Cleaning equipment, cleaning system, self-cleaning control method, computer program product and computer storage medium

Abstract

The invention discloses cleaning equipment, a cleaning system and a cleaning method, and belongs to the technical field of electrical equipment. The cleaning equipment comprises a main body, and a cleaning part, a water pump assembly, a heater and an output channel mounted on the main body, wherein the output channel is connected with the heater; under the condition that the cleaning equipment executes the target cleaning mode, the water pump assembly is used for conveying the cleaning medium to the heater, the heater is used for heating the cleaning medium conveyed into the heater, and the heated cleaning medium is conveyed to the cleaning component through the output channel so as to clean the cleaning component. The heated cleaning medium can better dissolve or carry stains, and the heater is arranged on the main body, so that the heating time can be shortened, and the water consumption in the cleaning or self-cleaning process can also be reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of electrical equipment, and in particular, relates to a cleaning device, a cleaning system, a self-cleaning control method, a computer program product, and a computer storage medium. Background Art

[0002] With the development of society, cleaning equipment is more and more widely used in daily life. Cleaning equipment can clean the surface of the object to be cleaned through cleaning parts. During the working process of the cleaning equipment, or after the cleaning equipment finishes working, the cleaning parts of the cleaning equipment need to be cleaned and maintained. The maintenance of the cleaning equipment itself has become a burden for users, and research on self-cleaning and maintenance of cleaning equipment has become a trend.

[0003] The current self-cleaning technology of cleaning equipment mainly uses water to continuously flush and clean the cleaning parts, but this cleaning method is limited by whether the water volume is sufficient and the cleaning effect is poor. Summary of the invention

[0004] The present application aims to solve the technical problem of reducing water consumption and improving cleaning effect to a certain extent at least. To this end, the present application provides a cleaning device, a cleaning system, a self-cleaning control method, a computer program product and a computer storage medium.

[0005] In a first aspect, an embodiment of the present application provides a cleaning device, the cleaning device comprising:

[0006] A main body and a cleaning component mounted on the main body;

[0007] A water pump assembly, a heater and an output channel, wherein the output channel is connected to the heater;

[0008] When the cleaning device performs a target cleaning mode, the water pump assembly is used to transport the cleaning medium to the heater, and the heater is used to heat the cleaning medium transported to the heater. The heated cleaning medium is transported to the cleaning component through the output channel to clean the cleaning component.

[0009] Since the heater and the cleaning component are both arranged on the main body of the cleaning device, compared with the solution of arranging the heater on the cleaning base station, the distance between the heater and the cleaning component is closer, so that the path connecting the heater and the cleaning component can also be relatively close, which can reduce the time for the cleaning medium heated by the heater to flow to the cleaning component, and the cleaning effect can be improved by cleaning the object to be cleaned or the cleaning component with the heated cleaning medium. Since the heated cleaning medium can better dissolve or carry stains, the object to be cleaned or the cleaning component with the same degree of dirtiness can use less water, reducing the amount of water used in the cleaning or self-cleaning process.

[0010] In an optional embodiment of the present application, the target cleaning mode includes a hot liquid self-cleaning mode, the water pump assembly includes a first water pump, the output channel includes a first channel, the first water pump is connected to the heater, the heater is connected to the first channel, and the first channel is set corresponding to the cleaning component;

[0011] When the cleaning device performs the hot liquid self-cleaning mode, the first water pump is used to transport the cleaning medium to the heater, the heater is used to heat the cleaning medium into hot liquid, and the first channel is used to transport the hot liquid to the cleaning component.

[0012] In an optional embodiment of the present application, the water output of the first water pump is 150ml / min to 250ml / min, and the power of the heater is 200W to 300W.

[0013] In an optional embodiment of the present application, the target cleaning mode includes a steam self-cleaning mode, the water pump assembly includes a second water pump, the output channel includes a second channel, the second water pump is connected to the heater, and the heater is connected to the second channel;

[0014] When the cleaning device performs the steam self-cleaning mode, the second water pump is used to transport the cleaning medium to the heater through the second channel, the heater is used to heat the cleaning medium into steam, and the second channel is used to transport the steam to the cleaning component.

[0015] In an optional embodiment of the present application, the power of the heater is 100W to 200W, and the water output of the second water pump is 100ml / min to 280ml / min.

[0016] In an optional embodiment of the present application, the water pump assembly also includes a fourth water pump, and the output channel also includes a fourth channel. When the cleaning device executes the steam self-cleaning mode, the fourth water pump transports unheated cleaning medium to the cleaning component through the fourth channel.

[0017] In an optional embodiment of the present application, the output channel includes a first channel, a second channel and a third channel, the cleaning device further includes a first control valve, the first control valve connects the first channel, the second channel and the third channel, and the third channel is connected to the heater;

[0018] Under the condition that the cleaning device performs a hot liquid self-cleaning mode, the first control valve and the third channel are connected to the first channel, so that the hot liquid is transported to the cleaning component through the third channel and the first channel;

[0019] When the cleaning device executes the steam self-cleaning mode, the first control valve connects the third channel with the second channel, so that the steam is delivered to the cleaning component through the third channel and the second channel.

[0020] In an optional embodiment of the present application, under the condition that the cleaning device executes a steam self-cleaning mode, the output channel also includes a fourth channel, which connects the water pump assembly with the first channel, and the cleaning medium that is not heated by the heater is transported to the cleaning component through the fourth channel and the first channel.

[0021] In an optional embodiment of the present application, the target cleaning mode also includes a water absorption mode, the cleaning device also includes a fan assembly, a sewage tank and a return water channel, the return water channel is connected to the sewage tank, the fan assembly is connected to the return water channel, and the water inlet of the return water channel is arranged corresponding to the cleaning component;

[0022] In the water absorption mode, the self-cleaning action further includes: the fan assembly is started so that the sewage is recovered to the sewage tank through the return water channel.

[0023] In an optional embodiment of the present application, the cleaning component includes a roller brush, and when the cleaning device executes a target cleaning mode, the roller brush rotates at a set rotation speed.

[0024] In an optional embodiment of the present application, the cleaning device executes the target cleaning mode in response to a self-cleaning instruction, wherein the self-cleaning instruction is triggered by a button set on the cleaning device or on a cleaning base station, or the cleaning instruction is triggered by a cleaning signal received by a device terminal.

[0025] In an optional embodiment of the present application, the target cleaning mode includes a hot liquid self-cleaning mode and a steam self-cleaning mode;

[0026] Under the condition that the cleaning device currently executes the hot liquid self-cleaning mode or responds to a self-cleaning instruction, if the power of the cleaning device is greater than a second set value and less than a first set value, the cleaning device executes the steam self-cleaning mode;

[0027] Under the condition that the cleaning device is currently executing the hot liquid self-cleaning mode or responding to a self-cleaning instruction, if the power of the cleaning device is less than the second set value, the cleaning device is charged and a language prompt message is sent to remind the user to trigger the self-cleaning instruction after the power of the cleaning device is greater than the third set value.

[0028] In an optional embodiment of the present application, the target cleaning mode includes a steam self-cleaning mode;

[0029] Under the condition that the cleaning device executes the steam self-cleaning mode, if the power of the cleaning device is less than or equal to a second set value, controlling the cleaning device to charge;

[0030] Under the condition that the cleaning device is currently executing the steam self-cleaning mode, if the power of the cleaning device is less than the second set value, the cleaning device is charged and a language prompt message is sent to remind the user to trigger the self-cleaning instruction after the power of the cleaning device is greater than the third set value.

[0031] In a second aspect, an embodiment of the present application provides a self-cleaning control method, which is applied to a cleaning device, wherein the cleaning device includes a cleaning component, a water pump assembly, a heater, and an output channel, wherein the heater is connected to the output channel, the water pump assembly is connected to the heater, and the output channel is arranged corresponding to the cleaning component;

[0032] The self-cleaning control method comprises:

[0033] In response to the self-cleaning instruction, the cleaning device is controlled to execute a target cleaning mode, and the heater and the water pump assembly are controlled to operate so as to deliver the heated cleaning medium to the cleaning component through the output channel.

[0034] In an optional embodiment of the present application, the target cleaning mode includes a hot liquid self-cleaning mode, the water pump assembly includes a first water pump, the output channel includes a first channel, the first water pump is connected to the heater, the heater is connected to the first channel, and the first channel corresponds to the cleaning component. The control of the cleaning device to execute the target cleaning mode includes:

[0035] controlling the cleaning device to execute the hot liquid self-cleaning mode;

[0036] Wherein, the hot liquid self-cleaning mode includes: controlling the first water pump to deliver the cleaning medium to the heater, controlling the heater to heat the cleaning medium into hot liquid, and delivering the hot liquid to the cleaning component to clean the cleaning component.

[0037] In an optional embodiment of the present application, the self-cleaning control method further includes:

[0038] When the cleaning device executes a hot liquid self-cleaning mode or responds to the self-cleaning instruction, obtaining the power of the cleaning device;

[0039] If the power of the cleaning device is less than the first set value and greater than the second set value, controlling the cleaning device to execute a steam self-cleaning mode;

[0040] If the power of the cleaning device is less than a second set value, controlling the cleaning device to charge;

[0041] If the power of the cleaning device is greater than a third setting value, the cleaning device is controlled to execute the hot liquid self-cleaning mode, and the third setting value is greater than or equal to the first setting value.

[0042] In an optional embodiment of the present application, the self-cleaning control method further includes:

[0043] If the power of the cleaning device is less than the second set value, a language prompt message is sent to remind the user to trigger the hot liquid cleaning instruction after the power of the cleaning device is greater than the third set value.

[0044] In an optional embodiment of the present application, the target cleaning mode includes a steam self-cleaning mode, the water pump assembly includes a second water pump, the output channel includes a second channel and a fourth channel, the second water pump is connected to the heater, and the heater is connected to the second channel, and the step of controlling the cleaning device to execute the target cleaning mode includes:

[0045] Controlling the cleaning device to execute the steam self-cleaning mode;

[0046] Wherein, the steam self-cleaning mode includes: the second water pump transports the cleaning medium to the heater, the heater heats the cleaning medium to steam, the steam is transported to the cleaning component through the second channel, and the unheated cleaning medium is transported to the cleaning component through the fourth channel.

[0047] In an optional embodiment of the present application, the self-cleaning control method further includes:

[0048] When the cleaning device executes a steam self-cleaning mode or responds to a self-cleaning instruction, obtaining the power of the cleaning device;

[0049] If the power of the cleaning device is less than or equal to a second set value, controlling the cleaning device to charge;

[0050] If the power of the cleaning device is greater than a third setting value, the cleaning device is controlled to execute a steam self-cleaning mode, and the third setting value is greater than or equal to the second setting value.

[0051] In an optional embodiment of the present application, the cleaning component includes a roller brush, and the target cleaning mode further includes:

[0052] The roller brush is controlled to rotate at a set speed value.

[0053] In an optional embodiment of the present application, the self-cleaning control method further includes:

[0054] In response to the in-position instruction and / or the self-cleaning instruction, the cleaning device is controlled to execute a target cleaning mode.

[0055] In an optional embodiment of the present application, the self-cleaning instruction is triggered by a button arranged on the cleaning device or on a cleaning base station.

[0056] In an optional embodiment of the present application, the self-cleaning control method further includes:

[0057] Get the preset cleaning mode;

[0058] The preset cleaning mode is set as the target cleaning mode.

[0059] In a third aspect, an embodiment of the present application provides a self-cleaning control method, which is applied to a device terminal, and is characterized in that the self-cleaning control method includes:

[0060] Receive cleaning signal;

[0061] A self-cleaning instruction is triggered according to the cleaning signal, so that the cleaning device executes a target cleaning mode in response to the self-cleaning instruction.

[0062] The beneficial effects of the self-cleaning control method provided in the third aspect are the same as the beneficial effects of the cleaning device provided in the first aspect.

[0063] In an optional embodiment of the present application, the self-cleaning control method includes:

[0064] Get the setting parameters;

[0065] A preset cleaning mode is generated according to the setting parameters.

[0066] In a fourth aspect, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method as claimed in the second aspect or the method as claimed in the third aspect.

[0067] The beneficial effects of a computer program product provided in the fourth aspect are the same as the beneficial effects of the cleaning device provided in the first aspect.

[0068] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which at least one program code is stored, and the at least one program code is loaded and executed by a processor to implement the method according to the second aspect, the method according to the third aspect, or the method according to the fifth aspect.

[0069] The beneficial effects of a computer-readable storage medium provided in the fifth aspect are the same as the beneficial effects of the cleaning device provided in the first aspect.

[0070] In a sixth aspect, an embodiment of the present application provides a cleaning system, comprising a cleaning base station and the cleaning device described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0072] Figure 1 A schematic structural diagram of the cleaning device provided in the present application is shown.

[0073] Figure 2 The figure shows a block diagram of the cleaning device provided by the present application.

[0074] Figure 3 A schematic diagram of the structure of a conveying system for a cleaning device provided in an embodiment of the present application is shown.

[0075] Figure 4 A schematic diagram showing the water path direction when the cleaning device performs a hot liquid self-cleaning mode.

[0076] Figure 5 A schematic diagram showing the water path of the cleaning device when executing the steam self-cleaning mode.

[0077] Figure 6 A schematic structural diagram of a cleaning system provided in an embodiment of the present application is shown.

[0078] Figure 7 A self-cleaning method applied to a cleaning device is shown.

[0079] Figure 8 A flowchart of steps S1221 to S1227 of a self-cleaning method applied to a cleaning device is shown.

[0080] Fig. 9 A flowchart of steps S1232 to S1237 of the self-cleaning method applied to a cleaning device is shown.

[0081] Fig.10 A flowchart of steps S130 to S140 of the self-cleaning method applied to a cleaning device is shown.

[0082] Fig.11 A self-cleaning method applied to cleaning a base station is shown.

[0083] Fig.12 A flowchart of steps S310 and S320 of a self-cleaning method for a cleaning device applied to a device terminal is shown.

[0084] Fig.13 A flowchart of steps S330 and S340 of a self-cleaning method for a cleaning device applied to a device terminal is shown.

[0085] Fig.14 A flow chart of steps S410 to S450 of a self-cleaning method involving interaction among a cleaning device, a cleaning base station, and a device terminal is shown.

[0086] Fig.15 Shows Fig.14 Flowchart of steps S4521 to S4527 of the self-cleaning method.

[0087] Fig.16 Shows Fig.14 Flowchart of steps S4532 to S4537 of the self-cleaning method.

[0088] Fig.17 A flow chart of steps S460 to S490 of a self-cleaning method involving interaction among a cleaning device, a cleaning base station, and a device terminal is shown.

[0089] Figure numerals: 10-cleaning system, 100-cleaning device, 110-main body, 120-cleaning component, 130-delivery system, 131-input channel, 1312-main channel, 1314-first sub-channel, 1315-second sub-channel, 1316-third sub-channel, 1317-fourth sub-channel, 132-water pump assembly, 1322-first water pump, 1324-second water pump, 1326-third water pump, 133-heater, 134-output channel, 1341-first channel Channel, 1342-second channel, 1343-third channel, 1346-fourth channel, 135-clean water tank, 1361-water outlet bar, 1362-steam outlet, 1371-first control valve, 1372-second control valve, 1373-pressure relief valve, 1381-first joint, 1382-second joint, 1383-third joint, 139-clean liquid tank, 140-return water system, 142-sewage tank, 144-fan assembly, 146-return water channel, 200-cleaning base station. DETAILED DESCRIPTION

[0090] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0091] It should be noted that all directional indications in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between various components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0092] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0094] With the development of society, cleaning equipment is more and more widely used in daily life. Cleaning equipment can clean the surface of the object to be cleaned through cleaning parts. During the working process of the cleaning equipment, or after the cleaning equipment finishes working, the cleaning parts of the cleaning equipment need to be cleaned and maintained. The maintenance of the cleaning equipment itself has become a burden for users, and research on self-cleaning and maintenance of cleaning equipment has become a trend.

[0095] The current self-cleaning technology of cleaning equipment mainly uses water to continuously flush and clean the cleaning parts, but this cleaning method is limited by whether the water volume is sufficient. For water tank version sweepers and floor scrubbers, if the self-cleaning of the cleaning parts only relies on the water volume, it will lead to frequent water addition and pouring, which increases the burden on users. The embodiments of the present application provide a cleaning device, a cleaning system, a self-cleaning control method, a computer program product, and a computer storage medium that can improve the above problems. The cleaning device, cleaning system, self-cleaning control method, computer program product, and computer storage medium provided by the embodiments of the present application can reduce the amount of water used by the cleaning device during the self-cleaning process, reduce the self-cleaning time, and improve the cleaning effect.

[0096] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0097] Figure 1 A schematic structural diagram of the cleaning device 100 provided in the present application is shown. Figure 2 A block diagram of the cleaning device 100 provided in the present application is shown. Figure 3 FIG. 1 is a schematic diagram showing the structure of the conveying system 130 of the cleaning device 100 provided in an embodiment of the present application. Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a cleaning device 100. The cleaning device 100 provided in the embodiment of the present application may be a floor scrubber and a floor sweeper, etc. The cleaning device 100 provided in the embodiment of the present application can reduce the amount of water used by the cleaning device 100 during the self-cleaning process, reduce the self-cleaning time, and improve the cleaning effect.

[0098] The cleaning device 100 includes: a main body 110 , a cleaning component 120 , a water pump assembly 132 , a heater 133 and an output channel 134 . The cleaning component 120 is installed on the main body 110 ; the water pump assembly 132 is connected to the heater 133 , and the output channel 134 is connected to the heater 133 .

[0099] The main body 110 is the basic component of the entire cleaning device 100, and can be used as a base for installing the cleaning component 120, the water pump assembly 132, the heater 133 and the output channel 134, so that the cleaning device 100 can be an integral component. The cleaning component 120 is a component of the cleaning device 100 for cleaning the object to be cleaned, and the cleaning component 120 may include a roller brush, a mop and other structures.

[0100] The water pump assembly 132 is connected to the heater 133, and the heater 133 is connected to the output channel 134. The water pump assembly 132 can make the cleaning medium flow in the output channel 134, and can deliver the cleaning medium to the cleaning component 120, so that the cleaning device 100 can clean the object to be cleaned or self-clean. The heater 133 can heat the cleaning medium into different states, for example, it can heat the cleaning medium to different temperatures according to different cleaning modes, or it can heat it into a vapor state.

[0101] The cleaning medium can be water, liquid detergent, or a mixture of detergent and water. The output channel 134 can provide a flow space for the liquid or vapor medium, that is, the output channel 134 can supply liquids such as water and liquid detergent to flow, and can also supply steam to flow.

[0102] In some embodiments, the cleaning device 100 may further include a clean water tank 135 and an input channel 131. The clean water tank 135 may contain a cleaning medium (e.g., water). The clean water tank 135 is connected to the input channel 131. The water pump assembly 132 may be installed on the input channel 131 and connected to the output channel 134. The clean water tank 135, the water pump assembly 132, the heater 133, the input channel 131, and the output channel 134 constitute a conveying system 130. In addition, the water outlet system may also include other structures. For example, the cleaning device 100 may further include a cleaning liquid tank 139. If the cleaning liquid tank 139 is included, the cleaning liquid tank 139, the water pump assembly 132, the heater 133, the input channel 131, and the output channel 134 constitute a conveying system 130. The cleaning medium may be conveyed to the cleaning component 120 through the conveying system 130.

[0103] The cleaning device 100 also includes a sewage tank 142, a fan assembly 144 and a return water channel 146. The sewage tank 142 and the fan assembly 144 are connected to the return water channel 146. The sewage tank 142, the fan assembly 144 and the return water channel 146 constitute a return water system 140. When the cleaning device 100 cleans the object to be cleaned or self-cleans, water or steam will flow to the cleaning component 120. In order to avoid secondary contamination of the object to be cleaned by sewage, the fan assembly 144 is started to form a negative pressure in the return water channel 146, so that the sewage formed by cleaning the object to be cleaned or self-cleaning can be sucked into the return water channel 146 under the action of the negative pressure and stored in the sewage tank 142, which can reduce the secondary contamination of the object to be cleaned by sewage.

[0104] During the operation of the cleaning device 100, the water circulation of the entire cleaning device 100 is as follows: the water pump assembly 132 can deliver the cleaning medium in the clean water tank 135 to the cleaning component 120 through the output channel 134 (it may be heated by the heater 133 or not). The fan assembly 144 is started to form a negative pressure in the return water channel 146, so that the sewage can be sucked into the return water channel 146 under the action of the negative pressure and stored in the sewage tank 142.

[0105] When the cleaning device 100 performs the target cleaning mode, the heater 133 is used to heat the cleaning medium delivered to the heater 133, and the water pump assembly 132 is used to deliver the cleaning medium to the heater 133, and deliver the heated cleaning medium to the cleaning component 120 through the output channel 134 to clean the cleaning component 120.

[0106] Hot liquid can dissolve stains better than liquid at room temperature, which can improve the cleaning effect. Since the heater 133 and the roller brush are both arranged on the main body 110 of the cleaning device 100, compared with the solution of arranging the heater 133 on the cleaning base station, the distance between the heater 133 and the roller brush is closer, so that the path of the cleaning component 120 connecting the heater 133 and the roller brush can also be relatively close, which can reduce the time for the cleaning medium heated by the heater 133 to flow to the cleaning component 120, and the cleaning effect can be improved by cleaning the object to be cleaned or the cleaning component 120 with the heated cleaning medium. Since the heated cleaning medium can dissolve or carry stains better, the object to be cleaned or the cleaning component 120 with the same degree of dirtiness can use less water, reducing the amount of water used in the cleaning or self-cleaning process.

[0107] The target cleaning mode may include a normal temperature cleaning mode, a hot liquid cleaning mode, a hot liquid self-cleaning mode, a steam cleaning mode, and a steam self-cleaning mode. The normal temperature cleaning mode refers to using a medium at normal temperature to clean the object to be cleaned. The hot liquid cleaning mode refers to the heater 133 heating the cleaning medium, and the object to be cleaned is cleaned by the hot cleaning medium. The hot liquid self-cleaning mode refers to the heater 133 heating the cleaning medium, and self-cleaning (cleaning the cleaning component 120) by the hot cleaning medium. The steam cleaning mode refers to the heater 133 heating the cleaning medium into steam, and cleaning the object to be cleaned by steam. The steam self-cleaning mode refers to the heater 133 heating the cleaning medium into steam, and self-cleaning (cleaning the cleaning component 120) by steam.

[0108] Both the hot liquid cleaning mode and the hot liquid self-cleaning mode use hot liquid for cleaning. Hot liquid can dissolve stains better than liquid at room temperature and can improve the cleaning effect. The steam cleaning mode and the steam self-cleaning mode can also sterilize while self-cleaning. In some embodiments, the output channel 134 includes a first channel 1341 and a second channel 1342. The first channel 1341 and the second channel 1342 can be connected to the clean water tank 135 through the input channel 131. The first channel 1341 and the second channel 1342 can both be connected to the heater 133. The water pump assembly 132 may include a first water pump 1322 and a second water pump 1324. The first water pump 1322 acts on the first channel 1341, and the second water pump 1324 acts on the second channel 1342, so that the first channel 1341 and the second channel 1342 can work independently.

[0109] It should be noted that the input channel 131 and the output channel 134 are input and output relative to the heater 133 . The input channel 131 can transport the cleaning medium into the heater 133 , and the output channel 134 can output the heat medium heated by the heater 133 .

[0110] The first channel 1341 is provided with a water outlet bar 1361, and the liquid cleaning medium can flow to the cleaning component 120 (rolling brush) through the water outlet bar 1361, and the liquid cleaning medium can be sprayed on different positions of the rolling brush through the water outlet bar 1361, so as to clean different positions of the rolling brush or clean the object to be cleaned through the rolling brush.

[0111] When the cleaning device 100 performs the hot liquid self-cleaning mode, the heater 133 is used to heat the cleaning medium into hot liquid, the first water pump 1322 is used to transport the cleaning medium to the heater 133, and transport the hot liquid to the cleaning component 120 through the first channel 1341 to clean the roller brush.

[0112] When the cleaning device 100 performs the hot liquid self-cleaning mode, the first water pump 1322 is started to allow water to flow to the heater 133. After being heated by the heater 133, the water becomes hot liquid, and the hot liquid flows from the first channel 1341 to the water outlet bar 1361, and is sprayed on the roller brush through the water outlet bar 1361. The temperature of the hot liquid can be set according to the cleaning requirements and is not specifically limited.

[0113] The water output of the first water pump 1322 is 150ml / min to 250ml / min, and the power of the heater 133 is 200W to 300W. The water output requirement of the hot liquid cleaning roller brush is relatively large, and the water output of the first water pump 1322 can be set relatively large. Due to the large water output, in order to heat the cleaning medium to the set temperature, the power of the heater 133 is also set relatively large.

[0114] Specifically, the water output of the first water pump 1322 can be 150ml / min, 160ml / min, 180ml / min, 200ml / min, 210ml / min, 250ml / min, etc., and the power of the heater 133 can be 200W, 220W, 240W, 260W, 280W, 300W, etc.

[0115] When the cleaning device 100 performs the steam self-cleaning mode, the heater 133 is used to heat the cleaning medium into steam, and the second water pump 1324 is used to transport the cleaning medium to the heater 133 and transport the steam to the cleaning component 120 through the second channel 1342 .

[0116] The second channel 1342 is provided with a steam outlet 1362. The cleaning medium heated into steam by the heater 133 can be sprayed onto the surface of the object to be cleaned, or onto the surface of the roller brush through the steam nozzle of the second channel 1342 under the action of the second water pump 1324. The high-temperature steam can quickly dissolve stains on the surface of the object to be cleaned or the surface of the roller brush, and can also play a sterilization role.

[0117] The power of the heater 133 is 100W to 200W, and the water output of the second water pump 1324 is 100ml / min to 280ml / min. Since the amount of water required for heating into steam is small, the water output of the second water pump 1324 can be set to be small. Although the same amount of water needs more heat to be heated into steam than heating, the total amount of heat required is small due to the small amount of water, so that the power of the heater 133 for heating the cleaning medium into steam can be set to be relatively small.

[0118] Specifically, the power of the heater 133 may be 100 W, 120 W, 140 W, 160 W, 180 W, 200 W, etc. The water output of the second water pump 1324 may be 100 ml / min, 110 ml / min, 120 ml / min, 140 ml / min, 160 ml / min, 180 ml / min, etc.

[0119] In some embodiments, the output channel 134 further includes a third channel 1343 , the cleaning device 100 further includes a first control valve 1371 , the first control valve 1371 connects the first channel 1341 , the second channel 1342 , and the third channel 1343 , and the heater 133 is connected to the third channel 1343 .

[0120] The heater 133 is disposed on the first channel 1341 or the second channel 1342. The first control valve 1371 is disposed on the first channel 1341 or the second channel 1342, and the heater 133 and the first control valve 1371 are disposed on the same channel. If the heater 133 and the first control valve 1371 are disposed on different channels, two control valves need to be disposed, respectively disposed on the first channel 1341 and the second channel 1342. In some embodiments, the third channel 1343 may be connected to the first channel 1341 and the second channel 1342 through the first joint 1381.

[0121] It should be noted that, in some other embodiments, the output channel 134 may not include the third channel 1343, and the first channel 1341 and the second channel 1342 are directly connected to the heater 133, respectively. In this case, two control valves need to be provided, which are respectively provided in the first channel 1341 and the second channel 1342, so that the cleaning medium heated by the heater 133 flows to the cleaning component 120 only from one of the first channel 1341 and the second channel 1342. In addition, it may also include only the first channel 1341 or only the second channel 1342. When the output channel 134 only includes the first channel 1341, it is considered that the cleaning device 100 can only perform the normal temperature cleaning mode, the hot liquid cleaning mode, and the hot liquid self-cleaning mode. When the output channel 134 only includes the second channel 1342, it is considered that the cleaning device 100 can only perform the steam cleaning mode and the steam self-cleaning mode.

[0122] When the cleaning device 100 performs the hot liquid self-cleaning mode, the first control valve 1371 connects the third channel 1343 with the first channel 1341, so that the hot liquid is delivered to the cleaning component 120 through the third channel 1343 and the first channel 1341 to clean the roller brush. When the cleaning device 100 performs the steam self-cleaning mode, the first control valve 1371 connects the third channel 1343 with the second channel 1342, so that the steam is delivered to the roller brush through the third channel 1343 and the second channel 1342.

[0123] The first channel 1341 and the second channel 1342 can share a heater 133 through the third channel 1343. In different cleaning modes, the heater 133 needs to be connected to different channels to achieve different cleaning modes. The heater 133 can be switched to be connected to the first channel 1341 or the second channel 1342 through the third channel 1343 through the first control valve 1371.

[0124] In some embodiments, the output channel 134 also includes a fourth channel 1346, a fourth water pump is connected to the fourth channel 1346, and the fourth channel 1346 is not connected to the heater 133, so that the cleaning medium that is not heated by the heater 133 is transported to the water outlet bar 1361 through the fourth channel 1346, and sprayed to the cleaning component 120 through the water outlet bar 1361.

[0125] In other embodiments, in order to simplify the water circuit and simplify the structure of the entire delivery system, the fourth channel 1346 can be connected to the first channel 1341 and the first water pump 1322, and the water that is not heated by the heater 133 can flow to the water outlet bar 1361 through the fourth channel 1346 and the first channel 1341, and spray to the cleaning component 120 through the water outlet bar 1361. For the convenience of description, the following describes the water circuit of the steam self-cleaning mode by taking the fourth channel 1346 connected to the first channel 1341 as an example. When the fourth channel 1346 is not connected to the first channel 1341, the water circuit of the steam self-cleaning mode can be deduced in the same way.

[0126] When the cleaning device 100 executes the steam self-cleaning mode, the heater 133 is used to heat the cleaning medium to steam, the second water pump 1324 is used to transport the cleaning medium to the heater 133, and transport the steam to the roller brush through the second channel 1342, and the first water pump 1322 is used to transport the cleaning medium to the cleaning component 120 through the fourth channel 1346 and the first channel 1341 or to transport hot liquid to the roller brush.

[0127] Specifically, the fourth channel 1346 can be connected to the first channel 1342 through a first joint 1381 (three-way joint).

[0128] Steam can only sterilize and dissolve stains on the outer surface of the roller brush. In order to make the stains fall off the roller brush quickly, the first water pump 1322 can be turned on at the same time when the steam self-cleaning mode is executed, so that the cleaning medium flows directly to the water outlet bar 1361 without being heated by the heater 133. That is, in the steam self-cleaning mode, the steam dissolves the stains on the surface of the roller brush, and the liquid at room temperature rinses the roller brush, which can improve the self-cleaning effect.

[0129] That is to say, in the steam self-cleaning mode, the first water pump 1322 may be turned on or off, and whether to turn on the first water pump 1322 may be set according to the degree of dirtiness of the roller brush or the stage of self-cleaning.

[0130] For example: the steam self-cleaning mode includes a cleaning stage and a sterilization stage. In the cleaning stage, the first water pump 1322 and the second water pump 1324 are both turned on, the first channel 1341 is not connected to the heater 133, and the cleaning medium at room temperature directly flows to the water outlet bar 1361 through the first channel 1341, and is sprayed to the roller brush through the water outlet bar 1361. The heater 133 heats the cleaning medium into steam, and the steam is transported to the steam outlet 1362 through the second channel 1342, and is sprayed to the outer surface of the roller brush through the steam outlet 1362.

[0131] During the sterilization stage, the first water pump 1322 is not turned on, only the second water pump 1324 and the heater 133 are turned on. The heater 133 heats the cleaning medium into steam, and the steam is transported to the steam outlet 1362 through the second channel 1342 and sprayed to the outer surface of the roller brush through the steam outlet 1362 to sterilize the outer surface of the roller brush.

[0132] Therefore, in the steam self-cleaning mode, the power of the heater 133 is 100W to 200W, the water output of the second water pump 1324 is 100ml / min to 280ml / min, and the water output of the first water pump 1322 is 150ml / min to 250ml / min.

[0133] Since in the steam self-cleaning mode, the first channel 1341 also needs to spray cleaning medium (unheated cleaning medium) onto the roller brush, in order to achieve the above function, a second control valve 1372 can be set, and the second control valve 1372 is respectively connected to the water inlet end of the heater 133, the water outlet end of the first water pump 1322, and the fourth channel 1346.

[0134] In some embodiments, when the cleaning device 100 performs the cleaning in the target cleaning mode, the roller brush rotates, and the roller brush can throw out the stains attached to its surface through centrifugal force, which can also improve the cleaning effect to a certain extent. The rotation speed of the roller brush is 300r / min to 600r / min. The rotation speed of the roller brush is relatively high, which can increase the centrifugal force during the rotation of the roller brush and improve the cleaning effect. Specifically, the rotation speed of the roller brush can be 300r / min, 350r / min, 400r / min, 450r / min, 500r / min, 550r / min, etc.

[0135] In some embodiments, the fourth channel 1346, the first channel 1341 and the first water pump 1322 can be used to spray unheated cleaning medium onto the roller brush in the steam self-cleaning mode. In other embodiments, the fifth channel and the fourth water pump can be separately set, and the fourth water pump is installed on the fifth channel. The fifth channel is connected to the clean water tank. In the steam self-cleaning mode, the fourth water pump is turned on to transport the unheated cleaning medium to the roller brush through the fifth channel, thereby cleaning the roller brush.

[0136] As for the specific connection position of the second control valve, the input channel 131 includes a main channel 1312, a first sub-channel 1314, a second sub-channel 1315 and a third sub-channel 1316, the clean water tank 135 is connected to the main channel 1312, the main channel 1312 is connected to the first sub-channel 1314, the first sub-channel 1314, the third sub-channel 1316 and the fourth channel 1346 are all connected to the second control valve 1372, the third sub-channel 1316 is connected to the heater 133, and the second sub-channel 1315 is connected to the heater 133 and the main channel 1312.

[0137] Since the main channel 1312 is connected to the first sub-channel 1314 and the second sub-channel 1315 at the same time, that is, the main channel 1312, the first sub-channel 1314, and the second sub-channel 1315 can be connected through the second joint 1382 (three-way joint).

[0138] The input channel 131 further includes a fourth sub-channel 1317 , the cleaning liquid tank 139 is connected to the fourth sub-channel 1317 , and the fourth sub-channel 1317 can be connected to the first sub-channel 1314 via a third joint 1383 .

[0139] In order to stabilize the entire output channel 134 within a certain pressure range, a pressure relief valve 1373 may be provided, and the first channel 1341 and the second channel 1342 are both connected to the pressure relief valve 1373 .

[0140] Figure 4 Schematic diagram showing the water flow of the cleaning device 100 when performing the hot liquid self-cleaning mode. Figure 4 , the water flow direction of the hot liquid self-cleaning mode is as follows: the first water pump 1322 and the heater 133 are turned on, the first control valve 1371 connects the first channel 1341 and the third channel 1343, the second control valve 1372 connects the first sub-channel 1341 and the third sub-channel 1315, and the cleaning medium in the clean water tank 135 enters the heater 133 through the main channel 1312, the first sub-channel 1314, and the third sub-channel 1316 under the action of the first water pump 1322. The hot liquid heated by the heater 133 flows to the water outlet bar 1361 through the third channel 1343 and the second channel 1342, and finally sprays the roller brush through the water outlet bar 1361.

[0141] Figure 5 Schematic diagram of the water path of the cleaning device 100 when performing the steam self-cleaning mode. Figure 5, the water flow direction of the steam self-cleaning mode: the first water pump 1322, the second water pump 1324, and the heater 133 are turned on, the first control valve 1371 connects the third channel 1346 and the second channel 1342, and the second control valve 1372 connects the first sub-channel 1314 and the fourth channel 1346. In one of the ways, the cleaning medium in the clean water tank 135 passes through the main channel 1312, the first sub-channel 1314, the fourth channel 1346 and the water outlet 1361 of the first channel 1341 under the action of the first water pump 1322, and then sprays to the roller brush. In another way: the cleaning medium in the clean water tank 135 enters the heater 133 through the main channel and the second sub-channel under the action of the second water pump 1324, and is heated into steam by the heater 133, and then passes through the third channel and the second channel through the steam outlet 1362 and sprays to the outer surface of the roller brush.

[0142] Since the self-cleaning of the cleaning device 100 is generally performed after completing the cleaning task, the cleaning device 100 has consumed part of the power when performing the cleaning task, and self-cleaning also requires a certain amount of power. Therefore, it is necessary to determine whether the power is sufficient during the self-cleaning process. Since the amount of heated water in the hot liquid cleaning mode is large, more electrical energy is consumed. If the power of the cleaning device 100 is greater than the second set value and less than the first set value, it means that the current power is too low to support the hot liquid self-cleaning mode. Since the steam self-cleaning mode consumes relatively little power, if the hot liquid cleaning mode is currently executed, it is switched to the steam self-cleaning mode so that the cleaning device 100 can self-clean normally. If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on. Charge first, and then fully charge to the third set value before turning on the self-cleaning mode.

[0143] As for the charging method of the cleaning device 100, the cleaning device 100 can be placed back into the cleaning base station 200 for charging, or the battery of the cleaning device 100 can be removed and the battery can be directly charged.

[0144] Figure 6 Schematic diagram of the structure of the cleaning system 10 provided in the embodiment of the present application is shown. Figure 6 Based on the same inventive concept, an embodiment of the present application further provides a cleaning system 10 , which includes a cleaning base station 200 and the above-mentioned cleaning device 100 , and the cleaning base station 200 can provide charging for the cleaning device 100 .

[0145] Based on the same inventive concept, an embodiment of the present application also provides a self-cleaning control method, which is applied to a cleaning device 100. The specific structure of the cleaning device 100 has been described in detail above. When mentioning the specific structure of the cleaning device 100, please refer to the above description, which will not be repeated here.

[0146] Self-cleaning control methods include:

[0147] See also Figure 7 , step S120, in response to the in-position instruction and / or the self-cleaning instruction, controlling the cleaning device 100 to execute the target cleaning mode.

[0148] Among them, the arrival instruction can be detected by the cleaning device 100 itself, or it can be an arrival instruction issued by the cleaning base station 200 and received by the cleaning device 100. When the cleaning device 100 obtains the arrival instruction, it means that the cleaning device 100 has been returned to the cleaning base station 200. The cleaning base station can place the cleaning device 100 and charge the cleaning device 100.

[0149] The response to the in-place instruction and / or the self-cleaning instruction may be to respond only to the in-place instruction, or to respond only to the self-cleaning instruction, or to respond to both the in-place instruction and the self-cleaning instruction at the same time.

[0150] Since the cleaning device 100 has its own heater 133, under the condition that the cleaning device 100 has sufficient power, the cleaning device 100 does not need to return to the cleaning base station 200. The cleaning device 100 can be fixed in one place to start self-cleaning, that is, under this condition, it only needs to respond to the self-cleaning instruction. If it only responds to the self-cleaning instruction, step S110 may not be included.

[0151] The self-cleaning instruction is triggered by buttons arranged on the cleaning device 100 and the cleaning base station, or by a user on the device terminal, and the specific method is not limited.

[0152] The target cleaning mode at least includes controlling the heater 133 and the water pump assembly 132 of the cleaning device 100 to operate so as to deliver the heated cleaning medium to the cleaning component 120 through the output channel 134 .

[0153] Hot liquid can dissolve stains better than liquid at room temperature, which can improve the cleaning effect. Since the heater 133 and the roller brush are both arranged on the main body 110 of the cleaning device 100, compared with the solution of arranging the heater 133 on the cleaning base station, the distance between the heater 133 and the roller brush is closer, so that the path of the cleaning component 120 connecting the heater 133 and the roller brush can also be relatively close, which can reduce the time for the cleaning medium heated by the heater 133 to flow to the cleaning component 120, and the cleaning effect can be improved by cleaning the object to be cleaned or the cleaning component 120 with the heated cleaning medium. Since the heated cleaning medium can dissolve or carry stains better, the object to be cleaned or the cleaning component 120 with the same degree of dirtiness can use less water, reducing the amount of water used in the cleaning or self-cleaning process.

[0154] See also Figure 8, step S1221, the cleaning device 100 responds to the in-position instruction and / or the self-cleaning instruction, and controls the cleaning device 100 to execute the hot liquid self-cleaning mode.

[0155] The target cleaning mode includes a hot liquid self-cleaning mode, which includes controlling the heater 133 of the cleaning device 100 to heat the cleaning medium into hot liquid, controlling the first water pump 1322 of the cleaning device 100 to deliver the cleaning medium to the heater 133, and delivering the hot liquid to the cleaning component 120 through the first channel 1341 to clean the cleaning component 120. Control the roller brush to rotate at a set speed value. The set speed is 300r / min to 600r / min for the roller brush. The rotation of the roller brush is relatively high, which can increase the centrifugal force during the rotation of the roller brush and improve the cleaning effect. Specifically, the rotation of the roller brush can be 300r / min, 350r / min, 400r / min, 450r / min, 500r / min, 550r / min, etc.

[0156] Step S1222 , when the cleaning device 100 executes the hot liquid self-cleaning mode or responds to a self-cleaning instruction, the power of the cleaning device 100 is obtained.

[0157] Since the self-cleaning of the cleaning device 100 is generally performed after completing the cleaning task, the cleaning device 100 has consumed some power when performing the cleaning task, and self-cleaning also requires a certain amount of power. Therefore, it is necessary to determine whether the power is sufficient during the self-cleaning process.

[0158] Step S1223, determining whether the power of the cleaning device 100 is less than the first set value and greater than the second set value.

[0159] If the power of the cleaning device 100 is greater than the second set value and less than the first set value, it means that the current power is too low to support the hot liquid self-cleaning mode. The relationship between the power of the cleaning device 100 and the first set value and the second set value can be used to determine whether the power of the cleaning device 100 is too low.

[0160] Step S1224: if the power of the cleaning device 100 is less than the first set value and greater than the second set value, the cleaning device 100 is controlled to execute the steam self-cleaning mode.

[0161] If the power of the cleaning device 100 is greater than the second set value and less than the first set value, it means that the current power is too low to support the hot liquid self-cleaning mode. Since the steam self-cleaning mode consumes relatively less power, if the hot liquid cleaning mode is currently being executed, it is switched to the steam self-cleaning mode so that the cleaning device 100 can self-clean normally.

[0162] Step S1225, determining whether the power of the cleaning device 100 is less than a second set value.

[0163] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on.

[0164] Step S1226: if the power of the cleaning device 100 is less than the second set value, control the cleaning device 100 to charge.

[0165] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on. Charge it first, and then fully charge it to the third set value before turning on the self-cleaning mode.

[0166] Step S1227: If the power level of the cleaning device 100 is less than the second set value, a prompt message is sent to remind the user to trigger a self-cleaning instruction after the power level of the cleaning device 100 is greater than the third set value.

[0167] The prompt information may be language information to remind the user to trigger the self-cleaning instruction, or it may be a prompt information displayed in a pop-up window on the device terminal to remind the user to trigger the hot liquid cleaning instruction after the power of the cleaning device 100 is greater than a third set value.

[0168] Step S1228, determining whether the power of the cleaning device is greater than a third set value.

[0169] Step S1229 , if the power of the cleaning device 100 is greater than the third setting value, the cleaning device 100 is controlled to execute the hot liquid self-cleaning mode, and the third setting value is greater than or equal to the first setting value.

[0170] If the power of the cleaning device 100 is greater than the third set value, it means that the current power is sufficient to execute the hot liquid self-cleaning mode, and the cleaning device 100 is controlled to execute the hot liquid cleaning mode.

[0171] See also Fig. 9 , step S1232, the cleaning device 100 responds to the in-position instruction and / or the self-cleaning instruction, and controls the cleaning device 100 to execute the steam self-cleaning mode.

[0172] Among them, the steam self-cleaning mode includes: the heater 133 heats the cleaning medium to steam, the second water pump 1324 transports the cleaning medium to the heater 133, and transports the steam to the roller brush through the second channel 1342, and the first water pump 1322 is used to transport the unheated cleaning medium through the fourth channel 1346 and the first channel 1341 to the cleaning component 120 or transport hot liquid to the roller brush.

[0173] Step S1233, when the cleaning device 100 executes the steam self-cleaning mode or responds to the self-cleaning instruction, the power of the cleaning device 100 is obtained. Since the self-cleaning of the cleaning device 100 is generally performed after completing the cleaning task, the cleaning device 100 has consumed part of the power when performing the cleaning task, and self-cleaning also requires a certain amount of power, it is necessary to determine whether the power is sufficient during the self-cleaning process.

[0174] Step S1234, determining whether the power of the cleaning device 100 is less than or equal to a second set value.

[0175] Step S1235 , if the power level of the cleaning device 100 is less than or equal to the second set value, control the cleaning device 100 to charge.

[0176] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on. Charge first and then turn on the self-cleaning mode after it is fully charged to the third set value.

[0177] Step S1236: If the power level of the cleaning device 100 is less than the second set value, a prompt message is sent to remind the user to trigger a self-cleaning instruction after the power level of the cleaning device 100 is greater than the third set value.

[0178] The prompt information may be language information to remind the user to trigger the self-cleaning instruction, or it may be a prompt information displayed in a pop-up window on the device terminal to remind the user to trigger the hot liquid cleaning instruction after the power of the cleaning device 100 is greater than a third set value.

[0179] Step S1237, determining whether the power of the cleaning device 100 is greater than a third set value.

[0180] Step S1238, if the power of the cleaning device 100 is greater than the third set value, the cleaning device 100 is controlled to execute the steam self-cleaning mode, and the third set value is greater than or equal to the second set value.

[0181] If the power of the cleaning device 100 is greater than the third set value, it means that the current power is sufficient to execute the steam self-cleaning mode, and the cleaning device 100 is controlled to execute the steam self-cleaning mode.

[0182] It should be noted that steps S1221 to S1229 are hot liquid self-cleaning mode, and steps S1232 to S1238 are steam self-cleaning mode. In response to the self-cleaning instruction, only steps S1221 to S1229 or only steps S1232 to S1238 may be executed. Alternatively, both steps S1221 to S1229 and steps S1232 to S1238 may be executed. As for the order of steps S1221 to S1229 and steps S1232 to S1238, steps S1221 to S1229 and steps S1232 to S1238 are not limited. Steps S1221 to S1229 may be executed first and then steps S1232 to S1238 may be executed. Steps S1232 to S1238 may also be executed first and then steps S1221 to S1229.

[0183] See also Fig.10 , step S130, obtaining a preset cleaning mode.

[0184] The preset cleaning mode may be set by the user, and may be set by the user directly on the cleaning device 100 or on the device terminal.

[0185] Step S140, setting the preset cleaning mode as the target cleaning mode.

[0186] The preset cleaning mode is set as the target cleaning mode, and the preset cleaning mode can be executed for self-cleaning after responding to the self-cleaning instruction. If the preset mode is not set, the hot liquid self-cleaning mode or the steam self-cleaning mode can also be used as the target cleaning mode. The target cleaning mode can also include the hot liquid self-cleaning mode and the steam self-cleaning mode at the same time, and the order of the two modes can be unlimited.

[0187] Based on the same inventive concept, the embodiment of the present application further provides a self-cleaning control method, which is applied to the cleaning base station 200. The self-cleaning control method includes:

[0188] See also Fig.11 , step S210, obtaining a signal indicating that the cleaning device 100 is placed on the cleaning base station 200.

[0189] When the cleaning device 100 is placed on the cleaning base station 200 , the cleaning base station 200 detects a signal indicating that the cleaning device 100 has been placed on the cleaning base station 200 .

[0190] Step S220 , triggering an arrival instruction according to the arrival signal.

[0191] According to the in-position signal triggering the in-position instruction, the cleaning base station 200 and the cleaning device 100 are connected in communication, and the cleaning base station 200 sends the in-position instruction to the cleaning device 100 to prepare for self-cleaning or charging of the cleaning device 100.

[0192] See also Fig.12 Based on the same inventive concept, the embodiment of the present application also provides a self-cleaning control method, which is applied to a device terminal. The self-cleaning control method includes:

[0193] Step S310, receiving a cleaning signal.

[0194] Among them, the cleaning signal is triggered by the user on the device terminal, and the device terminal can be an electronic product such as a mobile phone or a computer.

[0195] Step S320 , triggering a self-cleaning instruction according to the cleaning signal, so that the cleaning device 100 executes a target cleaning mode in response to the self-cleaning instruction.

[0196] After receiving the cleaning signal, the device terminal triggers a self-cleaning instruction and sends the self-cleaning instruction to the cleaning device 100, so that the cleaning device 100 can execute the target cleaning mode.

[0197] See also Fig.13 , step S330, obtaining setting parameters.

[0198] Similarly, the user can set a personalized cleaning mode on the device terminal as needed. For example, the set parameters can be the water temperature, cleaning time, etc. in the hot liquid mode of self-cleaning, or the cleaning time in the steam self-cleaning mode, etc.

[0199] Step S340 , generating a preset cleaning mode according to the set parameters.

[0200] After receiving the setting parameters, a preset cleaning mode is generated, and the preset cleaning mode can be sent to the cleaning device 100, so that the cleaning device 100 can self-clean according to the preset cleaning mode.

[0201] See also Fig.14 Based on the same inventive concept, the embodiment of the present application provides a self-cleaning control method, using a cleaning device 100, a cleaning base station 200 and a device terminal, the self-cleaning control method includes:

[0202] Step S410 : the cleaning base station 200 obtains a signal indicating that the cleaning device 100 is placed on the cleaning base station 200 .

[0203] When the cleaning device 100 is placed on the cleaning base station 200 , the cleaning base station 200 detects a signal indicating that the cleaning device 100 has been placed on the cleaning base station 200 .

[0204] Step S420 , the cleaning base station 200 triggers an arrival instruction according to the arrival signal.

[0205] According to the in-position signal triggering the in-position instruction, the cleaning base station 200 and the cleaning device 100 are connected in communication, and the cleaning base station 200 sends the in-position instruction to the cleaning device 100 to prepare for self-cleaning or charging of the cleaning device 100.

[0206] Step S430: the device terminal receives a cleaning signal.

[0207] Among them, the cleaning signal is triggered by the user on the device terminal, and the device terminal can be an electronic product such as a mobile phone or a computer.

[0208] Step S440 : the device terminal triggers a self-cleaning instruction according to the cleaning signal, so that the cleaning device 100 executes a target cleaning mode in response to the self-cleaning instruction.

[0209] After receiving the cleaning signal, the device terminal triggers a self-cleaning instruction and sends the self-cleaning instruction to the cleaning device 100, so that the cleaning device 100 can execute the target cleaning mode.

[0210] There is no order between step S410-step S420 and step S430 and step S440. Step S410-step S420 may be performed first, or step S430 and step S440 may be performed first, or step S430 and step S440 may be performed simultaneously.

[0211] Step S450 : The cleaning device 100 controls the cleaning device 100 to execute a target cleaning mode in response to the arrival instruction triggered by the cleaning base station 200 and / or the self-cleaning instruction triggered by the device terminal.

[0212] The response to the in-place instruction and / or the self-cleaning instruction may be to respond only to the in-place instruction, or to respond only to the self-cleaning instruction, or to respond to both the in-place instruction and the self-cleaning instruction at the same time.

[0213] Hot liquid can dissolve stains better than liquid at room temperature, which can improve the cleaning effect. Since the heater 133 and the roller brush are both arranged on the main body 110 of the cleaning device 100, compared with the solution of arranging the heater 133 on the cleaning base station 200, the distance between the heater 133 and the roller brush is closer, so that the path of the cleaning component 120 connecting the heater 133 and the roller brush can also be relatively close, which can reduce the time for the cleaning medium heated by the heater 133 to flow to the cleaning component 120, and clean the object to be cleaned or the cleaning component 120 with the heated cleaning medium, which can also improve the cleaning effect. Since the heated cleaning medium can dissolve or carry stains better, the object to be cleaned or the cleaning component 120 with the same degree of dirtiness can use less water, reducing the amount of water used in the cleaning or self-cleaning process.

[0214] See also Fig.15, step S4521, the cleaning device 100 responds to the in-position instruction and / or the self-cleaning instruction, and controls the cleaning device 100 to execute the hot liquid self-cleaning mode.

[0215] The target cleaning mode includes a hot liquid self-cleaning mode, which includes controlling the heater 133 of the cleaning device 100 to heat the cleaning medium into hot liquid, controlling the first water pump 1322 of the cleaning device 100 to deliver the cleaning medium to the heater 133, and delivering the hot liquid to the cleaning component 120 to clean the cleaning component 120. The roller brush is controlled to rotate at a set speed value. The speed is set to a speed of 300r / min to 600r / min for the roller brush. The rotation of the roller brush is relatively high, which can increase the centrifugal force during the rotation of the roller brush and improve the cleaning effect. Specifically, the rotation of the roller brush can be 300r / min, 350r / min, 400r / min, 450r / min, 500r / min, 550r / min, etc.

[0216] Step S4522 , when the cleaning device 100 executes the hot liquid self-cleaning mode or responds to a self-cleaning instruction, the power of the cleaning device 100 is obtained.

[0217] Since the self-cleaning of the cleaning device 100 is generally performed after completing the cleaning task, the cleaning device 100 has consumed some power when performing the cleaning task, and self-cleaning also requires a certain amount of power. Therefore, it is necessary to determine whether the power is sufficient during the self-cleaning process.

[0218] Step S4523, determining whether the power of the cleaning device 100 is less than the first set value and greater than the second set value.

[0219] If the power of the cleaning device 100 is greater than the second set value and less than the first set value, it means that the current power is too low to support the hot liquid self-cleaning mode. The relationship between the power of the cleaning device 100 and the first set value and the second set value can be used to determine whether the power of the cleaning device 100 is too low.

[0220] Step S4524: if the power of the cleaning device 100 is less than the first set value and greater than the second set value, the cleaning device 100 is controlled to execute the steam self-cleaning mode.

[0221] If the power of the cleaning device 100 is greater than the second set value and less than the first set value, it means that the current power is too low to support the hot liquid self-cleaning mode. Since the steam self-cleaning mode consumes relatively less power, if the hot liquid cleaning mode is currently being executed, it is switched to the steam self-cleaning mode so that the cleaning device 100 can self-clean normally.

[0222] Step S1225, determining whether the power of the cleaning device 100 is less than a second set value.

[0223] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on.

[0224] Step S4526: if the power of the cleaning device 100 is less than the second set value, control the cleaning device 100 to charge.

[0225] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on. Charge it first, and then fully charge it to the third set value before turning on the self-cleaning mode.

[0226] Step S4527, if the power of the cleaning device 100 is less than the second set value, a prompt message is sent to remind the user to execute a self-cleaning instruction after the power of the cleaning device 100 is greater than the third set value.

[0227] The prompt information may be language information to remind the user to trigger the self-cleaning instruction, or it may be a prompt information displayed in a pop-up window on the device terminal to remind the user to trigger the hot liquid cleaning instruction after the power of the cleaning device 100 is greater than a third set value.

[0228] Step S4528, determining whether the power of the cleaning device is greater than a third set value.

[0229] Step S4529, if the power of the cleaning device 100 is greater than the third setting value, the cleaning device 100 is controlled to execute the hot liquid self-cleaning mode, and the third setting value is greater than or equal to the first setting value.

[0230] If the power of the cleaning device 100 is greater than the third set value, it means that the current power is sufficient to execute the hot liquid self-cleaning mode, and the cleaning device 100 is controlled to execute the hot liquid cleaning mode.

[0231] See also Fig.16 , step S4532, the cleaning device 100 responds to the in-position instruction and / or the self-cleaning instruction, and controls the cleaning device 100 to execute the steam self-cleaning mode.

[0232] Among them, the steam self-cleaning mode includes: the heater 133 heats the cleaning medium to steam, the second water pump 1324 transports the cleaning medium to the heater 133, and transports the steam to the roller brush through the second channel 1342, and the first water pump 1322 is used to transport the cleaning medium to the cleaning component 120 or transport hot liquid to the roller brush.

[0233] Step S4533, when the cleaning device 100 executes the steam self-cleaning mode or responds to the self-cleaning instruction, the power of the cleaning device 100 is obtained.

[0234] Since the self-cleaning of the cleaning device 100 is generally performed after completing the cleaning task, the cleaning device 100 has consumed some power when performing the cleaning task, and self-cleaning also requires a certain amount of power. Therefore, it is necessary to determine whether the power is sufficient during the self-cleaning process.

[0235] Step S4534, determining whether the power of the cleaning device 100 is less than or equal to a second set value.

[0236] Step S4535 , if the power level of the cleaning device 100 is less than or equal to the second set value, control the cleaning device 100 to charge.

[0237] If the power of the cleaning device 100 is less than the second set value, it means that the current power is too low and the self-cleaning mode cannot be turned on. Charge it first, and then fully charge it to the third set value before turning on the self-cleaning mode.

[0238] Step S4536, if the power of the cleaning device 100 is less than the second set value, a prompt message is sent to remind the user to execute a self-cleaning instruction after the power of the cleaning device 100 is greater than the third set value.

[0239] The prompt information may be language information to remind the user to trigger the self-cleaning instruction, or it may be a prompt information displayed in a pop-up window on the device terminal to remind the user to trigger the hot liquid cleaning instruction after the power of the cleaning device 100 is greater than a third set value.

[0240] Step S4537, determining whether the power of the cleaning device 100 is greater than a third set value.

[0241] Step S4538, if the power of the cleaning device 100 is greater than the third setting value, the cleaning device 100 is controlled to execute the steam self-cleaning mode, and the third setting value is greater than or equal to the second setting value.

[0242] If the power of the cleaning device 100 is greater than the third set value, it means that the current power is sufficient to execute the steam self-cleaning mode, and the cleaning device 100 is controlled to execute the steam self-cleaning mode.

[0243] See also Fig.17 , step S460, the device terminal obtains the setting parameters.

[0244] Similarly, users can set personalized cleaning modes on the device terminal as needed. For example, they can set the water temperature and cleaning time in the hot liquid self-cleaning mode, or the cleaning time in the steam self-cleaning mode.

[0245] Step S470: the device terminal generates a preset cleaning mode according to the set parameters.

[0246] After receiving the setting parameters, a preset cleaning mode is generated, and the preset cleaning mode can be sent to the cleaning device 100 so that the cleaning device 100 can self-clean according to the preset cleaning mode.

[0247] Step S480 : The cleaning device 100 obtains a preset cleaning mode.

[0248] The preset cleaning mode may be set by the user, and may be set by the user directly on the cleaning device 100 or on the device terminal.

[0249] In step S490 , the cleaning device 100 sets the preset cleaning mode as the target cleaning mode.

[0250] The preset cleaning mode is set as the target cleaning mode, and the preset cleaning mode can be executed for self-cleaning after responding to the self-cleaning instruction. If the preset mode is not set, the hot liquid self-cleaning mode or the steam self-cleaning mode can also be used as the target cleaning mode. The target cleaning mode can also include the hot liquid self-cleaning mode and the steam self-cleaning mode at the same time, and the order of the two modes can be unlimited.

[0251] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device with a processor executes the self-cleaning control method as described above.

[0252] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one program code is stored, and the at least one program code is loaded and executed by a processor to implement the self-cleaning control method as described above.

[0253] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0254] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0255] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning device, characterized in that: The cleaning device (100) comprises: A main body (110) and a cleaning component (120) mounted on the main body (110); A water pump assembly (132), a heater (133) and an output channel (134), wherein the heater (133) is connected to the output channel (134), the water pump assembly (132) is connected to the heater (133), and the output channel (134) is arranged corresponding to the cleaning component (120); Under the condition that the cleaning device (100) executes a target cleaning mode, the water pump assembly (132) is used to transport the cleaning medium to the heater (133); the heater (133) is used to heat the cleaning medium transported to the heater (133); the heated cleaning medium is transported to the cleaning component (120) through the output channel (134) to clean the cleaning component (120).

2. The cleaning device according to claim 1, characterized in that The target cleaning mode comprises a hot liquid self-cleaning mode, the water pump assembly (132) comprises a first water pump (1322), the output channel (134) comprises a first channel (1341), the first water pump (1324) is connected to the heater (133), the heater (133) is connected to the first channel (1341), and the first channel (1341) is arranged corresponding to the cleaning component (120); When the cleaning device (100) performs the hot liquid self-cleaning mode, the first water pump (1322) is used to transport the cleaning medium to the heater (133), the heater (133) is used to heat the cleaning medium into hot liquid, and the first channel is used to transport the hot liquid to the cleaning component (120).

3. The cleaning device according to claim 2, characterized in that: The water output of the first water pump (1322) is 150ml / min to 250ml / min, and the power of the heater (133) is 200W to 300W.

4. The cleaning device according to claim 1, characterized in that The target cleaning mode includes a steam self-cleaning mode, the water pump assembly (132) includes a second water pump (1324), the output channel (134) includes a second channel (1342), the second water pump (1324) is connected to the heater (133), and the heater (133) is connected to the second channel (1324); When the cleaning device (100) executes the steam self-cleaning mode, the second water pump (1324) is used to transport the cleaning medium to the heater (133) through the second channel (1342), the heater (133) is used to heat the cleaning medium into steam, and the second channel (1342) is used to transport the steam to the cleaning component (120).

5. The cleaning device according to claim 4, characterized in that The power of the heater (133) is 100W to 200W, and the water output of the second water pump (1324) is 100ml / min to 280ml / min.

6. The cleaning device according to claim 4, characterized in that The water pump assembly (132) further includes a fourth water pump, and the output channel (134) further includes a fourth channel (1346). When the cleaning device (100) executes the steam self-cleaning mode, the fourth water pump delivers unheated cleaning medium to the cleaning component (120) through the fourth channel (1346).

7. The cleaning device according to claim 1, characterized in that The output channel (134) comprises a first channel (1341), a second channel (1342) and a third channel (1343); the cleaning device (100) further comprises a first control valve (1371); the first control valve (1371) connects the first channel (1341), the second channel (1342) and the third channel (1343); the third channel (1343) is connected to the heater (133); Under the condition that the cleaning device (100) executes the hot liquid self-cleaning mode, the first control valve (1371) and the third channel (1343) are connected to the first channel (1341), so that the hot liquid is transported to the cleaning component (120) through the third channel (1343) and the first channel (1341); When the cleaning device (100) executes the steam self-cleaning mode, the first control valve (1371) connects the third channel (1343) and the second channel (1342), so that the steam is transported to the cleaning component (120) through the third channel (1343) and the second channel (1342).

8. The cleaning device according to claim 7, characterized in that When the cleaning device (100) executes a steam self-cleaning mode, the output channel also includes a fourth channel (1346), and the fourth channel (1346) connects the water pump assembly and the first channel (1341), and the cleaning medium that is not heated by the heater (133) is transported to the cleaning component (120) through the fourth channel (1346) and the first channel (1341).

9. The cleaning device according to claim 2 or 4, characterized in that: The target cleaning mode also includes a water absorption mode, the cleaning device (100) further includes a fan assembly (144), a sewage tank (142) and a water return channel (146), the water return channel (146) is connected to the sewage tank (142), the fan assembly (144) is connected to the water return channel (146), and the water inlet of the water return channel (146) is arranged corresponding to the cleaning component (120); In the water absorption mode, the self-cleaning action further includes: the fan assembly (144) is started, so that the sewage is recovered to the sewage tank (142) through the return water channel (146).

10. The cleaning device according to claim 1, characterized in that The cleaning component comprises a roller brush, and when the cleaning device (100) executes a target cleaning mode, the roller brush rotates at a set rotation speed.

11. The cleaning device according to claim 1, characterized in that The cleaning device (100) executes the target cleaning mode in response to a self-cleaning instruction, wherein the self-cleaning instruction is triggered by a button arranged on the cleaning device (100) or on a cleaning base station (200), or the cleaning instruction is triggered by a cleaning signal received by a device terminal.

12. The cleaning device according to claim 1, characterized in that The target cleaning modes include a hot liquid self-cleaning mode and a steam self-cleaning mode; Under the condition that the cleaning device (100) currently executes the hot liquid self-cleaning mode or responds to a self-cleaning instruction, if the power of the cleaning device (100) is greater than a second set value and less than a first set value, the cleaning device (100) executes the steam self-cleaning mode; Under the condition that the cleaning device (100) is currently executing the hot liquid self-cleaning mode or responding to a self-cleaning instruction, if the power level of the cleaning device (100) is less than the second set value, the cleaning device (100) is charged and a language prompt message is sent to remind the user to trigger the self-cleaning instruction after the power level of the cleaning device (100) is greater than a third set value.

13. The cleaning device according to claim 1, characterized in that The target cleaning mode includes a steam self-cleaning mode; Under the condition that the cleaning device (100) executes the steam self-cleaning mode, if the power of the cleaning device (100) is less than or equal to a second set value, controlling the cleaning device (100) to charge; Under the condition that the cleaning device (100) is currently executing the steam self-cleaning mode, if the power level of the cleaning device (100) is less than the second set value, the cleaning device (100) is charged and a language prompt message is sent to remind the user to trigger the self-cleaning instruction after the power level of the cleaning device (100) is greater than the third set value.

14. A self-cleaning control method, characterized in that: Applied to a cleaning device (100), the cleaning device (100) comprising a cleaning component (120), a water pump assembly (132), a heater (133) and an output channel (134), the heater (133) being connected to the output channel (134), the water pump assembly (132) being connected to the heater (133), and the output channel (134) being arranged corresponding to the cleaning component (120); The self-cleaning control method comprises: In response to a self-cleaning instruction, the cleaning device (100) is controlled to execute a target cleaning mode, and the heater (133) and the water pump assembly (132) are controlled to operate so as to deliver the heated cleaning medium to the cleaning component (120) through the output channel (134).

15. The self-cleaning control method according to claim 14, characterized in that: The target cleaning mode comprises a hot liquid self-cleaning mode, the water pump assembly (132) comprises a first water pump (1322), the output channel (134) comprises a first channel (1341), the first water pump (1324) is connected to the heater (133), the heater (133) is connected to the first channel (1341), and the first channel (1341) is arranged corresponding to the cleaning component (120). The control of the cleaning device (100) to execute the target cleaning mode comprises: Controlling the cleaning device (100) to execute the hot liquid self-cleaning mode; The hot liquid self-cleaning mode includes: controlling the first water pump (1322) to transport the cleaning medium to the heater (133), controlling the heater (133) to heat the cleaning medium into hot liquid, and transporting the hot liquid to the cleaning component (120) to clean the cleaning component (120).

16. The self-cleaning control method according to claim 15, characterized in that: The self-cleaning control method further comprises: When the cleaning device (100) executes a hot liquid self-cleaning mode or responds to the self-cleaning instruction, obtaining the power of the cleaning device (100); If the power of the cleaning device (100) is less than a first set value and greater than a second set value, controlling the cleaning device (100) to execute a steam self-cleaning mode; If the power level of the cleaning device (100) is less than a second set value, controlling the cleaning device (100) to charge; If the power of the cleaning device (100) is greater than a third setting value, the cleaning device (100) is controlled to execute the hot liquid self-cleaning mode, and the third setting value is greater than or equal to the first setting value.

17. The self-cleaning control method according to claim 16, characterized in that: The self-cleaning control method further comprises: If the power level of the cleaning device (100) is less than the second set value, a language prompt message is sent to remind the user to trigger the hot liquid cleaning instruction after the power level of the cleaning device (100) is greater than the third set value.

18. The self-cleaning control method according to claim 14, characterized in that: The target cleaning mode comprises a steam self-cleaning mode, the water pump assembly (132) comprises a second water pump (1324), the output channel (134) comprises a second channel (1342) and a fourth channel (1346), the second water pump (1324) is connected to the heater (133), and the heater (133) is connected to the second channel (1324), and the step of controlling the cleaning device (100) to execute the target cleaning mode comprises: Controlling the cleaning device (100) to execute the steam self-cleaning mode; The steam self-cleaning mode includes: the second water pump (1324) transports the cleaning medium to the heater (133), the heater (133) heats the cleaning medium to steam, the steam is transported to the cleaning component (120) through the second channel (1342), and the unheated cleaning medium is transported to the cleaning component (120) through the fourth channel (1346).

19. The self-cleaning control method according to claim 16, characterized in that: The self-cleaning control method further comprises: When the cleaning device (100) executes a steam self-cleaning mode or responds to a self-cleaning instruction, obtaining the power of the cleaning device (100); If the power level of the cleaning device (100) is less than or equal to a second set value, controlling the cleaning device (100) to charge; If the power of the cleaning device (100) is greater than a third set value, the cleaning device (100) is controlled to execute a steam self-cleaning mode, and the third set value is greater than or equal to the second set value.

20. The self-cleaning control method according to claim 14, characterized in that: The cleaning component (120) comprises a roller brush, and the target cleaning mode further comprises: The roller brush is controlled to rotate at a set speed value.

21. The self-cleaning control method according to claim 14, characterized in that: The self-cleaning control method further comprises: In response to the in-position instruction and / or the self-cleaning instruction, the cleaning device (100) is controlled to execute a target cleaning mode.

22. The self-cleaning control method according to claim 14, characterized in that: The self-cleaning instruction is triggered by a button arranged on the cleaning device (100) or on the cleaning base station (200).

23. The self-cleaning control method according to claim 14, characterized in that: The self-cleaning control method further comprises: Get the preset cleaning mode; The preset cleaning mode is set as the target cleaning mode.

24. A self-cleaning control method, applied to a device terminal, characterized in that: The self-cleaning control method comprises: Receive a cleaning signal; A self-cleaning instruction is triggered according to the cleaning signal, so that the cleaning device (100) executes a target cleaning mode in response to the self-cleaning instruction.

25. The self-cleaning control method according to claim 24, characterized in that: The self-cleaning control method comprises: Get the setting parameters; A preset cleaning mode is generated according to the setting parameters.

26. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method according to any one of claims 14 to 23 or the method according to claims 24 to 25.

27. A computer-readable storage medium, characterized in that: At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by the processor to implement the method according to any one of claims 14 to 23, or the method according to claims 24 to 25.

28. A cleaning system, comprising a cleaning base station and the cleaning device according to any one of claims 1 to 13.

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