scraper bar assembly structure itself, the cleaning dead corners of the scraper bar assembly cannot be cleaned in the self-cleaning process of the conventional cleaning parts, and stubborn stains are easily left in the dead corners, which are difficult to clean. On this basis, the present application controls the scraper bar assembly to reciprocate between the first position and the second position when the cleaning device performs self-cleaning. During the up and down reciprocating motion, the water level and angle touched by the scraper bar assembly are different each time it descends, and the cleaning liquid in the cleaning chamber is coordinated with the surge of the cleaning liquid during the cleaning process, so that the cleaning liquid can clean the dead corners of the scraper bar assembly multiple times. The cleaning operation of the scraper bar assembly is performed in a dynamic lifting manner, and the cleaning force of the cleaning liquid on the dead corners can be dynamically changed, thereby further improving the cleaning ability and ensuring that each surface and corner of the scraper bar assembly can be effectively cleaned.

[0009] Furthermore, the present application can evaluate the degree of dirtiness of the scraper bar assembly in real time by cooperating with the dirtiness detection function during the cleaning process of the scraper bar assembly, so that during the reciprocating movement of the scraper bar assembly between the first position and the second position, it can also intelligently switch to the corresponding self-cleaning mode according to the detected degree of dirtiness, so as to implement different cleaning modes for the scraper bar assembly according to different dirtiness conditions, thereby further improving the cleaning effect of the scraper bar assembly by the cleaning liquid, especially the cleaning effect of the dead corners of the scraper bar assembly, and further improving the cleaning effect of the scraper bar assembly, especially the dead corners of the scraper bar assembly.

[0010] Therefore, through the reciprocating motion of the scraper bar assembly and the coordinated self-cleaning mode of the intelligent self-cleaning mode, the surface of the scraper bar assembly and the cleaning dead corners of the scraper bar assembly can be effectively cleaned, avoiding dirt residue in the cleaning dead corners, thereby ensuring that the scraper bar assembly is in an ideal state, improving the overall self-cleaning effect and efficiency of the cleaning equipment, and the above-mentioned automated detection and self-cleaning process reduces the user's operating burden and improves the ease of use of the equipment, thereby improving the convenience of use of the cleaning equipment and user satisfaction, and the selection of precise self-cleaning modes can also reduce the use of detergents and water, reducing resource consumption and environmental impact; in addition, based on this, the cleaning effect of the cleaning equipment when cleaning the ground can also be guaranteed.

[0011] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0012] When it is detected that the degree of dirtiness of the scraper bar assembly is a first dirtiness level, controlling the cleaning device to switch from an initial cleaning mode to an immersion cleaning mode, so as to clean the cleaning member and the scraper bar assembly based on the immersion cleaning mode;

[0013] Wherein, in the soaking washing mode, the scraper bar assembly is controlled to reciprocate between a first position and a second position, and the cleaning member is located in the liquid in the cleaning chamber.

[0014] In this way, by switching to the immersion washing mode when the target dirtiness level is detected to be the first dirtiness level, and by immersing the cleaning parts and the scraper bar assembly in the cleaning liquid, stubborn dirt can be effectively softened and dissolved, which helps to deal with situations with higher dirtiness levels. Therefore, through the continuous action of the liquid and the dynamic movement of the scraper bar assembly, stubborn dirt and hard-to-clean areas on the surface of the scraper bar assembly and the cleaning parts can be effectively removed, ensuring comprehensive cleaning of the scraper bar assembly and the cleaning parts, so that the scraper bar assembly and the cleaning parts of the cleaning equipment can maintain an ideal state after each self-cleaning task, reducing performance degradation caused by dirt accumulation, thereby improving overall operating efficiency, and through an effective self-cleaning process, it can also reduce the waste of detergents and water, saving resources.

[0015] Optionally, the cleaning device further includes a water pump assembly, and the method further includes:

[0016] When the water pump assembly is in the on state, at least when it is detected that the height of the liquid in the cleaning chamber is greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state and the scraper assembly is controlled to be located in the liquid in the cleaning chamber.

[0017] In this way, by controlling the scraper bar assembly to be located in the liquid at a corresponding height in the cleaning chamber, it can be ensured that the scraper bar assembly is immersed in the liquid at an appropriate liquid level, thereby enhancing the effect of the cleaning liquid and improving the cleaning efficiency. In addition, the present application can also prevent overflow caused by excessive liquid through liquid level detection and automatic shutdown of the water pump assembly, thereby reducing potential damage to the internal components of the cleaning equipment, such as avoiding the water level from overflowing the air outlet of the hot air generator, thereby protecting the cleaning equipment, and reducing the waste of cleaning liquid and saving resources by precisely controlling the amount of liquid injected.

[0018] Optionally, the scraper bar assembly further has a third position in contact with the cleaning member and a fourth position away from the cleaning member; at the third position, the scraper bar assembly is interference-fitted with the cleaning member; when it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, the scraper bar assembly is controlled to reciprocate between the first position and the second position, including:

[0019] During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position.

[0020] In this way, through the interference fit in the third position, the scraper bar assembly can be in closer contact with the cleaning element, thereby enhancing the dirt removal effect. Combined with the reciprocating motion, it can ensure that the surface and corners of the scraper bar assembly can be fully cleaned. Through effective and sufficient cleaning, the wear of the scraper bar assembly and the cleaning element is reduced, thereby extending the service life of the cleaning equipment.

[0021] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0022] When it is detected that the degree of dirtiness of the scraper strip assembly is the second dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element based on the spin-drying mode;

[0023] Wherein, in the spin-drying mode, the water pump assembly is in a closed state and the scraper assembly is in the second position.

[0024] In this way, unnecessary water and electricity consumption is avoided by directly skipping the cleaning step and entering the spin-drying mode when the target dirtiness is detected to be the second dirtiness level. This method is particularly effective when dealing with light dirtiness because a complete self-cleaning process may not be necessary. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, and the cleaning equipment is restored to a usable state more quickly, thereby improving overall work efficiency. Furthermore, through the spin-drying mode, moisture in the cleaning parts is effectively removed, and the drying time of the cleaning parts can be reduced, thereby improving the overall cleaning efficiency of the cleaning equipment. By turning off the water pump assembly, unnecessary water and energy consumption is reduced. By controlling the scraper bar assembly to be in the second position, sufficient space is left for the cleaning parts to be spun dry, thereby avoiding wear or damage caused by contact between the scraper bar assembly and the cleaning parts, thereby extending the service life of the cleaning equipment.

[0025] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; when it is detected that the degree of dirtiness of the scraper assembly is a target degree of dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0026] When it is detected that the degree of dirtiness of the scraper strip assembly is the third dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element based on the heating washing mode;

[0027] Wherein, in the heating wash mode, the thermal management component is in an on state, and the scraper strip component reciprocates between a first position and a second position.

[0028] In this way, by controlling the cleaning equipment to switch to the heating washing mode when the target dirtiness is detected to be the third dirtiness level, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for dealing with high-level dirtiness. Therefore, the present application increases the temperature of the cleaning liquid through the heating washing mode, thereby enhancing its decontamination ability, and can effectively dissolve dirt on the surface of the cleaning parts and the scraper bar assembly, thereby shortening the overall cleaning time. Combined with the dynamic movement of the scraper bar assembly, it can ensure comprehensive cleaning of the cleaning parts and the scraper bar assembly, thereby enhancing the cleaning effect.

[0029] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air for the cleaning chamber; and the method further includes:

[0030] When it is determined that the target dirtiness meets the preset conditions, the cleaning device is controlled to switch from the target self-cleaning mode to the drying mode;

[0031] In the drying mode, the hot air generator is in the on state and the scraper assembly is in the second position.

[0032] Therefore, in the drying mode, the scraper assembly is controlled to be in the second position. Through this drying avoidance method, sufficient space can be left for the drying of the cleaning element, so that there is enough space around the cleaning element for hot air circulation. This space optimization can accelerate moisture evaporation and improve drying efficiency. Moreover, the cleaning element and the scraper assembly are at a preset distance, and the scraper assembly does not block the surface of the cleaning element. The two can be dried separately, ensuring that the hot air can evenly contact all areas of the cleaning element, avoiding local wetting and unnecessary friction and contact, and reducing wear and potential damage.

[0033] Optionally, the cleaning device further includes a color sensor, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, before controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, the method further includes:

[0034] Acquiring first sensing data of a target medium flowing through the suction pipe based on a color sensor;

[0035] Analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0036] Analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly;

[0037] A target contamination level of the wiper strip assembly is determined based on the first sensor data.

[0038] Therefore, the present application introduces a color sensor and utilizes the color sensor to identify the dirtiness of the target medium flowing through the suction pipe. It can perform a multi-dimensional analysis based on light intensity and color information, identify subtle color changes, and accurately detect the sensor data of the target medium. Furthermore, the target color temperature of the target medium is analyzed through the detected relatively accurate sensor data, and considering the influence of temperature on the color of the target medium, the dirtiness information is analyzed through the target color temperature. The color characteristics and divisions of the target medium can be better understood, and the degree of dirtiness of the target medium can be more accurately distinguished, thereby more accurately evaluating the degree of dirtiness of the scraper assembly. Furthermore, according to the detected target degree of dirtiness, the cleaning system can dynamically adjust the self-cleaning mode of the cleaning device to ensure that a suitable cleaning strategy is adopted. This flexibility helps to improve the self-cleaning effect and ensure that good self-cleaning results can be achieved in various situations.

[0039] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0040] Call the color temperature calculation model;

[0041] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0042] In this way, by using the first channel parameters and the second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed, the accuracy of color temperature measurement can be improved, and more subtle color changes can be captured compared to single channel analysis; and by using a specially designed color temperature calculation model for accurate color temperature measurement, the sensor data can be effectively converted into color temperature information to help identify the properties and state of the medium; in addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, so that the cleaning equipment can adapt to a variety of self-cleaning scenarios, which helps to more accurately identify and distinguish different types of dirt, and then the cleaning equipment can better select and adjust the self-cleaning mode to adapt to different dirt conditions.

[0043] Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly includes:

[0044] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0045] A target degree of soiling of the wiper strip assembly is determined based on the type of soiling.

[0046] In this way, when the target color temperature meets the preset color temperature conditions, the multi-dimensional analysis capability of the target medium provided by using multiple channel parameters can capture more complex color and composition changes, provide a more comprehensive dirt assessment, and ensure that there is no possibility of missing detection. By comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified, and then through precise analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0047] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0048] Before the cleaning device starts the initial cleaning mode, the lighting device is controlled to turn on, and the second sensor data of the inner wall of the suction pipe is obtained;

[0049] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0050] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0051] In this way, by providing a stable light source and adjusting lighting conditions through the lighting device, the impact of ambient light changes on color temperature measurement is reduced, and the accuracy and reliability of detection are improved. By obtaining the initial color temperature and performing calibration, the accuracy of color temperature measurement can be ensured, which helps to more accurately identify and classify dirt. In the event that it is determined that the initial color temperature does not meet the preset color temperature conditions, calibration processing can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature, which can ensure that the color sensor works under ideal conditions, thereby improving the reliability and consistency of detection.

[0052] Optionally, the method further includes:

[0053] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0054] In this way, by directly using the corresponding lighting parameters when the initial color temperature meets the conditions, unnecessary lighting adjustments can be avoided, thereby saving energy and reducing wear and tear on lighting devices. Furthermore, by working with lighting parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light, which not only helps to improve the stability and accuracy of color temperature measurement and analysis, but also ensures that the lighting device operates in an efficient state, further reducing energy consumption.

[0055] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0056] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0057] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0058] Therefore, by controlling the brightness of the two lamp beads separately, the overall color temperature can be accurately adjusted. The first lamp bead and the second lamp bead emit light above and below a specific threshold respectively, providing a wide range of color temperature adjustment. By adjusting the brightness of the lamp beads to meet the preset color temperature conditions, it can flexibly adapt to various ambient light conditions, ensuring that the ideal color temperature can be achieved in any situation, thereby improving the accuracy and reliability of color temperature measurement.

[0059] In a second aspect, the present application provides a self-cleaning method for a cleaning device, which is applied to a cleaning system, wherein the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of a cleaning member on the floor brush assembly; the scraper assembly has a third position in contact with the cleaning member and a fourth position away from the cleaning member; the method includes:

[0060] When it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode, the scraper strip assembly is controlled to reciprocate between the third position and the fourth position;

[0061] When it is detected that the dirtiness of the scraper strip assembly is the target dirtiness, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

[0062] At present, the self-cleaning method of cleaning equipment only includes self-cleaning of the cleaning parts. Due to the special structural setting of the front scraper bar assembly on the cleaning equipment, and the fact that the scraper bar assembly is located at a fourth position that maintains a preset distance from the surface to be cleaned when the cleaning equipment is in a non-working state, that is, when the cleaning equipment is placed on the cleaning base station, the scraper bar assembly is spaced a certain distance from the cavity of the cleaning parts on the cleaning base station, and there is also a gap between the scraper bar assembly and the cleaning parts; therefore, in the process of cleaning the cleaning parts, it is difficult for the water level to contact the scraper bar assembly or the scraper bar assembly can only be cleaned by the water thrown out from the cleaning parts, and it is not easy to clean the scraper bar assembly; what is more prominent is that due to the cleaning dead corners such as the bending structure of the scraper bar assembly structure itself, the cleaning dead corners of the scraper bar assembly cannot be cleaned during the self-cleaning process of the conventional cleaning parts, and stubborn stains are likely to remain in the dead corners, which are difficult to clean. On this basis, the present application controls the scraper bar assembly to reciprocate between the third position and the fourth position when the cleaning device performs self-cleaning, and ensures that the scraper bar assembly can contact the cleaning member and the cleaning liquid at different positions and angles during the horizontal swinging process, thereby cooperating with the surge of the cleaning liquid in the cleaning chamber during the cleaning process, so that the cleaning liquid can clean the cleaning dead corners of the scraper bar assembly multiple times; and the cleaning operation of the scraper bar assembly in a dynamic horizontal swinging manner can also dynamically change the cleaning force of the cleaning liquid on the cleaning dead corners, thereby further improving the cleaning ability, ensuring that each surface and corner of the scraper bar assembly can be effectively cleaned, and thus ensuring comprehensive coverage cleaning.

[0063] Furthermore, the present application can evaluate the degree of dirtiness of the scraper bar assembly in real time by cooperating with the dirtiness detection function during the cleaning process of the scraper bar assembly, so that during the reciprocating motion of the scraper bar assembly between the third position and the fourth position, it can also intelligently switch to the corresponding self-cleaning mode according to the detected degree of dirtiness. Each self-cleaning mode corresponds to a different cleaning strategy, so as to implement different cleaning modes for the scraper bar assembly according to different dirtiness conditions, thereby further improving the cleaning of the scraper bar assembly by the cleaning liquid, especially the cleaning effect of the scraper bar assembly at the dead corners, thereby further improving the cleaning effect of the scraper bar assembly, especially the dead corners of the scraper bar assembly.

[0064] Therefore, through the reciprocating motion of the scraper bar assembly and the coordinated self-cleaning mode of the intelligent self-cleaning mode, the surface of the scraper bar assembly and the cleaning dead corners of the scraper bar assembly can be effectively cleaned, avoiding dirt residue in the cleaning dead corners, thereby ensuring that the scraper bar assembly is in an ideal state, improving the overall self-cleaning effect and efficiency of the cleaning equipment, and the above-mentioned automated detection and self-cleaning process reduces the user's operating burden and improves the ease of use of the equipment, thereby improving the convenience of use of the cleaning equipment and user satisfaction, and the selection of precise self-cleaning modes can also reduce the use of detergents and water, reducing resource consumption and environmental impact; in addition, based on this, the cleaning effect of the cleaning equipment when cleaning the ground can also be guaranteed.

[0065] Optionally, controlling the scraper strip assembly to reciprocate between the third position and the fourth position comprises:

[0066] When the scraper strip assembly is at the third position, the scraper strip assembly is controlled to be at the third position for a preset time period, and after the preset time period has passed, the scraper strip assembly is controlled to move from the third position to the fourth position.

[0067] Therefore, after a preset period of time, the cleaning system controls the scraper bar assembly to move from the third position to the fourth position. By maintaining the preset period of time at the third position, it can ensure that the scraper bar assembly applies sufficient cleaning pressure and time to the cleaning element, effectively removes stubborn dirt and residue, optimizes the cleaning process, and improves the overall cleaning efficiency. By reasonably controlling the residence time of the scraper bar assembly at the third position, it can also avoid excessive pressure or friction, reduce wear on the cleaning element and the scraper bar, and quickly move to the fourth position after cleaning is completed, further reducing unnecessary contact, which helps to extend the service life of the scraper bar assembly and the cleaning element, and reduce the maintenance and replacement costs of the equipment.

[0068] In a third aspect, the present application provides a self-cleaning device for a cleaning device, which is applied to a cleaning system, wherein the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is mounted at the front end of the cleaning device and is located at the front side of a cleaning member on the floor brush assembly; the scraper assembly has a first position in contact with a surface to be cleaned and a second position at a preset distance from the surface to be cleaned; the device comprises:

[0069] A first control module, for controlling the scraper assembly to reciprocate between a first position and a second position when detecting that the cleaning device is located at the cleaning base station and is in an initial cleaning mode;

[0070] The second control module is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper strip assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

[0071] In a fourth aspect, the present application provides a self-cleaning device for a cleaning device, which is applied to a cleaning system, wherein the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper bar assembly; the scraper bar assembly is installed at the front end of the cleaning device and is located in front of a cleaning member on the floor brush assembly; the scraper bar assembly has a third position in contact with the cleaning member and a fourth position away from the cleaning member; the device comprises:

[0072] A third control module, for controlling the scraper assembly to reciprocate between a third position and a fourth position when it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode;

[0073] The fourth control module is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper strip assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

[0074] In a fifth aspect, the present application provides a cleaning system, the cleaning system comprising a cleaning device and a cleaning base station; the cleaning device comprising a floor brush assembly and a scraper assembly; the scraper assembly is mounted at the front end of the cleaning device and is located in front of a cleaning member on the floor brush assembly; the scraper assembly has a first position in contact with a surface to be cleaned, a second position maintaining a preset distance from the surface to be cleaned, a third position in contact with the cleaning member, and a fourth position away from the cleaning member;

[0075] The cleaning system is used to perform the method according to any one of the first aspect and the second aspect.

[0076] It should be noted that the third to fifth aspects of the present application correspond to the technical solutions of the first and second aspects of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar, which will not be repeated here.

[0077] In summary, the present application provides a self-cleaning method, device and cleaning system for a cleaning device, which are applied to a cleaning system. When the cleaning device is located at a cleaning base station and is in an initial cleaning mode, the cleaning system starts a self-cleaning process. In the initial cleaning mode, the scraper bar assembly is controlled to reciprocate between a first position (or a third position) and a second position (or a fourth position). This movement helps to remove dirt attached to the scraper bar assembly. Furthermore, the cleaning system can detect the degree of dirtiness of the scraper bar assembly. When it is detected that the degree of dirtiness reaches a preset target degree of dirtiness, the cleaning system can switch to a corresponding self-cleaning mode. mode, so as to deal with different degrees of dirt in a targeted manner; wherein, in the selected target self-cleaning mode, the cleaning system can also control the scraper bar assembly to perform a reciprocating brushing operation, so that the scraper bar assembly can be more comprehensively contacted with the cleaning liquid, ensuring that each area of ​​the scraper bar assembly is effectively cleaned. In this way, since the cleaning device can control the scraper bar assembly to perform a reciprocating brushing operation during the self-cleaning process, it is helpful to remove the dirt on the scraper bar assembly and enhance the self-cleaning effect. In addition, by applying different self-cleaning modes for different degrees of dirt, it can be ensured that a better self-cleaning effect can be achieved at each degree of dirt. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0079] Figure 1 A partial structural schematic diagram of a cleaning system provided in an embodiment of the present application;

[0080] Figure 2 A schematic diagram of the structure of a cleaning system provided in an embodiment of the present application;

[0081] Figure 3 A schematic diagram of an application scenario provided for an embodiment of the present application;

[0082] Figure 4 A schematic diagram of a partial structure of a cleaning device provided in this embodiment;

[0083] Figure 5 A schematic diagram of a self-cleaning method for a cleaning device provided in an embodiment of the present application;

[0084] Figure 6 A schematic flow chart of another self-cleaning method for a cleaning device provided in an embodiment of the present application;

[0085] Figure 7 A schematic diagram of the structure of a self-cleaning device of a cleaning device provided in an embodiment of the present application;

[0086] Figure 8 A schematic structural diagram of a self-cleaning device of another cleaning device provided in an embodiment of the present application.

[0087] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0088] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and their order is not limited. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not necessarily limit them to be different.

[0089] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0090] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0091] In the current prior art, during the process of a cleaning device cleaning a surface to be cleaned, a scraper bar assembly arranged at the front end of the floor brush assembly can be controlled to come into contact with or separate from the surface to be cleaned. When the user pushes the cleaning device forward, the scraper bar assembly separates from the surface to be cleaned. When the user pulls the cleaning device backward, the front scraper bar assembly descends and comes into contact with the surface to be cleaned, thereby scraping and cleaning the surface, which can effectively scrape off the dirt on the surface to be cleaned.

[0092] However, the current self-cleaning method of cleaning equipment only includes self-cleaning of the cleaning parts. Due to the special structural setting of the front scraper bar assembly on the cleaning equipment and the fact that the scraper bar assembly is located at a second position at a preset distance from the surface to be cleaned when the cleaning equipment is in a non-working state, that is, when the cleaning equipment is placed on a cleaning base station, the scraper bar assembly is spaced a certain distance from the cavity of the cleaning parts on the cleaning base station, and there is also a gap between the scraper bar assembly and the cleaning parts. Therefore, in the process of cleaning the cleaning parts, it is difficult for the water level to reach the scraper bar assembly or the scraper bar assembly can only be cleaned by the water thrown out from the cleaning parts, and it is not easy to clean the scraper bar assembly. What is more prominent is that due to the cleaning dead corners such as the bending structure of the scraper bar assembly structure itself, the cleaning dead corners of the scraper bar assembly cannot be cleaned in the self-cleaning process of the conventional cleaning parts, and stubborn stains are easily left in the dead corners, which are difficult to clean.

[0093] In response to the above problems, the present application provides a self-cleaning method for a cleaning device, which is applied to a cleaning system. When the cleaning device is located at a cleaning base station and is in an initial cleaning mode, the cleaning system will start a self-cleaning process. In the initial cleaning mode, the scraper bar assembly is controlled to reciprocate between a first position (in contact with the surface to be cleaned) and a second position (maintaining a preset distance from the surface to be cleaned). This movement helps to remove dirt attached to the scraper bar assembly. Furthermore, the cleaning system can detect the degree of dirtiness of the scraper bar assembly. When it is detected that the degree of dirtiness reaches a preset target degree of dirtiness, the cleaning system can switch to a corresponding self-cleaning mode. , so as to deal with different degrees of dirt in a targeted manner; wherein, in the selected target self-cleaning mode, the cleaning system can also control the scraper bar assembly to perform reciprocating lifting and brushing operations, so that the scraper bar assembly can be more comprehensively exposed to the cleaning liquid, ensuring that each area of ​​the scraper bar assembly is effectively cleaned. In this way, since the cleaning device can control the scraper bar assembly to perform reciprocating lifting and brushing operations during the self-cleaning process, it is helpful to remove the dirt on the scraper bar assembly and enhance the self-cleaning effect. In addition, by applying different self-cleaning modes for different degrees of dirt, it can ensure that a better self-cleaning effect can be achieved at each degree of dirt.

[0094] Optionally, the self-cleaning method of the cleaning device provided in the present application is applied to a cleaning system, exemplarily, Figure 1 A partial structural diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the cleaning system 300 includes a cleaning device 200 and a cleaning base station 100; the cleaning device 200 includes a floor brush assembly 201 and a scraper bar assembly 202, the scraper bar assembly 202 is installed at the front end of the cleaning device 200 and is located on the front side of the cleaning member on the floor brush assembly 201; the scraper bar assembly 202 has a first position in contact with the surface to be cleaned, a second position maintaining a preset distance from the surface to be cleaned, a third position in contact with the cleaning member, and a fourth position away from the cleaning member.

[0095] The cleaning system 300 is used to execute the self-cleaning method of the cleaning device provided in the present application.

[0096] The first position is the position where the scraper bar assembly 202 contacts the surface to be cleaned. During the cleaning process of the cleaning device 200, when the scraper bar assembly 202 is in the first position, dirt on the surface to be cleaned can be scraped off.

[0097] The second position is a position where the scraper bar assembly 202 maintains a preset distance from the surface to be cleaned. The preset distance can ensure that the scraper bar assembly 202 is separated from the surface to be cleaned when cleaning is not required, thereby preventing the scraper bar assembly 202 from contacting the surface to be cleaned. The embodiment of the present application does not specifically limit the size of the preset distance, and it can be designed based on the application requirements of the cleaning equipment.

[0098] For example, Figure 4 As shown, when the scraper bar assembly 202 is scraping dirt on the surface to be cleaned, stubborn dirt is easily formed on the scraper bar assembly 202, especially in the cleaning dead corner area, and the formed dirt is difficult to clean; for example, area A of the scraper bar assembly 202 is the bending area of ​​the scraper bar assembly 202. During the cleaning process of the surface to be cleaned, dirt is easily accumulated here and is difficult to clean, that is, a cleaning dead corner area of ​​the scraper bar assembly 202 is formed.

[0099] The third position is the position where the scraper bar assembly 202 contacts the cleaning member. At the third position, the scraper bar assembly 202 and the cleaning member have an interference fit, and are used to remove dirt on the scraper bar assembly 202 based on the rotation of the cleaning member during the self-cleaning operation of the cleaning device.

[0100] The fourth position is the position where the scraper assembly 202 is away from the cleaning member. Optionally, the fourth position may be the same position as the first position, or the same position as the second position, or they may be different positions, which is not specifically limited in the embodiment of the present application.

[0101] It should be noted that, during the self-cleaning process, the scraper bar assembly 202 is controlled to reciprocate between the first position and the second position, that is, the scraper bar assembly 202 is performing a lifting and brushing operation, which can effectively clean the surface and corners of the scraper bar assembly 202 and improve the cleaning effect of the scraper bar assembly 202; the scraper bar assembly 202 is controlled to reciprocate between the third position and the fourth position, that is, the scraper bar assembly 202 is swung in the horizontal direction to brush close to and away from the cleaning part, which can also effectively clean the surface and corners of the scraper bar assembly 202 and improve the cleaning effect of the scraper bar assembly 202.

[0102] In this way, the cleaning system 300 can automatically adjust the position and movement mode of the scraper bar assembly 202 according to the degree of dirtiness of the scraper bar assembly 202, and perform appropriate self-cleaning operations to enable the scraper bar assembly 202 to switch between different positions, ensuring that it effectively removes accumulated dirt during the self-cleaning process and improving the overall self-cleaning effect.

[0103] For example, Figure 2 A schematic diagram of a cleaning system provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the cleaning system 300 includes: a cleaning device 200 and a cleaning base station 100; the cleaning system 300 has Figure 1 In addition to the partial structure of the cleaning device 200 shown, it also has a partial structure of the cleaning base station 100 , and the cleaning base station 100 is used to carry the cleaning device 200 .

[0104] Optionally, the cleaning base station 100 includes a cleaning chamber 101 and a thermal management component 102 , and the thermal management component 102 is used to heat the cleaning liquid in the cleaning chamber 101 , or to provide hot cleaning liquid to the cleaning chamber 101 .

[0105] Optionally, the thermal management component 102 may be a heating component and / or a hot air generator 103; the heating component is installed on the bottom wall of the cleaning chamber to heat the bottom liquid in the cleaning chamber; the hot air generator 103 is used to provide hot air in the cleaning chamber.

[0106] Among them, by setting up a heating component, cold water can be heated into hot water when the cleaning device 200 is located at the cleaning base station 100 to perform self-cleaning, so that the cleaning parts on the floor brush assembly 201 can be thermally cleaned, and / or, a hot air generator is used to heat the cleaning liquid in the cleaning chamber 101 or directly heat the surface of the cleaning parts on the floor brush assembly 201, so as to more effectively heat and dissolve stubborn stains to achieve thermal cleaning. The cleaning part can be a roller brush assembly.

[0107] Optionally, the hot air generator 103 can also be used to dry the cleaning parts based on the provided.

[0108] Optionally, the cleaning device 200 also includes: a water pump assembly 203, a color sensor 204, a suction pipe 205, a sewage tank 206 and a lighting device 207; the color sensor 204 is arranged on the suction pipe 205 connecting the floor brush assembly 201 and the sewage tank 206, and the water pump assembly 203 is used to provide cleaning liquid and adjust the water spraying amount based on the determined self-cleaning mode; wherein, the color sensor 204 can be installed at any position of the suction pipe 205, and the embodiment of the present application does not limit the specific deployment position of the color sensor 204.

[0109] It can be understood that the deployment position of the color sensor 204 is not limited to being set on the suction pipe 205, but can also be set in the cleaning tank or roller brush chamber of the cleaning base station 100. The embodiment of the present application does not specifically limit the deployment position of the color sensor 204, and its deployment position can support the cleaning device 200 to perform the self-cleaning method.

[0110] Optionally, the lighting device 207 is disposed on the suction pipe 205 connecting the floor brush assembly 201 and the sewage tank 206 , and the lighting device 207 is used to adjust the lighting conditions and color temperature in the suction pipe 205 .

[0111] Among them, the lighting device 207 may include a first lamp bead and a second lamp bead, which are used to emit cold light and warm light respectively, that is, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; the second threshold is less than the first threshold; and then the cleaning device 200 can send pulse width modulation (PWM) signals with different duty cycles to the lighting device 207 to control the brightness of the first lamp bead and the second lamp bead, so that the lighting conditions and color temperature in the suction pipe 205 can be adjusted.

[0112] Optionally, the cleaning device 200 further includes a power assembly (not shown in the figure), which is used to drive the cleaning member to perform a cleaning action and adjust the working power based on the determined self-cleaning mode.

[0113] Optionally, the cleaning device 200 and / or the cleaning base station 100 includes a body display; the body display is used to display a corresponding prompt signal based on the degree of dirtiness of the scraper assembly and the cleaning member. For example, the prompt signal can be a color indication signal, etc. The embodiment of the present application does not specifically limit the form of the prompt signal, such as the prompt signal can also be displayed in text.

[0114] Exemplarily, each degree of dirtiness corresponds to a specific color, and this mapping relationship is pre-set. For example, light dirtiness may correspond to green, moderate dirtiness corresponds to yellow, and heavy dirtiness corresponds to red. The embodiment of the present application does not specifically limit the mapping relationship and the color type corresponding to each degree of dirtiness.

[0115] Optionally, the body display may be a simple light emitting diode (LED) indicator light system, or a more complex screen display, and may also display the target degree of dirtiness by the number and color of dirt rings.

[0116] In this way, by displaying the prompt signal on the body display, the user can intuitively understand the current degree of dirtiness of the scraper assembly and the cleaning parts, so that the user can monitor the changes in dirtiness during the self-cleaning process in real time, and promptly understand the self-cleaning effect of the cleaning equipment and the working status of the cleaning system, and the user can decide whether to adjust the self-cleaning strategy based on the displayed prompt signal.

[0117] Optionally, the cleaning device further comprises a scraper; the scraper moves relative to the scraper bar assembly, and when the scraper bar assembly contacts the scraper, the scraper is used to scrape off dirt on the scraper bar assembly.

[0118] In this way, the relative movement of the scraper and the scraper strip assembly realizes an automated dirt removal process, reduces manual intervention, and improves cleaning efficiency.

[0119] For example, Figure 3 A schematic diagram of an application scenario provided in an embodiment of the present application, such as Figure 3 As shown, the application scenario can be applied to a household scenario. Taking the cleaning device 200 as a floor scrubber as an example, the application scenario includes the floor scrubber and a cleaning base station 100; the floor scrubber includes a floor brush assembly and a scraper bar assembly.

[0120] When the floor scrubber completes the cleaning task and returns to the cleaning base station 100 for self-cleaning, when it detects that the floor scrubber is located at the cleaning base station 100 and is in the initial cleaning mode, the scraper bar assembly can be controlled to reciprocate between the first position and the second position, which can effectively remove dirt and residue attached to the scraper bar assembly. This reciprocating motion helps to scrape dirt off the scraper bar assembly to ensure the cleanliness of the scraper bar assembly.

[0121] Furthermore, the degree of dirtiness of the scraper assembly is detected, and then according to the detected degree of dirtiness, the corresponding self-cleaning mode is selected and executed. Different degrees of dirtiness correspond to different self-cleaning modes. In this way, by switching to the corresponding self-cleaning mode, different degrees of dirtiness can be dealt with in a targeted manner, thereby greatly improving the self-cleaning effect.

[0122] It should be noted that the cleaning device 200 can also be applied to shopping malls, schools, and offices. The embodiments of the present application do not limit the specific application scenarios, and the above are only examples.

[0123] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0124] Figure 5 A schematic diagram of a self-cleaning method for a cleaning device provided in an embodiment of the present application, such as Figure 5 As shown, the self-cleaning method of the cleaning device is applied to the cleaning system; the self-cleaning method of the cleaning device comprises the following steps:

[0125] S401 . When it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, control the scraper assembly to reciprocate between a first position and a second position.

[0126] In the embodiment of the present application, the initial cleaning mode may refer to a mode in which the cleaning device enters after completing a cleaning task and prepares to perform a self-cleaning operation.

[0127] Optionally, the initial cleaning mode can be a cleaning mode of hot cleaning liquid at about 70 degrees or a cleaning mode of cleaning liquid at room temperature. In this initial cleaning mode, the cleaning parts and scraper components on the floor brush assembly can be hot cleaned or normally cleaned using hot cleaning liquid at about 70 degrees or cleaning liquid at room temperature. The embodiment of the present application does not specifically limit the temperature of the cleaning liquid corresponding to the cleaning parts and scraper components. The above is only an example.

[0128] It is understandable that the initial cleaning mode may also include other modes, such as a cleaning mode using hot cleaning liquid at about 100 degrees, an immersion cleaning mode, etc. The embodiment of the present application does not limit the specific mode corresponding to the initial cleaning mode, which can be set based on the actual application scenario or the performance of the cleaning equipment.

[0129] In the present application, after confirming that the cleaning device is at the cleaning base station and in the initial cleaning mode, the cleaning system starts the control program of the scraper bar assembly, that is, controls the scraper bar assembly to start reciprocating motion between the first position and the second position. The reciprocating motion can be a high-frequency lifting and brushing operation, such as multiple reciprocating motions between the first position and the second position within a unit time.

[0130] It should be noted that the embodiment of the present application does not specifically limit the frequency of the lifting and brushing operations, which can be set based on the requirements of the application scenario.

[0131] In this way, dirt and residue on the wiper strip assembly can be effectively removed by the reciprocating motion, because the movement of the wiper strip assembly between different positions can disturb and loosen the attached dirt or contamination.

[0132] S402: When it is detected that the dirtiness of the scraper strip assembly is at a target dirtiness, control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

[0133] In this step, when it is detected that the dirtiness of the scraper assembly reaches a preset target dirtiness level, the cleaning system identifies the target self-cleaning mode that needs to be adopted, and then controls the cleaning equipment to switch to the corresponding target self-cleaning mode. Each dirtiness level corresponds to a specific self-cleaning mode to ensure that the cleaning system performs self-cleaning in a reasonable manner.

[0134] Among them, the self-cleaning mode may include different cleaning intensities, cleaning times, cleaning temperatures, detergent usage or scraper movement modes. The embodiment of the present application does not limit the specific mode corresponding to the self-cleaning mode, which can be set based on the actual application scenario requirements.

[0135] It can be understood that by selecting a suitable self-cleaning mode according to different dirt levels, it can be ensured that the scraper strip assembly is kept in an ideal cleaning state.

[0136] It should be noted that in the present application, the cleaning system is equipped with a sensor or detection system for evaluating the degree of dirtiness of the scraper strip assembly, such as an optical sensor, a pressure sensor, a color sensor or other types of detection technologies, and then by analyzing the sensor data, determining the current degree of dirtiness of the scraper strip assembly, and comparing it with a preset degree of dirtiness standard to determine the target degree of dirtiness. The embodiment of the present application does not specifically limit the method for detecting the degree of dirtiness of the scraper strip assembly, and the above is merely an example.

[0137] The present application controls the scraper bar assembly to reciprocate between a first position and a second position when the cleaning device performs self-cleaning. During the up and down reciprocating motion, the water level and angle touched by the scraper bar assembly are different each time it descends, and the cleaning liquid in the cleaning chamber surges during the cleaning process, so that the cleaning liquid can clean the dead corners of the scraper bar assembly multiple times. The scraper bar assembly is cleaned in a dynamic lifting manner, so that the cleaning force of the cleaning liquid on the dead corners can be dynamically changed, thereby further improving the cleaning ability and ensuring that each surface and corner of the scraper bar assembly can be effectively cleaned.

[0138] Furthermore, the present application can evaluate the degree of dirtiness of the scraper bar assembly in real time by cooperating with the dirtiness detection function during the cleaning process of the scraper bar assembly, so that during the reciprocating movement of the scraper bar assembly between the first position and the second position, it can also intelligently switch to the corresponding self-cleaning mode according to the detected degree of dirtiness, so as to implement different cleaning modes for the scraper bar assembly according to different dirtiness conditions, thereby further improving the cleaning effect of the scraper bar assembly by the cleaning liquid, especially the cleaning effect of the dead corners of the scraper bar assembly, and further improving the cleaning effect of the scraper bar assembly, especially the dead corners of the scraper bar assembly.

[0139] Therefore, through the reciprocating motion of the scraper bar assembly and the coordinated self-cleaning mode of the intelligent self-cleaning mode, the surface of the scraper bar assembly and the cleaning dead corners of the scraper bar assembly can be effectively cleaned, avoiding dirt residue in the cleaning dead corners, thereby ensuring that the scraper bar assembly is in an ideal state, improving the overall self-cleaning effect and efficiency of the cleaning equipment, and the above-mentioned automated detection and self-cleaning process reduces the user's operating burden and improves the ease of use of the equipment, thereby improving the convenience of use of the cleaning equipment and user satisfaction, and the selection of precise self-cleaning modes can also reduce the use of detergents and water, reducing resource consumption and environmental impact; in addition, based on this, the cleaning effect of the cleaning equipment when cleaning the ground can also be guaranteed.

[0140] Optionally, the self-cleaning mode includes at least a soaking washing mode; when it is detected that the degree of dirtiness of the scraper strip assembly is a target degree of dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0141] When it is detected that the degree of dirtiness of the scraper bar assembly is a first dirtiness level, controlling the cleaning device to switch from an initial cleaning mode to an immersion cleaning mode, so as to clean the cleaning member and the scraper bar assembly based on the immersion cleaning mode;

[0142] Wherein, in the soaking washing mode, the scraper bar assembly is controlled to reciprocate between a first position and a second position, and the cleaning member is located in the liquid in the cleaning chamber.

[0143] In the embodiment of the present application, the first dirt level corresponds to medium dirt, which means that the degree of dirt is high and in-depth cleaning is required. At this time, the cleaning device can be controlled to switch from the initial cleaning mode to the immersion washing mode.

[0144] Exemplarily, when it is detected that the degree of dirtiness of the scraper bar assembly is a first level of dirtiness, the cleaning system can switch from the initial cleaning mode to the immersion washing mode. In the immersion washing mode, the cleaning device places the cleaning member and the scraper bar assembly in the liquid in the cleaning chamber, and then controls the scraper bar assembly to reciprocate between the first position and the second position, ensuring that the surface of the scraper bar assembly can be fully in contact with the cleaning liquid, thereby enhancing the cleaning effect.

[0145] During the soaking process, the cleaning liquid can penetrate and soften stubborn dirt, making it easier to be removed by the movement of the scraper assembly, and the cleaning element can rotate alternately in the liquid in the cleaning chamber. This rotation method ensures that all parts of the cleaning element can also be fully cleaned, thereby enhancing the self-cleaning effect.

[0146] It should be noted that the immersion washing mode may include a hot cleaning liquid cleaning mode of about 70 degrees and a cleaning mode of immersing the cleaning elements and / or the scraper bar assembly. The embodiment of the present application does not specifically limit the specific mode corresponding to the immersion washing mode. Optionally, after the cleaning device completes the cleaning of the cleaning elements and / or the scraper bar assembly based on the immersion washing mode, it can directly switch to the spin-drying mode to spin out the moisture in the cleaning elements, thereby improving the cleaning efficiency.

[0147] It is understandable that the soaking washing mode can effectively remove stubborn dirt on the surface of the scraper bar assembly and the cleaning member by soaking the scraper bar assembly and the cleaning member alternately for a long time.

[0148] In this way, by switching to the immersion washing mode when the target dirtiness level is detected to be the first dirtiness level, and by immersing the cleaning parts and the scraper bar assembly in the cleaning liquid, stubborn dirt can be effectively softened and dissolved, which helps to deal with situations with higher dirtiness levels. Therefore, through the continuous action of the liquid and the dynamic movement of the scraper bar assembly, stubborn dirt and hard-to-clean areas on the surface of the scraper bar assembly and the cleaning parts can be effectively removed, ensuring comprehensive cleaning of the scraper bar assembly and the cleaning parts, so that the scraper bar assembly and the cleaning parts of the cleaning equipment can maintain an ideal state after each self-cleaning task, reducing performance degradation caused by dirt accumulation, thereby improving overall operating efficiency, and through an effective self-cleaning process, it can also reduce the waste of detergents and water, saving resources.

[0149] Optionally, the method further includes:

[0150] When the water pump assembly is in the on state, at least when it is detected that the height of the liquid in the cleaning chamber is greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state and the scraper assembly is controlled to be located in the liquid in the cleaning chamber.

[0151] In the embodiment of the present application, the preset position can be a position threshold set in advance to prevent liquid from overflowing from the cleaning chamber. The embodiment of the present application does not specifically limit the height of the preset position, which can be set based on the product performance of the cleaning system. The setting of the preset position can ensure that the scraper assembly can be effectively immersed and cleaned.

[0152] It can be understood that in the present application, the cleaning system can also be equipped with a liquid level sensor or other detection device for detecting the height of the liquid in the cleaning chamber. When it is detected that the liquid height reaches or exceeds the height corresponding to the preset position, the cleaning system controls the water pump assembly to shut down. Because when the liquid height in the cleaning chamber exceeds the height corresponding to the preset position, continuing to run the water pump assembly may cause liquid overflow. At this time, the water pump can be turned off in time to prevent the liquid from overflowing to the outside.

[0153] It should be noted that the embodiment of the present application does not specifically limit the method and manner for detecting the height of the liquid in the cleaning chamber. For example, it can also be determined by the water injection time and the water injection amount per unit time.

[0154] Illustratively, during the self-cleaning process, the water pump assembly is turned on to inject cleaning liquid into the cleaning chamber to ensure that there is sufficient liquid in the cleaning chamber for soaking and cleaning operations. Furthermore, after detecting that the liquid height is greater than the height corresponding to the preset position, the cleaning system automatically controls the water pump assembly to switch to an off state to prevent excessive liquid injection, overflow or waste of water resources. The scraper assembly is controlled to be located in the liquid in the cleaning chamber to ensure that the surface of the scraper assembly can fully contact the cleaning liquid for effective cleaning.

[0155] When the scraper assembly is controlled to be located in the liquid in the cleaning chamber, it can be in the first position or in other positions. The embodiment of the present application does not limit this, and it only needs to be ensured that it can be located in the liquid in the cleaning chamber.

[0156] In this way, by controlling the scraper bar assembly to be located in the liquid at a corresponding height in the cleaning chamber, it can be ensured that the scraper bar assembly is immersed in the liquid at an appropriate liquid level, thereby enhancing the effect of the cleaning liquid and improving the cleaning efficiency. In addition, the present application can also prevent overflow caused by excessive liquid through liquid level detection and automatic shutdown of the water pump assembly, thereby reducing potential damage to the internal components of the cleaning equipment, such as avoiding the water level from overflowing the air outlet of the hot air generator, thereby protecting the cleaning equipment, and reducing the waste of cleaning liquid and saving resources by precisely controlling the amount of liquid injected.

[0157] Optionally, the scraper bar assembly further has a third position in contact with the cleaning member and a fourth position away from the cleaning member; at the third position, the scraper bar assembly is interference-fitted with the cleaning member; when it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, the scraper bar assembly is controlled to reciprocate between the first position and the second position, including:

[0158] During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position.

[0159] In the embodiment of the present application, during the self-cleaning process of the cleaning device at the cleaning base station, the scraper bar assembly can reciprocate between the first position and the second position, or can reciprocate between the third position and the fourth position. The reciprocating motion of the two can effectively clean the surface and corners of the scraper bar assembly, thereby improving the cleaning effect of the scraper bar assembly. The combination of the two movements can ensure that the scraper bar assembly is fully cleaned.

[0160] It can be understood that this multi-position motion design provides a flexible cleaning strategy, allowing the cleaning equipment to adapt to different cleaning needs and conditions, and then the cleaning system can automatically adjust the position of the scraper assembly according to actual conditions to optimize the cleaning process.

[0161] Exemplarily, when the cleaning device returns to the cleaning base station and enters the initial self-cleaning mode, the cleaning system can detect the position change of the scraper bar assembly. When it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position to clean the dirt on the surface of the scraper bar assembly.

[0162] The interference fit at the third position can ensure close contact between the scraper strip assembly and the cleaning member to enhance the cleaning effect.

[0163] In this way, through the interference fit in the third position, the scraper bar assembly can be in closer contact with the cleaning element, thereby enhancing the dirt removal effect. Combined with the reciprocating motion, it can ensure that the surface and corners of the scraper bar assembly can be fully cleaned. Through effective and sufficient cleaning, the wear of the scraper bar assembly and the cleaning element is reduced, thereby extending the service life of the cleaning equipment.

[0164] Optionally, the self-cleaning mode includes at least a spin-drying mode; when it is detected that the dirtiness of the scraper bar assembly is a target dirtiness, controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0165] When it is detected that the degree of dirtiness of the scraper strip assembly is the second dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element based on the spin-drying mode;

[0166] Wherein, in the spin-drying mode, the water pump assembly is in a closed state and the scraper assembly is in the second position.

[0167] In the embodiment of the present application, the second dirt level corresponds to low dirt, which means that the degree of dirt is relatively light. At this time, you can directly jump to the spin-drying process, that is, control the cleaning device to switch from the initial cleaning mode to the spin-drying mode.

[0168] Exemplarily, during the self-cleaning process, when the cleaning system detects that the degree of dirtiness of the scraper bar assembly is the second dirtiness level, the cleaning device switches from the initial cleaning mode to the spin-drying mode. In the spin-drying mode, the cleaning device shakes out the moisture in the cleaning element through high-speed rotation or other mechanical actions. At this time, the water pump assembly is in a closed state to prevent additional moisture from entering the cleaning chamber during the spin-drying process; the scraper bar assembly is controlled to be in the second position to ensure that the scraper bar assembly does not make unnecessary contact with the cleaning element or other components during the spin-drying process to avoid wear or damage.

[0169] In this way, unnecessary water and electricity consumption is avoided by directly skipping the cleaning step and entering the spin-drying mode when the target dirtiness is detected to be the second dirtiness level. This method is particularly effective when dealing with light dirtiness because a complete self-cleaning process may not be necessary. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, and the cleaning equipment is restored to a usable state more quickly, thereby improving overall work efficiency. Furthermore, through the spin-drying mode, moisture in the cleaning parts is effectively removed, and the drying time of the cleaning parts can be reduced, thereby improving the overall cleaning efficiency of the cleaning equipment. By turning off the water pump assembly, unnecessary water and energy consumption is reduced. By controlling the scraper bar assembly to be in the second position, sufficient space is left for the cleaning parts to be spun dry, thereby avoiding wear or damage caused by contact between the scraper bar assembly and the cleaning parts, thereby extending the service life of the cleaning equipment.

[0170] Optionally, the self-cleaning mode includes at least a heating washing mode; when it is detected that the degree of dirtiness of the scraper strip assembly is a target degree of dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0171] When it is detected that the degree of dirtiness of the scraper strip assembly is the third dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element based on the heating washing mode;

[0172] Wherein, in the heating wash mode, the thermal management component is in an on state, and the scraper strip component reciprocates between a first position and a second position.

[0173] In an embodiment of the present application, the third dirt level corresponds to high dirt. At this time, the cleaning device is controlled to switch from the initial cleaning mode to the heating washing mode to perform thermal cleaning with hot water and / or hot air to deal with stubborn dirt on the cleaning parts and the scraper assembly.

[0174] Exemplarily, during the self-cleaning process, when the cleaning system detects that the degree of dirtiness of the scraper bar assembly is the third level of dirtiness, the cleaning device switches from the initial cleaning mode to the heated washing mode. In the heated washing mode, the thermal management component is turned on to heat the cleaning liquid or cleaning parts and the scraper bar assembly, and in the heated washing mode, the scraper bar assembly reciprocates between a first position and a second position to ensure that the surface of the scraper bar assembly can fully contact the heated cleaning liquid to enhance the cleaning effect.

[0175] The heat provided by the thermal management component enables the cleaning liquid to effectively dissolve grease, dirt and other stubborn substances, thereby enhancing its dissolving and cleaning capabilities.

[0176] It should be noted that the heated washing mode may refer to a cleaning mode using hot cleaning liquid at about 100 degrees; wherein the thermal management component includes a heating component and / or a hot air generator, and the heating component heats the liquid in the cleaning chamber to increase the temperature of the cleaning liquid to enhance the cleaning effect; the hot air generator can provide hot air, and can also heat the liquid in the cleaning chamber and the cleaning parts, thereby enhancing the cleaning effect. The hot air generator does not require additional configuration and can be shared with the heater used for drying.

[0177] In some embodiments, the heated washing mode may include a cleaning mode using a hot cleaning liquid at about 100 degrees and an immersion cleaning mode. Thus, by combining immersion and high temperature cleaning, an ideal cleaning effect may be achieved in a shorter time, thereby improving overall cleaning efficiency.

[0178] In other embodiments, the heated washing mode may include a cleaning mode using hot cleaning liquid at about 70 degrees, a cleaning mode using hot cleaning liquid at about 100 degrees, and an immersion cleaning mode. In this way, by combining cleaning and immersion modes at different temperatures, the cleaning cycle can be optimized to ensure that the ideal cleaning effect is achieved in the shortest time.

[0179] It should be noted that the embodiment of the present application does not specifically limit the specific mode corresponding to the heating washing mode. Optionally, after the cleaning device completes cleaning the cleaning parts and the scraper assembly based on the heating washing mode, it can directly switch to the spin-drying mode to spin out the moisture in the cleaning parts, thereby improving the self-cleaning efficiency.

[0180] In this way, by controlling the cleaning equipment to switch to the heating washing mode when the target dirtiness is detected to be the third dirtiness level, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for dealing with high-level dirtiness. Therefore, the present application increases the temperature of the cleaning liquid through the heating washing mode, thereby enhancing its decontamination ability, and can effectively dissolve dirt on the surface of the cleaning parts and the scraper bar assembly, thereby shortening the overall cleaning time. Combined with the dynamic movement of the scraper bar assembly, it can ensure comprehensive cleaning of the cleaning parts and the scraper bar assembly, thereby enhancing the cleaning effect.

[0181] Optionally, the method further includes:

[0182] When it is determined that the target dirtiness meets the preset conditions, the cleaning device is controlled to switch from the target self-cleaning mode to the drying mode;

[0183] In the drying mode, the hot air generator is in the on state and the scraper assembly is in the second position.

[0184] In an embodiment of the present application, satisfying the preset condition may be that the dirt level corresponding to the target dirt level is less than a preset threshold value or that the target color temperature for determining the target dirt level satisfies the preset color temperature condition. It may also be that the target color temperature for determining the target dirt level is within a preset interval. The present embodiment of the application does not specifically limit the content of the preset condition. Satisfying the preset condition indicates that the scraper assembly and the cleaning component have achieved the expected cleaning effect and are ready to enter the drying stage. For example, when the dirt level corresponding to the target dirt level is less than the preset threshold value, it indicates that the preset condition is satisfied. The present embodiment of the application does not specifically limit the size setting of the preset threshold value and the preset interval range, and it can be set based on the actual application scenario requirements.

[0185] Exemplarily, the cleaning system can continuously detect the degree of dirtiness of the scraper bar assembly and the cleaning elements. After confirming that the dirtiness level corresponding to the target dirtiness level is lower than a preset threshold, the cleaning system automatically controls the cleaning device to switch from the current target self-cleaning mode to the drying mode. In the drying mode, the hot air generator is turned on to generate hot air for drying the cleaning elements and the scraper bar assembly. In the drying mode, the scraper bar assembly is controlled to be in the second position to ensure that the hot air can fully contact all surfaces of the scraper bar assembly to avoid incomplete drying, wear or damage due to obstruction or adhesion.

[0186] Among them, the hot air from the hot air generator can quickly dry the scraper assembly and cleaning parts, shortening the drying time and improving the self-cleaning efficiency. At the same time, it can also prevent the growth of mold and odor, and keep the cleaning equipment hygienic and clean.

[0187] Therefore, in the drying mode, the scraper assembly is controlled to be in the second position. Through this drying avoidance method, sufficient space can be left for the drying of the cleaning element, so that there is enough space around the cleaning element for hot air circulation. This space optimization can accelerate moisture evaporation and improve drying efficiency. Moreover, the cleaning element and the scraper assembly are at a preset distance, and the scraper assembly does not block the surface of the cleaning element. The two can be dried separately, ensuring that the hot air can evenly contact all areas of the cleaning element, avoiding local wetting and unnecessary friction and contact, and reducing wear and potential damage.

[0188] It should be noted that, due to the poor light conditions in the suction duct, it is difficult for the color sensor to receive the light reflected from the surface of the dirty object, so it is necessary to control the lighting device to turn on to create good detection conditions.

[0189] It should be noted that the intensity and color of ambient light will also affect the accuracy of the sensor data collected by the color sensor. Therefore, due to changes in ambient light, such as day or night, sunny or cloudy days, using the same light intensity may cause errors in color sensor recognition, thereby affecting the accuracy of dirt level recognition.

[0190] In view of the above situation, the present application introduces a lighting device, which can be automatically turned on when it is identified that the internal environment of the suction pipe is insufficiently lit.

[0191] Optionally, when it is detected that the dirtiness of the scraper strip assembly is at a target dirtiness, before controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, the method further includes:

[0192] Acquiring first sensing data of a target medium flowing through the suction pipe based on a color sensor;

[0193] Analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0194] Analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly;

[0195] A target contamination level of the wiper strip assembly is determined based on the first sensor data.

[0196] In an embodiment of the present application, the first sensor data provides information about the color of the medium, which can reflect the degree of contamination of the medium. Optionally, the first sensor data may include data of five channels, namely R, G, B, C (transparency), IR (infrared). The embodiment of the present application does not specifically limit the data type and quantity corresponding to the first sensor data.

[0197] Illustratively, when the cleaning equipment is located at the cleaning base station for self-cleaning, since the color sensor is installed on the suction pipe, the color changes of the target medium flowing through the suction pipe can be monitored in real time. The target medium may include solid and / or liquid media. The embodiment of the present application does not specifically limit the state of the target medium, for example, it may be sewage or cleaning liquid.

[0198] The target medium can then be analyzed based on the acquired first sensing data to determine its target color temperature, which is a quantitative representation of color characteristics and can help evaluate color changes of the target medium or identify pollution characteristics of the target medium.

[0199] Furthermore, based on the target color temperature of the target medium, the dirt information of the target medium is further analyzed to determine the target dirtiness of the scraper assembly; wherein the target dirtiness reflects the dirtiness of the scraper assembly; the dirtiness may include different levels such as low dirtiness, medium dirtiness and high dirtiness. The embodiment of the present application does not specifically limit the dirtiness level division corresponding to the target dirtiness, such as it can also be divided into level 1, level 2, level 3, etc.

[0200] Exemplarily, the color sensor collects first sensing data of the target medium and calculates its correlated color temperature (CCT), ie, the target color temperature. The CCT value is usually expressed in Kelvin (K).

[0201] Optionally, different CCT ranges are divided into three dirt levels, and this division is determined based on the analysis of the color characteristics of different types of dirt and their corresponding CCT values. For example, when the target color temperature is greater than or equal to the fourth threshold and less than or equal to the fifth threshold, the dirt level of the target medium is determined to be the second dirt level, i.e., low dirt. The fourth threshold may be 3600K, and the fifth threshold may be 4500K. CCT values ​​in this range usually correspond to no dirt or light dirt, such as clean water.

[0202] When the target color temperature is greater than the fifth threshold, or greater than the sixth threshold and less than the fourth threshold, the degree of dirtiness of the target medium is determined to be the first dirtiness level, i.e., medium dirtiness. The sixth threshold may be 2800K. This range indicates a medium degree of pollution, which may include some lightly contaminated dirt.

[0203] When the target color temperature is less than or equal to the sixth threshold and greater than the seventh threshold, the degree of dirtiness of the target medium is determined to be the third dirtiness level, i.e., high dirtiness. The seventh threshold may be 2500K. CCT values ​​in this range correspond to more serious pollution, which may be some dirt that is more difficult to handle.

[0204] When the target color temperature is less than or equal to the seventh threshold, the dirtiness of the target medium is determined to be extremely high dirtiness, which range indicates an extremely high degree of contamination, and usually requires a special self-cleaning strategy.

[0205] It should be noted that the embodiments of the present application do not limit the specific numerical values ​​corresponding to the fourth threshold, the fifth threshold, the sixth threshold and the seventh threshold, which can be set based on the actual application scenario requirements or user needs, and the above numerical values ​​are only examples.

[0206] Therefore, the present application introduces a color sensor and utilizes the color sensor to identify the dirtiness of the target medium flowing through the suction pipe. It can perform a multi-dimensional analysis based on light intensity and color information, identify subtle color changes, and accurately detect the sensor data of the target medium. Furthermore, the target color temperature of the target medium is analyzed through the detected relatively accurate sensor data, and considering the influence of temperature on the color of the target medium, the dirtiness information is analyzed through the target color temperature. The color characteristics and divisions of the target medium can be better understood, and the degree of dirtiness of the target medium can be more accurately distinguished, thereby more accurately evaluating the degree of dirtiness of the scraper assembly. Furthermore, according to the detected target degree of dirtiness, the cleaning system can dynamically adjust the self-cleaning mode of the cleaning device to ensure that a suitable cleaning strategy is adopted. This flexibility helps to improve the self-cleaning effect and ensure that good self-cleaning results can be achieved in various situations.

[0207] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0208] Call the color temperature calculation model;

[0209] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0210] In an embodiment of the present application, the first channel parameter and the second channel parameter correspond to different color channels and are used to describe the color characteristics of the target medium. Optionally, the first channel parameter is R (red) channel data and the second channel parameter is B (blue) channel data.

[0211] The color temperature calculation model is a mathematical or algorithmic model for converting color channel parameters into CCT values. Optionally, the color temperature calculation model calculates the R / B ratio of the first channel parameter and the second channel parameter, and then calculates the CCT value based on the R / B ratio and other correction factors and / or constants. For example, the CCT value is calculated based on the first constant, the second constant, the third constant, multiple correction factors and the R / B ratio. The first constant and the second constant are determined by the fifth channel parameter, and the third constant is usually 1. Optionally, the fifth channel parameter is IR (infrared) channel data.

[0212] Exemplarily, a first difference between the first constant and the second constant, a first ratio between the R / B ratio and the first correction factor are calculated, and a CCT value is calculated based on the first difference, the first ratio, the second constant, the third constant, the first correction factor, the second correction factor, and the third correction factor. The calculation formula is as follows:

[0213]

[0214] in, R represents the first channel parameter, B represents the second channel parameter, TcoE represents the first correction factor, TcoE=a; IRa1 represents the fifth channel parameter detected at the first position or the first moment, and in the present application IRa1 represents the first constant, IRa1=b; IRa2 represents the fifth channel parameter detected at the second position or the second moment, and in the present application IRa2 represents the second constant, IRa2=c; xT represents the second correction factor, xT=d; pT represents the third correction factor, pT=e. The embodiments of the present application do not limit the specific numerical values ​​corresponding to a, b, c, d, and e, and they can be set based on the actual application scenario requirements.

[0215] It should be noted that the embodiments of the present application do not specifically limit the numerical values ​​corresponding to the first constant, the second constant, the third constant, the first correction factor, the second correction factor, the third correction factor, the first channel parameter and the second channel parameter. They can be set based on the actual application scenario requirements. The above is only an example.

[0216] In this step, the first channel parameters and the second channel parameters are input into the color temperature calculation model, which analyzes and calculates these parameters and outputs the target color temperature, i.e., the above-mentioned CCT value. Then, by comparing the CCT value with a predefined range, the cleaning device can identify the degree of dirtiness of the target medium. This identification process is automated and can be performed in real time.

[0217] Optionally, continuous first sensing data can be obtained from the color sensor, and then the collected continuous first sensing data can be divided into several groups in sequence, each group containing five data points. Furthermore, for each group of data, the average values ​​of the R channel data and the B channel data are calculated respectively. For each group of mean-filtered data, the ratio of the R channel data to the B channel data is calculated, and then the ratio is input into the color temperature calculation model to calculate the target color temperature.

[0218] In this way, by using the first channel parameters and the second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed, the accuracy of color temperature measurement can be improved, and more subtle color changes can be captured compared to single channel analysis; and by using a specially designed color temperature calculation model for accurate color temperature measurement, the sensor data can be effectively converted into color temperature information to help identify the properties and state of the medium; in addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, so that the cleaning equipment can adapt to a variety of self-cleaning scenarios, which helps to more accurately identify and distinguish different types of dirt, and then the cleaning equipment can better select and adjust the self-cleaning mode to adapt to different dirt conditions.

[0219] It should be noted that some special types of dirt, such as dirt whose CCT value is usually within the normal range, are difficult to be effectively identified and processed by the color temperature detection method. In this case, this special type of dirt can be specifically analyzed and processed. Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; the dirt information of the target medium is analyzed and processed based on the target color temperature to determine the target dirtiness of the scraper assembly, including:

[0220] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0221] A target degree of soiling of the wiper strip assembly is determined based on the type of soiling.

[0222] Exemplarily, R channel data, G channel data, B channel data, and C channel data can be obtained, and by comparing them with their corresponding specific thresholds, the type of dirt on the target medium can be determined. For example, when the R channel data, G channel data, B channel data, and C channel data are each smaller than a specific threshold, it indicates that a special type of dirt has been detected.

[0223] Among them, the specific threshold of each channel can be set based on empirical data or experimental results to identify different types of dirt. The embodiment of the present application does not specifically limit the size of the specific threshold of each channel.

[0224] Optionally, after the dirt type of the target medium is identified, the target dirt level of the scraper assembly may be further determined based on a preset rule or model, and the embodiment of the present application does not specifically limit this process.

[0225] In this way, when the target color temperature meets the preset color temperature conditions, the multi-dimensional analysis capability of the target medium provided by using multiple channel parameters can capture more complex color and composition changes, provide a more comprehensive dirt assessment, and ensure that there is no possibility of missing detection. By comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified, and then through precise analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0226] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0227] Before the cleaning device starts the initial cleaning mode, the lighting device is controlled to turn on, and the second sensor data of the inner wall of the suction pipe is obtained;

[0228] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0229] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0230] In the embodiment of the present application, the lighting device is generally an LED lamp or other type of light source installed in the pipe. The embodiment of the present application does not specifically limit the type of light source corresponding to the lighting device. The lighting device can provide uniform and sufficient light to improve the light conditions in the suction pipe.

[0231] Exemplarily, when the cleaning equipment is located at the cleaning base station and is not in the initial cleaning mode, the lighting device provided on the suction pipe can be automatically turned on. The function of the lighting device is to provide a stable and consistent light source for the color sensor so as to accurately collect environmental data in the pipe. Then, under the illumination of the lighting device, the color difference sensor can collect second sensor data of the inner wall of the suction pipe. The second sensor data may be the same as the first sensor data or different. The embodiment of the present application does not make specific limitations on this. For example, the second sensor data may include color channel data, light intensity, etc., which are used to analyze the environmental conditions inside the suction pipe.

[0232] Furthermore, based on the collected second sensor data, the internal environment of the suction duct is analyzed, and the corresponding initial color temperature is calculated. The initial color temperature reflects the color characteristics of the interior of the suction duct under the current lighting conditions. The method for calculating the initial color temperature can refer to the method for calculating the CCT value in the above embodiment, which will not be repeated here.

[0233] Further, the calculated initial color temperature is compared with a preset color temperature condition, which is a standard for ensuring that the color sensor operates under ideal lighting conditions. The preset color temperature condition may correspond to a CCT value within a normal range, i.e., a range greater than or equal to the fourth threshold and less than or equal to the fifth threshold.

[0234] If the initial color temperature does not meet the preset color temperature conditions, the lighting parameters of the lighting device will be calibrated. The calibration process may include adjusting the brightness, color temperature or direction of the light source to ensure that the color sensor collects data under ideal conditions. The embodiment of the present application does not specifically limit the calibration process.

[0235] In this way, by providing a stable light source and adjusting lighting conditions through the lighting device, the impact of ambient light changes on color temperature measurement is reduced, and the accuracy and reliability of detection are improved. By obtaining the initial color temperature and performing calibration, the accuracy of color temperature measurement can be ensured, which helps to more accurately identify and classify dirt. In the event that it is determined that the initial color temperature does not meet the preset color temperature conditions, calibration processing can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature, which can ensure that the color sensor works under ideal conditions, thereby improving the reliability and consistency of detection.

[0236] Optionally, the method further includes:

[0237] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0238] It should be noted that the preset color temperature condition is one or more color temperature ranges, which are used to determine whether the current environment needs to adjust the lighting. For example, the CCT value range corresponding to the preset color temperature condition is 3600-4500K.

[0239] Exemplarily, the detected initial color temperature is compared with the preset color temperature condition. If the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters corresponding to the initial color temperature, which means that the brightness, color temperature and other lighting characteristics of the lighting device have been adjusted to a state where self-cleaning can be performed.

[0240] In this way, by directly using the corresponding lighting parameters when the initial color temperature meets the conditions, unnecessary lighting adjustments can be avoided, thereby saving energy and reducing wear and tear on lighting devices. Furthermore, by working with lighting parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light, which not only helps to improve the stability and accuracy of color temperature measurement and analysis, but also ensures that the lighting device operates in an efficient state, further reducing energy consumption.

[0241] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0242] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0243] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0244] It should be noted that the first threshold and the second threshold are numerical ranges set to distinguish between cold lights and warm lights. The color temperature of cold light is usually between 5000K and 6500K, and the color temperature of warm light is usually between 2700K and 3000K. Therefore, the first threshold and the second threshold can be set based on the above parameter range. The embodiment of the present application does not specifically limit the size of the first threshold and the second threshold.

[0245] In the embodiment of the present application, the first lamp bead corresponds to the lamp bead of the cold light, and the second lamp bead corresponds to the lamp bead of the warm light. It should be noted that if the brightness of the warm light is too high, the CCT value will decrease. At this time, the color sensor will mistakenly identify dirt; and if the brightness of the cold light is too high, the CCT value will increase. At this time, the sensitivity of the color sensor to dirt recognition will decrease. Therefore, the brightness of the first lamp bead and the second lamp bead can be adjusted until the initial color temperature meets the preset color temperature condition.

[0246] In this step, when it is determined that the initial color temperature does not meet the preset color temperature conditions, the calibration process of the lighting parameters will be started, that is, by adjusting the brightness of the first lamp bead and the second lamp bead, the color temperature of the overall lighting will be gradually adjusted until the initial color temperature meets the preset color temperature conditions.

[0247] Since the above adjustment process is dynamic, the current color temperature can be continuously detected and the brightness of the lamp beads can be adjusted in real time to achieve the required color temperature conditions. Once the initial color temperature is adjusted to meet the preset color temperature conditions, the adjustment is stopped and the normal detection and working state is entered.

[0248] Therefore, by controlling the brightness of the two lamp beads separately, the overall color temperature can be accurately adjusted. The first lamp bead and the second lamp bead emit light above and below a specific threshold respectively, providing a wide range of color temperature adjustment. By adjusting the brightness of the lamp beads to meet the preset color temperature conditions, it can flexibly adapt to various ambient light conditions, ensuring that the ideal color temperature can be achieved in any situation, thereby improving the accuracy and reliability of color temperature measurement.

[0249] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes:

[0250] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0251] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0252] In the embodiment of the present application, the duty cycle refers to the time ratio of the signal being at a high level within a PWM cycle. By adjusting the duty cycle, the brightness of the light can be controlled.

[0253] It should be noted that duty cycle adjustment is a fast-response method that can quickly change the brightness of the lamp beads, thereby quickly adjusting the color temperature. In this way, by dynamically adjusting the duty cycle of the first lamp bead, the color temperature of the overall lighting can be accurately controlled. Accurate color temperature control can reduce unnecessary light interference, help ensure that the color sensor works under ideal light conditions, and thus improve the accuracy of detection and recognition.

[0254] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes:

[0255] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0256] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0257] In this way, the brightness of the second lamp bead can be changed dynamically by continuously adjusting the duty cycle thereof until the initial color temperature reaches the preset color temperature condition, thereby achieving precise adjustment of the overall color temperature and ensuring that the lighting device provides an ideal lighting effect under various environmental conditions, thereby improving the accuracy of detection and recognition.

[0258] Optionally, the method further includes:

[0259] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0260] Among them, the third threshold is a threshold set in advance for determining whether the duration of the calibration process is too long. For example, the third threshold may be 8s. The embodiment of the present application does not specifically limit the size of the third threshold.

[0261] In this way, by monitoring the calibration processing time, abnormal conditions of the internal environment of the suction pipe can be detected early, and timely alarm signals can help users take necessary maintenance measures, which can reduce downtime caused by pipe contamination and improve the availability and self-cleaning efficiency of the cleaning system. In addition, timely alarm prompts can prevent serious failures caused by long-term accumulated contamination, thereby reducing maintenance costs.

[0262] Optionally, controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes:

[0263] Determine the first duration of the target soiling level;

[0264] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target self-cleaning mode and perform self-cleaning in the target self-cleaning mode.

[0265] In an embodiment of the present application, delayed switching is adopted when switching between different self-cleaning modes. That is, when the target color temperature reaches a certain degree of dirtiness, it is necessary to ensure that the target color temperature satisfies the color temperature range corresponding to the degree of dirtiness for a certain period of time before switching to the target self-cleaning mode. This can improve the stability of the switching.

[0266] Among them, the first preset time threshold is a pre-set standard used to determine whether it is necessary to switch to the self-cleaning mode. For example, the first preset time threshold can be 0.5s. The embodiment of the present application does not specifically limit the size of the first preset time threshold. The above is only an example.

[0267] In this way, by introducing the concept of duration, the cleaning system can dynamically respond to different dirt conditions, avoid excessive or insufficient self-cleaning, and switch to self-cleaning mode only when the first duration of the target dirtiness level exceeds the first preset duration threshold, which helps to improve the stability of switching.

[0268] Optionally, when the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to a target self-cleaning mode and performing self-cleaning in the target self-cleaning mode includes:

[0269] Determine a current self-cleaning mode of the cleaning device and a current degree of dirtiness corresponding to the current self-cleaning mode;

[0270] Determine the degree difference between the current degree of dirtiness and the target degree of dirtiness;

[0271] When the first duration is greater than the first preset duration threshold and the degree difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch step by step from the current self-cleaning mode to the target self-cleaning mode.

[0272] In the present application, when the self-cleaning mode is switched across a certain range, for example, from a self-cleaning mode corresponding to low dirtiness to a self-cleaning mode corresponding to high dirtiness, a delayed stability judgment must be performed first before entering the adjacent cleaning mode, that is, first entering the self-cleaning mode corresponding to medium dirtiness from the self-cleaning mode corresponding to low dirtiness, and then entering the target self-cleaning mode, that is, the self-cleaning mode corresponding to high dirtiness, after a short delay, so as to improve the smoothness of switching between different self-cleaning modes.

[0273] In this way, by taking into account the differences in the degree of dirtiness and switching the self-cleaning mode step by step, it can ensure that the cleaning system smoothly transitions to the target self-cleaning mode, reduce the impact and wear of the cleaning system when switching the self-cleaning mode, thereby extending the service life of the cleaning system, and by switching to a more suitable self-cleaning mode at the appropriate time and conditions, the self-cleaning equipment can more effectively handle complex dirtiness situations.

[0274] The above-mentioned automated mode adjustment reduces the need for manual intervention by the user, making the cleaning system easier to use and manage.

[0275] Optionally, the dirt information of the target medium is analyzed and processed based on the target color temperature to determine the target dirtiness of the scraper assembly, including:

[0276] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the fourth dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the fourth dirt level;

[0277] When the second duration is greater than the second preset duration threshold, adjusting the dirtiness of the target medium to a fifth dirtiness level;

[0278] The degree of dirtiness of the fifth dirtiness level is higher than the degree of dirtiness of the fourth dirtiness level.

[0279] The fourth dirtiness level may be any one of the first dirtiness level, the second dirtiness level, and the third dirtiness level.

[0280] In this way, by monitoring the duration of the dirtiness, the dirtiness level can be dynamically adjusted. This dynamic adjustment helps to reflect the true situation of dirtiness even when the initial detection conditions are not ideal, and the monitoring of duration provides an additional judgment criterion, which can help identify those dirtiness situations that may be misjudged in a short period of time. This can reduce misjudgments and improve the accuracy of identifying the degree of dirtiness. Furthermore, by accurately identifying and adjusting the dirtiness level, unnecessary self-cleaning operations can be avoided, thereby saving water, electricity and other resources.

[0281] Optionally, the method further includes:

[0282] When it is detected that the duration of the third dirtiness level is longer than the third preset duration threshold, an abnormal reminder is issued.

[0283] In the embodiment of the present application, the third preset time threshold is a time threshold set in advance. If the third preset time threshold is exceeded, it means that the degree of dirtiness is high and lasts for too long. At this time, an abnormal reminder can be issued to the user.

[0284] In this way, the user experience can be improved by timely reminding the user, helping the user to identify abnormalities in self-cleaning, and helping to identify performance degradation of the cleaning system or damage to the cleaning base station.

[0285] For example, Figure 6 A schematic diagram of a process flow of another self-cleaning method for a cleaning device provided in an embodiment of the present application, such as Figure 6 As shown, the self-cleaning method of the cleaning device is applied to the cleaning system, and the self-cleaning method of the cleaning device includes:

[0286] S501 . When it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, control the scraper assembly to reciprocate between a third position and a fourth position.

[0287] In one example, the wiper strip assembly may be initially located at the first position, and then reciprocate between the third position and the fourth position, at which time the fourth position may be the same position as the first position;

[0288] In another example, the wiper strip assembly may be initially located at the second position and then reciprocate between the third position and the fourth position, and at this time, the fourth position may be the same position as the second position;

[0289] In this step, when it is detected that the cleaning device is in the initial cleaning mode, the cleaning system controls the scraper assembly to reciprocate between the third position and the fourth position to ensure that the scraper assembly can switch between close contact with the cleaning member and away from the cleaning member to achieve an effective cleaning effect.

[0290] S502: When it is detected that the dirtiness of the scraper strip assembly is at a target dirtiness, control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

[0291] It should be noted that the specific implementation principle and process explanation of S501-S502 are similar to the implementation principle and process explanation of the above-mentioned S401-S402. Similar parts can refer to the description of the above-mentioned embodiments and will not be repeated here. The difference between the two is that in the initial cleaning mode, one is a lifting and scrubbing operation, and the other is a horizontal swinging scrubbing operation. The effects achieved by the two are similar.

[0292] Therefore, compared with the existing self-cleaning method, the present application controls the scraper bar assembly to reciprocate between the third position and the fourth position when the cleaning device performs self-cleaning, and ensures that the scraper bar assembly can contact the cleaning member and the cleaning liquid at different positions and angles during the horizontal swinging process, thereby cooperating with the surge of the cleaning liquid in the cleaning chamber during the cleaning process, so that the cleaning liquid can clean the cleaning dead corners of the scraper bar assembly multiple times; and the cleaning operation of the scraper bar assembly in a dynamic horizontal swinging manner can also dynamically change the cleaning force of the cleaning liquid in the cleaning dead corners, thereby further improving the cleaning ability, ensuring that each surface and corner of the scraper bar assembly can be effectively cleaned, and thus ensuring comprehensive coverage cleaning.

[0293] Furthermore, the present application can evaluate the degree of dirtiness of the scraper bar assembly in real time by cooperating with the dirtiness detection function during the cleaning process of the scraper bar assembly, so that during the reciprocating motion of the scraper bar assembly between the third position and the fourth position, it can also intelligently switch to the corresponding self-cleaning mode according to the detected degree of dirtiness. Each self-cleaning mode corresponds to a different cleaning strategy, so as to implement different cleaning modes for the scraper bar assembly according to different dirtiness conditions, thereby further improving the cleaning of the scraper bar assembly by the cleaning liquid, especially the cleaning effect of the scraper bar assembly at the dead corners, thereby further improving the cleaning effect of the scraper bar assembly, especially the dead corners of the scraper bar assembly.

[0294] Therefore, through the reciprocating motion of the scraper bar assembly and the coordinated self-cleaning mode of the intelligent self-cleaning mode, the surface of the scraper bar assembly and the cleaning dead corners of the scraper bar assembly can be effectively cleaned, avoiding dirt residue in the cleaning dead corners, thereby ensuring that the scraper bar assembly is in an ideal state, improving the overall self-cleaning effect and efficiency of the cleaning equipment, and the above-mentioned automated detection and self-cleaning process reduces the user's operating burden and improves the ease of use of the equipment, thereby improving the convenience of use of the cleaning equipment and user satisfaction, and the selection of precise self-cleaning modes can also reduce the use of detergents and water, reducing resource consumption and environmental impact; in addition, based on this, the cleaning effect of the cleaning equipment when cleaning the ground can also be guaranteed.

[0295] In addition, the specific switching of the target self-cleaning mode, the method of judging the degree of dirtiness by color temperature, and the detailed calibration method of the lighting device are the same as above. Figure 5 The self-cleaning method in the illustrated embodiment adopts the same approach and only requires adaptive adjustment.

[0296] Optionally, controlling the scraper strip assembly to reciprocate between the third position and the fourth position comprises:

[0297] When the scraper strip assembly is at the third position, the scraper strip assembly is controlled to be at the third position for a preset time period, and after the preset time period has passed, the scraper strip assembly is controlled to move from the third position to the fourth position.

[0298] In the embodiment of the present application, the third position is the position where the scraper bar assembly is in close contact with the cleaning member, and is usually designed as an interference fit to ensure that the scraper bar assembly can apply sufficient pressure to the cleaning member to effectively remove dirt. When the scraper bar assembly is in the third position, the scraper bar assembly is controlled to stay for a preset period of time to allow the scraper bar assembly to fully clean the cleaning member.

[0299] Among them, the setting of the preset time length is based on experience and experimental data to ensure that the ideal cleaning effect is achieved without damaging the equipment. The embodiment of the present application does not specifically limit the size of the preset time length.

[0300] Therefore, after a preset period of time, the cleaning system controls the scraper bar assembly to move from the third position to the fourth position. By maintaining the preset period of time at the third position, it can ensure that the scraper bar assembly applies sufficient cleaning pressure and time to the cleaning element, effectively removes stubborn dirt and residue, optimizes the cleaning process, and improves the overall cleaning efficiency. By reasonably controlling the residence time of the scraper bar assembly at the third position, it can also avoid excessive pressure or friction, reduce wear on the cleaning element and the scraper bar, and quickly move to the fourth position after cleaning is completed, further reducing unnecessary contact, which helps to extend the service life of the scraper bar assembly and the cleaning element, and reduce the maintenance and replacement costs of the equipment.

[0301] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0302] When it is detected that the degree of dirtiness of the scraper bar assembly is a first dirtiness level, controlling the cleaning device to switch from an initial cleaning mode to an immersion cleaning mode, so as to clean the cleaning member and the scraper bar assembly based on the immersion cleaning mode;

[0303] Wherein, in the soaking washing mode, the scraper bar assembly is controlled to reciprocate between a first position and a second position, and the cleaning member is located in the liquid in the cleaning chamber.

[0304] Optionally, the cleaning device further includes a water pump assembly, and the method further includes:

[0305] When the water pump assembly is in the on state, at least when it is detected that the height of the liquid in the cleaning chamber is greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state and the scraper assembly is controlled to be located in the liquid in the cleaning chamber.

[0306] Optionally, the scraper bar assembly further has a third position in contact with the cleaning member and a fourth position away from the cleaning member; at the third position, the scraper bar assembly is interference-fitted with the cleaning member; when it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, the scraper bar assembly is controlled to reciprocate between the first position and the second position, including:

[0307] During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position.

[0308] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0309] When it is detected that the degree of dirtiness of the scraper strip assembly is the second dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element based on the spin-drying mode;

[0310] Wherein, in the spin-drying mode, the water pump assembly is in a closed state and the scraper assembly is in the second position.

[0311] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; when it is detected that the degree of dirtiness of the scraper assembly is a target degree of dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0312] When it is detected that the degree of dirtiness of the scraper strip assembly is the third dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element based on the heating washing mode;

[0313] Wherein, in the heating wash mode, the thermal management component is in an on state, and the scraper strip component reciprocates between a first position and a second position.

[0314] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air for the cleaning chamber; and the method further includes:

[0315] When it is determined that the target dirtiness meets the preset conditions, the cleaning device is controlled to switch from the target self-cleaning mode to the drying mode;

[0316] In the drying mode, the hot air generator is in the on state and the scraper assembly is in the second position.

[0317] Optionally, the cleaning device further includes a color sensor, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, before controlling the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness, the method further includes:

[0318] Acquiring first sensing data of a target medium flowing through the suction pipe based on a color sensor;

[0319] Analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0320] Analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly;

[0321] A target contamination level of the wiper strip assembly is determined based on the first sensor data.

[0322] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes:

[0323] Call the color temperature calculation model;

[0324] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0325] Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter, and a fourth channel parameter; analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly includes:

[0326] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0327] A target degree of soiling of the wiper strip assembly is determined based on the type of soiling.

[0328] Optionally, the cleaning device further includes a lighting device, which is disposed on a suction pipe connecting the floor brush assembly and the sewage tank. The method further includes:

[0329] Before the cleaning device starts the initial cleaning mode, the lighting device is controlled to turn on, and the second sensor data of the inner wall of the suction pipe is obtained;

[0330] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0331] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0332] Optionally, the method further includes:

[0333] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0334] Optionally, the lighting device includes a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0335] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0336] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0337] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes:

[0338] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is reduced until the initial color temperature meets the preset color temperature condition;

[0339] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first lamp bead is increased until the initial color temperature meets the preset color temperature condition.

[0340] Optionally, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets a preset color temperature condition includes:

[0341] When it is detected that the initial color temperature is greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is increased until the initial color temperature meets the preset color temperature condition;

[0342] When it is detected that the initial color temperature is less than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second lamp bead is reduced until the initial color temperature meets the preset color temperature condition.

[0343] Optionally, the method further includes:

[0344] If the duration of the calibration process for the illumination parameters of the illumination device is longer than the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0345] Optionally, controlling the cleaning device to switch to a target self-cleaning mode corresponding to a target dirtiness level to perform self-cleaning based on the target self-cleaning mode includes:

[0346] Determining a first duration of the target soiling level;

[0347] When the first duration is greater than a first preset duration threshold, the cleaning device is controlled to switch to a target self-cleaning mode and perform self-cleaning in the target self-cleaning mode.

[0348] Optionally, when the first duration is greater than a first preset duration threshold, controlling the cleaning device to switch to a target self-cleaning mode and performing self-cleaning in the target self-cleaning mode includes:

[0349] Determine a current self-cleaning mode of the cleaning device and a current degree of dirtiness corresponding to the current self-cleaning mode;

[0350] Determine the degree difference between the current degree of dirtiness and the target degree of dirtiness;

[0351] When the first duration is greater than the first preset duration threshold and the degree difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch step by step from the current self-cleaning mode to the target self-cleaning mode.

[0352] Optionally, the dirt information of the target medium is analyzed and processed based on the target color temperature to determine the target dirtiness of the scraper assembly, including:

[0353] When the target color temperature does not meet the preset color temperature condition and the target medium is determined to be at the fourth dirt level based on the target color temperature, obtaining a second duration of time during which the target medium is at the fourth dirt level;

[0354] When the second duration is greater than the second preset duration threshold, adjusting the dirtiness of the target medium to a fifth dirtiness level;

[0355] The degree of dirtiness of the fifth dirtiness level is higher than the degree of dirtiness of the fourth dirtiness level.

[0356] Optionally, the method further includes:

[0357] When it is detected that the duration of the third dirtiness level is longer than the third preset duration threshold, an abnormal reminder is issued.

[0358] It should be noted that the specific implementation principles and effects of the above-mentioned embodiments can refer to the relevant descriptions and effects of the corresponding embodiments of the self-cleaning method of the cleaning device in the above-mentioned embodiments, and will not be elaborated here.

[0359] In the aforementioned embodiments, the self-cleaning method of the cleaning device provided by the embodiments of the present application is introduced, and in order to realize the various functions in the method provided by the embodiments of the present application, the cleaning system as the execution subject may include a hardware structure and / or a software module, and the above functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a certain function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0360] For example, Figure 7 A schematic diagram of the structure of a self-cleaning device of a cleaning device provided in an embodiment of the present application, such as Figure 7 As shown, the self-cleaning device 600 of the cleaning device is applied to a cleaning system, and the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of the cleaning member on the floor brush assembly; the scraper assembly has a first position in contact with the surface to be cleaned and a second position maintaining a preset distance from the surface to be cleaned; the self-cleaning device 600 of the cleaning device includes:

[0361] The first control module 601 is used to control the scraper assembly to reciprocate between the first position and the second position when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode;

[0362] The second control module 602 is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper strip assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

[0363] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least a soaking washing mode; and the second control module 602 is specifically configured to:

[0364] When it is detected that the degree of dirtiness of the scraper bar assembly is a first dirtiness level, controlling the cleaning device to switch from an initial cleaning mode to an immersion cleaning mode, so as to clean the cleaning member and the scraper bar assembly based on the immersion cleaning mode;

[0365] Wherein, in the soaking washing mode, the scraper bar assembly is controlled to reciprocate between a first position and a second position, and the cleaning member is located in the liquid in the cleaning chamber.

[0366] Optionally, the cleaning device further includes a water pump assembly, and the self-cleaning device 600 of the cleaning device further includes a fifth control module, and the fifth control module is used to:

[0367] When the water pump assembly is in the on state, at least when it is detected that the height of the liquid in the cleaning chamber is greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state and the scraper assembly is controlled to be located in the liquid in the cleaning chamber.

[0368] Optionally, the scraper bar assembly further has a third position in contact with the cleaning member and a fourth position away from the cleaning member; at the third position, the scraper bar assembly and the cleaning member are in interference fit; the first control module 601 is specifically used for:

[0369] During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position.

[0370] Optionally, the cleaning device further includes a water pump assembly; the self-cleaning mode at least includes a spin-drying mode; and the second control module 602 is specifically used to:

[0371] When it is detected that the degree of dirtiness of the scraper strip assembly is the second dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element based on the spin-drying mode;

[0372] Wherein, in the spin-drying mode, the water pump assembly is in a closed state and the scraper assembly is in the second position.

[0373] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; the second control module 602 is specifically used to:

[0374] When it is detected that the degree of dirtiness of the scraper strip assembly is the third dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element based on the heating washing mode;

[0375] Wherein, in the heating wash mode, the thermal management component is in an on state, and the scraper strip component reciprocates between a first position and a second position.

[0376] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air for the cleaning chamber; the self-cleaning device 600 of the cleaning equipment also includes a sixth control module, the sixth control module is used to:

[0377] When it is determined that the target dirtiness meets the preset conditions, the cleaning device is controlled to switch from the target self-cleaning mode to the drying mode;

[0378] In the drying mode, the hot air generator is in the on state and the scraper assembly is in the second position.

[0379] Optionally, the cleaning device further includes a color sensor, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; when it is detected that the dirtiness of the scraper assembly is the target dirtiness, before controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirtiness, the self-cleaning device 600 of the cleaning device further includes an acquisition module, an analysis module, a processing module and a determination module;

[0380] An acquisition module, used for acquiring first sensing data of a target medium flowing through the suction pipe based on a color sensor;

[0381] An analysis module, used for analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium;

[0382] A processing module, used for analyzing and processing the dirt information of the target medium based on the target color temperature, and determining the target dirt degree of the scraper assembly;

[0383] The determination module is used to determine the target dirtiness of the scraper strip assembly according to the first sensing data.

[0384] Optionally, the first sensing data includes at least a first channel parameter and a second channel parameter; and the analysis module is specifically used to:

[0385] Call the color temperature calculation model;

[0386] The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0387] Optionally, the first sensing data includes at least a first channel parameter, a second channel parameter, a third channel parameter and a fourth channel parameter; the processing module is specifically used to:

[0388] When it is determined that the target color temperature meets the preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter and the fourth channel parameter are respectively compared with their corresponding specific thresholds to determine the dirt type of the target medium;

[0389] A target degree of soiling of the wiper strip assembly is determined based on the type of soiling.

[0390] Optionally, the cleaning device further includes a lighting device, which is arranged on a suction pipe connecting the floor brush assembly and the sewage tank. The self-cleaning device 600 of the cleaning device further includes a seventh control module, which is used to:

[0391] Before the cleaning device starts the initial cleaning mode, the lighting device is controlled to turn on, and the second sensor data of the inner wall of the suction pipe is obtained;

[0392] Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment;

[0393] When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0394] Optionally, the self-cleaning device 600 of the cleaning equipment further includes an eighth control module, and the eighth control module is used to:

[0395] When the initial color temperature meets the preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

[0396] Optionally, the lighting device includes a first lamp bead and a second lamp bead; the seventh control module includes an adjustment unit, and the adjustment unit is used to:

[0397] When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition;

[0398] Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0399] It should be noted that the specific implementation principle and effect of the self-cleaning device of the above-mentioned cleaning equipment can be found in the relevant description and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0400] For example, Figure 8 A schematic diagram of the structure of another self-cleaning device of a cleaning device provided in an embodiment of the present application, such as Figure 8 As shown, the self-cleaning device 700 of the cleaning device is applied to a cleaning system, the cleaning system includes a cleaning device and a cleaning base station; the cleaning device includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located in front of the cleaning member on the floor brush assembly; the scraper assembly has a third position in contact with the cleaning member and a fourth position away from the cleaning member; the self-cleaning device 700 of the cleaning device includes:

[0401] The third control module 701 is used to control the scraper assembly to reciprocate between the third position and the fourth position when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode;

[0402] The fourth control module 702 is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

[0403] Optionally, the third control module 701 is specifically configured to:

[0404] When the scraper strip assembly is at the third position, the scraper strip assembly is controlled to be at the third position for a preset time period, and after the preset time period has passed, the scraper strip assembly is controlled to move from the third position to the fourth position.

[0405] It should be noted that the specific implementation principle and effect of the self-cleaning device of the above-mentioned cleaning equipment can be found in the relevant description and effects corresponding to the above-mentioned embodiments, and no further details will be given here.

[0406] An embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0407] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method described in any of the aforementioned embodiments as executed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0408] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments as performed by a cleaning device or a cleaning system in any of the aforementioned embodiments of the present application.

[0409] 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, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0410] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

[0411] In addition, each functional module in each embodiment of the present application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned module-composed unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0412] The above-mentioned integrated module implemented in the form of a software function module 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 causing 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 method described in each embodiment of the present application.

[0413] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly implemented as being executed by a hardware processor, or may be implemented by a combination of hardware and software modules in the processor.

[0414] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk, etc.

[0415] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. 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.

[0416] The above 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 computer.

[0417] An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as ASIC). Of course, the processor and the storage medium can also be present in the cleaning equipment or the main control device as discrete components.

[0418] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0419] It should be further noted that, although the various steps in the flowchart 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 these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be 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.

[0420] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0421] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0422] The above is only a specific implementation of the embodiment of the present application, but the protection scope of the embodiment of the present application is not limited thereto, and any changes or replacements within the technical scope disclosed in the embodiment of the present application should be included in the protection scope of the embodiment of the present application. Therefore, the protection scope of the embodiment of the present application should be based on the protection scope of the claims.

Claims

1. A self-cleaning method for a cleaning device, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of the cleaning member on the floor brush assembly; The scraper assembly has a first position in contact with the surface to be cleaned and a second position at a preset distance from the surface to be cleaned; the method comprises: When it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, controlling the scraper assembly to reciprocate between the first position and the second position; When it is detected that the dirtiness of the scraper strip assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

2. The method according to claim 1, characterized in that The cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including: When it is detected that the degree of dirtiness of the scraper bar assembly is a first dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the soaking washing mode, so as to clean the cleaning member and the scraper bar assembly based on the soaking washing mode; Wherein, in the soaking washing mode, the scraper bar assembly is controlled to reciprocate between the first position and the second position, and the cleaning member is located in the liquid in the cleaning chamber.

3. The method according to claim 2, characterized in that The cleaning device also includes a water pump assembly, and the method further includes: When the water pump assembly is in the on state, at least when it is detected that the height of the liquid in the cleaning chamber is greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state and the scraper assembly is controlled to be located in the liquid in the cleaning chamber.

4. The method according to claim 1, characterized in that: The scraper bar assembly also has a third position in contact with the cleaning member and a fourth position away from the cleaning member; at the third position, the scraper bar assembly is interference-fitted with the cleaning member; when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode, the scraper bar assembly is controlled to reciprocate between the first position and the second position, including: During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper bar assembly moves from the fourth position to the third position, the scraper bar assembly is controlled to reciprocate between the first position and the second position.

5. The method according to claim 1, characterized in that The cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including: When it is detected that the degree of dirtiness of the scraper strip assembly is the second dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the spin-drying mode, so as to spin out the moisture in the cleaning element based on the spin-drying mode; Wherein, in the spin-drying mode, the water pump assembly is in a closed state, and the scraper bar assembly is in a second position.

6. The method according to claim 1, characterized in that The cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning liquid in the cleaning chamber, or to provide hot cleaning liquid to the cleaning chamber; the self-cleaning mode at least includes a heating washing mode; when it is detected that the dirtiness of the scraper assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness, so as to perform self-cleaning based on the target self-cleaning mode, including: When it is detected that the degree of dirtiness of the scraper strip assembly is the third dirtiness level, controlling the cleaning device to switch from the initial cleaning mode to the heating washing mode, so as to perform thermal cleaning on the cleaning element based on the heating washing mode; Wherein, in the heating wash mode, the thermal management component is in an on state, and the scraper strip component reciprocates between the first position and the second position.

7. The method according to claim 1, characterized in that The cleaning base station comprises a cleaning chamber and a hot air generator; The hot air generator is used to provide hot air to the cleaning chamber; The method further comprises: When it is determined that the target dirtiness level meets a preset condition, controlling the cleaning device to switch from the target self-cleaning mode to a drying mode; In the drying mode, the hot air generator is in an on state and the scraper assembly is in a second position.

8. The method according to claim 1, characterized in that The cleaning device further includes a color sensor, a suction pipe and a sewage tank; the color sensor is arranged on the suction pipe connecting the floor brush assembly and the sewage tank; before the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness when the dirtiness of the scraper assembly is detected to be a target dirtiness, the method further includes: Acquiring first sensing data of a target medium flowing through the suction pipe based on the color sensor; Analyze and process the target medium according to the first sensing data to obtain a target color temperature of the target medium; Analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirt degree of the scraper assembly; A target contamination level of the wiper strip assembly is determined according to the first sensor data.

9. The method according to claim 8, characterized in that The first sensing data at least includes a first channel parameter and a second channel parameter; and the analyzing and processing the target medium according to the first sensing data to obtain a target color temperature of the target medium includes: Call the color temperature calculation model; The first channel parameter and the second channel parameter are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

10. The method according to claim 8, characterized in that The first sensing data at least includes a first channel parameter, a second channel parameter, a third channel parameter and a fourth channel parameter; the analyzing and processing the dirt information of the target medium based on the target color temperature to determine the target dirtiness of the scraper assembly includes: When it is determined that the target color temperature satisfies a preset color temperature condition, the first channel parameter, the second channel parameter, the third channel parameter, and the fourth channel parameter are respectively compared with their respective corresponding specific thresholds to determine the dirt type of the target medium; A target degree of soiling of the wiper strip assembly is determined based on the type of soiling.

11. The method according to claim 8, characterized in that The cleaning device further comprises a lighting device, wherein the lighting device is arranged on a suction pipe connecting the floor brush assembly and the sewage tank, and the method further comprises: Before the cleaning device starts the initial cleaning mode, the lighting device is controlled to turn on, and second sensor data of the inner wall of the suction pipe is obtained; Analyzing and processing the internal environment of the suction pipe according to the second sensing data to obtain an initial color temperature corresponding to the internal environment; When the initial color temperature does not meet the preset color temperature condition, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

12. The method according to claim 11, characterized in that The method further comprises: When the initial color temperature satisfies a preset color temperature condition, the lighting device is controlled to operate with the lighting parameters of the lighting device corresponding to the initial color temperature.

13. The method according to claim 11, characterized in that The lighting device comprises a first lamp bead and a second lamp bead; when the initial color temperature does not meet the preset color temperature condition, the lighting parameters of the lighting device are calibrated to adjust the initial color temperature, including: When the initial color temperature does not meet the preset color temperature condition, adjusting the brightness of the first lamp bead and the second lamp bead until the initial color temperature meets the preset color temperature condition; Among them, the first lamp bead is used to emit light with a color temperature greater than a first threshold; the second lamp bead is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

14. A self-cleaning method for a cleaning device, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of the cleaning member on the floor brush assembly; The scraper assembly has a third position in contact with the cleaning member and a fourth position away from the cleaning member; the method comprises: When it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, controlling the scraper assembly to reciprocate between the third position and the fourth position; When it is detected that the dirtiness of the scraper strip assembly is a target dirtiness, the cleaning device is controlled to switch to a target self-cleaning mode corresponding to the target dirtiness so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness corresponds to its own self-cleaning mode.

15. The method according to claim 14, characterized in that The controlling the scraper strip assembly to reciprocate between the third position and the fourth position comprises: When the scraper strip assembly is at the third position, the scraper strip assembly is controlled to be at the third position for a preset time period, and after the preset time period, the scraper strip assembly is controlled to move from the third position to the fourth position.

16. A self-cleaning device for a cleaning device, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of the cleaning member on the floor brush assembly; The scraper assembly has a first position in contact with the surface to be cleaned and a second position at a preset distance from the surface to be cleaned; the device comprises: A first control module, configured to control the scraper assembly to reciprocate between the first position and the second position when detecting that the cleaning device is located at the cleaning base station and is in an initial cleaning mode; The second control module is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper strip assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

17. A self-cleaning device for a cleaning device, characterized in that: Applied to a cleaning system, the cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located at the front side of the cleaning member on the floor brush assembly; The scraper assembly has a third position in contact with the cleaning member and a fourth position away from the cleaning member; the device comprises: A third control module, configured to control the scraper assembly to reciprocate between the third position and the fourth position when detecting that the cleaning device is located at the cleaning base station and is in an initial cleaning mode; The fourth control module is used to control the cleaning device to switch to a target self-cleaning mode corresponding to the target dirtiness level when it is detected that the dirtiness level of the scraper assembly is the target dirtiness level, so as to perform self-cleaning based on the target self-cleaning mode; each dirtiness level corresponds to its own self-cleaning mode.

18. A cleaning system, characterized in that: The cleaning system comprises a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a scraper assembly, the scraper assembly being mounted at the front end of the cleaning device and being located at the front side of a cleaning member on the floor brush assembly; the scraper assembly has a first position in contact with a surface to be cleaned, a second position maintaining a preset distance from the surface to be cleaned, a third position in contact with the cleaning member, and a fourth position away from the cleaning member; The cleaning system is used to perform the method according to any one of claims 1-15.

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