Cleaning apparatus, control method thereof, program product, medium, and system

Abstract

The invention discloses cleaning equipment and a control method thereof, a program product, a medium and a system, the cleaning equipment comprises a liquid pipeline arranged in the cleaning equipment, and the liquid pipeline is configured to convey liquid in the cleaning equipment; the detection device is arranged on the liquid pipeline, the detection device is configured to detect a liquid signal value, and the liquid signal value is used for representing the liquid insufficiency degree of the position where the detection device is located; the controller is configured to obtain a liquid signal value detected by the detection device; the liquid state of the cleaning equipment is determined based on the size relation characteristics of the liquid signal value and at least two signal reference values, and the liquid state comprises the liquid insufficient state and the liquid sufficient state. Through the technical scheme provided by the invention, the accuracy of detecting the state of the liquid in the cleaning equipment can be improved.

Description

Technical Field

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

[0002] Modern cleaning equipment (such as floor scrubbers and sweeping robots) requires the use of liquids such as clean water and detergents during operation, so a liquid tank and a liquid pipeline for conveying liquids are usually provided inside the equipment. Normally, it is necessary to detect the state of the liquid in the cleaning equipment, that is, whether the liquid is sufficient or not, so that the detection results can be used as a basis for controlling other devices in the cleaning equipment. However, in some cases, a mixed state of air and liquid will appear in the liquid pipeline, which will cause a significant impact on the accuracy of the liquid state detection in the cleaning equipment. In this case, how to improve the accuracy of the liquid state detection in the cleaning equipment is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a cleaning device and a control method, a program product, a medium and a system thereof, which can improve the accuracy of detecting the liquid state in the cleaning device at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to a first aspect of an embodiment of the present application, a cleaning device is provided, comprising: a liquid pipeline disposed inside the cleaning device, the liquid pipeline being configured to: transport liquid inside the cleaning device; a detection device disposed in the liquid pipeline, the detection device being configured to: detect a liquid signal value, the liquid signal value being used to characterize the degree of liquid shortage at a location where the detection device is located; a controller, the controller being configured to: obtain the liquid signal value detected by the detection device; and determine the liquid state of the cleaning device based on a size relationship characteristic between the liquid signal value and at least two signal reference values, the liquid state comprising a liquid shortage state and a liquid sufficient state.

[0006] In some embodiments of the present application, based on the aforementioned solution, the degree of liquid deficiency at the location of the detection device is positively correlated with the liquid signal value.

[0007] In some embodiments of the present application, based on the aforementioned solution, the at least two signal reference values ​​include a first signal reference value and a second signal reference value, and the first signal reference value is greater than the second signal reference value.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes: a prompting device, and the prompting device is configured to: prompt the user to replenish liquid; the controller is also configured to: determine the liquid state of the cleaning device in a first mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, and the first mode is a mode for controlling the prompting device to be turned on or off.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured: in the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, it is determined that the cleaning device is in a liquid insufficient state, and the first reference time period is less than the second reference time period.

[0010] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: if the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, control the prompt device to be in an on state.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured to: when the reaction time of the cleaning device is less than or equal to a second set time, if the duration of the cleaning device in a liquid insufficient state is greater than or equal to the first set time, control the cleaning device to stop running and control the prompt device to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter a liquid insufficient state and the start-up time of the cleaning device.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured to: when the reaction time of the cleaning device is greater than a second set time, if the duration of the cleaning device in a liquid insufficient state is greater than or equal to the first set time, then control the prompt device to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter a liquid insufficient state and the start-up time of the cleaning device.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured to: if after the prompt device is in the turned-on state, and the duration of the cleaning device in the liquid insufficient state is greater than or equal to a third set time length, the cleaning device is controlled to stop running.

[0014] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes: a liquid pump, arranged in the liquid pipeline, and the liquid pump is configured to: pump liquid into the liquid pipeline; the controller is also configured to: when the cleaning device enters a liquid insufficient state, control the liquid pump in the liquid pipeline to operate alternately according to different set operating powers; after the liquid pump finishes operating at the set operating power, if the cleaning device is still in a liquid insufficient state, control the prompt device to be in an on state.

[0015] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: control the total operating time of the liquid pump at the set operating power to be less than or equal to the first set time.

[0016] In some embodiments of the present application, based on the aforementioned solution, the set operating power is greater than the initial operating power of the liquid pump.

[0017] In some embodiments of the present application, based on the aforementioned scheme, the set operating power includes a first operating power and a second operating power; the controller is also configured to: control the liquid pump to operate alternately according to the first operating power and the second operating power according to a set number of alternations.

[0018] In some embodiments of the present application, the set number of alternations includes 3 times, and the first operating power is greater than the second operating power.

[0019] In some embodiments of the present application, based on the aforementioned scheme, in the process of controlling the liquid pump to alternately operate according to the first operating power and the second operating power for a single time, the duration of the operation of the liquid pump according to the first operating power is a fourth set duration, and the duration of the operation of the liquid pump according to the second operating power is a fifth set duration, and the fourth set duration is greater than the fifth set duration.

[0020] In some embodiments of the present application, based on the aforementioned scheme, the controller is also configured to: during the period when the liquid pump operates at the set operating power, if the cleaning device is determined not to be in a liquid shortage state, control the liquid pump to operate according to the initial operating power.

[0021] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured: in the first mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a first reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time period, then it is determined that the cleaning device is in a liquid sufficient state.

[0022] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: if the cleaning device is in a liquid sufficient state, control the prompt device to be in a closed state.

[0023] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: in the first mode, if the cleaning device is started, determine that the cleaning device is in a liquid sufficient state.

[0024] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes: a heating device, arranged in the liquid pipeline, and the heating device is configured to: heat the liquid; the controller is also configured to: determine the liquid state of the cleaning device in the second mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, and the second mode is a mode for controlling the heating device to be turned on or off.

[0025] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured: in the second mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a third reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the third reference time period, then it is determined that the cleaning device is in a liquid sufficient state.

[0026] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: if the cleaning device is in a liquid sufficient state, control the heating device to be in an on state.

[0027] In some embodiments of the present application, based on the aforementioned scheme, the controller is also configured: in the second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time period, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time period, it is determined that the cleaning device is in a liquid insufficient state.

[0028] In some embodiments of the present application, based on the aforementioned scheme, the fourth reference duration is smaller than the fifth reference duration, and the fourth reference duration is smaller than the third reference duration.

[0029] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: if the cleaning device is in a liquid insufficient state, control the heating device to be in an off state.

[0030] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: in the second mode, if the cleaning device is started, determine that the cleaning device is in a liquid insufficient state.

[0031] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes: a prompting device, the prompting device is configured to: prompt the user to replenish liquid; a heating device, arranged in the liquid pipeline, the heating device is configured to: heat the liquid; the controller is also configured to: in a first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time, or the liquid signal value is continuously greater than the second signal reference value for a second reference time, then the cleaning device is determined to be in a liquid shortage state; the first mode is a mode for controlling the prompting device to be turned on or off; in a second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time, then the cleaning device is determined to be in a liquid shortage state; the second mode is a mode for controlling the heating device to be turned on or off; wherein, the fourth reference time is less than the first reference time.

[0032] According to the second aspect of an embodiment of the present application, a cleaning equipment control method is provided, wherein a detection device is provided in a liquid pipeline of the cleaning equipment, and the method comprises: obtaining a liquid signal value detected by the detection device, wherein the liquid signal value is used to characterize the degree of liquid shortage at a location where the detection device is located; determining the liquid state of the cleaning equipment based on a size relationship characteristic between the liquid signal value and at least two signal reference values, wherein the liquid state comprises a liquid shortage state and a liquid sufficient state.

[0033] In some embodiments of the present application, based on the aforementioned solution, the degree of liquid deficiency at the location of the detection device is positively correlated with the liquid signal value.

[0034] In some embodiments of the present application, based on the aforementioned solution, the at least two signal reference values ​​include a first signal reference value and a second signal reference value, and the first signal reference value is greater than the second signal reference value.

[0035] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a prompting device, and the prompting device is configured to: prompt the user to replenish liquid; the liquid state of the cleaning device is determined based on the size relationship characteristics between the liquid signal value and at least two signal reference values, including: based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, determining the liquid state of the cleaning device in a first mode, the first mode being a mode for controlling the prompting device to be turned on or off.

[0036] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the first mode is determined based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, including: in the first mode, if the time period during which the liquid signal value is continuously greater than the first signal reference value reaches a first reference time period, or the time period during which the liquid signal value is continuously greater than the second signal reference value reaches a second reference time period, it is determined that the cleaning device is in a liquid insufficient state, and the first reference time period is less than the second reference time period.

[0037] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, controlling the prompt device to be in an on state.

[0038] In some embodiments of the present application, based on the aforementioned scheme, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in an on state, including: when the reaction time of the cleaning device is less than or equal to the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the cleaning device is controlled to stop running and the prompt device is controlled to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start time of the cleaning device.

[0039] In some embodiments of the present application, based on the aforementioned scheme, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in the on state, and also includes: when the reaction time of the cleaning device is greater than the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in the on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start time of the cleaning device.

[0040] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: if after the prompt device is in an on state, the duration of the cleaning device in a liquid shortage state is greater than or equal to a third set duration, then controlling the cleaning device to stop running.

[0041] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a liquid pump, which is arranged in the liquid pipeline, and the liquid pump is configured to: pump liquid into the liquid pipeline; if the duration of the cleaning device in the liquid insufficient state is greater than or equal to a first set duration, the prompt device is controlled to be in an on state, and also includes: when the cleaning device enters the liquid insufficient state, the liquid pump in the liquid pipeline is controlled to operate alternately according to different set operating powers; after the liquid pump finishes running at the set operating power, if the cleaning device is still in the liquid insufficient state, the prompt device is controlled to be in an on state.

[0042] In some embodiments of the present application, based on the aforementioned solution, the method further includes: controlling the total operating time of the liquid pump at the set operating power to be less than or equal to the first set time.

[0043] In some embodiments of the present application, based on the above scheme, the set operating power is greater than the initial operating power of the liquid pump.

[0044] In some embodiments of the present application, based on the aforementioned scheme, the set operating power includes a first operating power and a second operating power, and the controlling of the liquid pump in the liquid pipeline to operate alternately according to different set operating powers includes: controlling the liquid pump to operate alternately according to the first operating power and the second operating power according to the set number of alternations.

[0045] In some embodiments of the present application, based on the aforementioned scheme, the set number of alternations includes 3 times, and the first operating power is greater than the second operating power.

[0046] In some embodiments of the present application, based on the aforementioned scheme, in the process of controlling the liquid pump to alternately operate according to the first operating power and the second operating power for a single time, the duration of the operation of the liquid pump according to the first operating power is a fourth set duration, and the duration of the operation of the liquid pump according to the second operating power is a fifth set duration, and the fourth set duration is greater than the fifth set duration.

[0047] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: during the period when the liquid pump operates at the set operating power, if the cleaning device is determined not to be in a liquid shortage state, controlling the liquid pump to operate according to the initial operating power.

[0048] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the first mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, and also includes: in the first mode, if the time duration for which the liquid signal value is continuously less than or equal to the first signal reference value reaches a first reference time duration, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time duration, then it is determined that the cleaning device is in a liquid sufficient state.

[0049] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if the cleaning device is in a liquid sufficient state, controlling the prompt device to be in a closed state.

[0050] In some embodiments of the present application, based on the aforementioned solution, the method further includes: in the first mode, if the cleaning device is started, determining that the cleaning device is in a liquid sufficient state.

[0051] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a heating device, which is arranged in the liquid pipeline, and the heating device is configured to: heat the liquid; determine the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values, and also include: based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, determine the liquid state of the cleaning device in a second mode, and the second mode is a mode for controlling the heating device to be turned on or off.

[0052] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the second mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, including: in the second mode, if the time duration for which the liquid signal value is continuously less than or equal to the first signal reference value reaches a third reference time duration, and there is a liquid signal value less than or equal to the second signal reference value within the third reference time duration, then it is determined that the cleaning device is in a liquid sufficient state.

[0053] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if the cleaning device is in a liquid sufficient state, controlling the heating device to be in an on state.

[0054] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the second mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, and also includes: in the second mode, if the time length during which the liquid signal value is continuously greater than the first signal reference value reaches a fourth reference time length, or the time length during which the liquid signal value is continuously greater than the second signal reference value reaches a fifth reference time length, then it is determined that the cleaning device is in a liquid insufficient state.

[0055] In some embodiments of the present application, based on the above scheme, the fourth reference duration is smaller than the fifth reference duration, and the fourth reference duration is smaller than the third reference duration.

[0056] In some embodiments of the present application, based on the aforementioned solution, the method further includes: if the cleaning device is in a liquid insufficient state, controlling the heating device to be in an off state.

[0057] In some embodiments of the present application, based on the aforementioned solution, the method further includes: in the second mode, if the cleaning device is started, determining that the cleaning device is in a liquid insufficient state.

[0058] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device further includes: a prompting device, the prompting device being configured to prompt a user to replenish liquid; a heating device, arranged in the liquid pipeline, the heating device being configured to heat liquid; the determining the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values, comprising: in a first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, then the cleaning device is determined to be in a liquid shortage state; the first mode is a mode for controlling the prompting device to be turned on or off; in a second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time period, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time period, then the cleaning device is determined to be in a liquid shortage state; the second mode is a mode for controlling the heating device to be turned on or off; wherein, the fourth reference time period is less than the first reference time period.

[0059] According to a third aspect of an embodiment of the present application, a cleaning device is provided, comprising: a display component, the display component being provided with a light bar, the light bar being composed of a plurality of first lamp beads; a controller configured to: obtain the work progress of the cleaning sub-task during execution of the cleaning sub-task; determine the number of first lamp beads to be lit according to the work progress; control the first lamp beads in the light bar to light up in sequence according to the number of first lamp beads to be lit, and control at least one first lamp bead to maintain a breathing state.

[0060] In some embodiments of the present application, based on the aforementioned scheme, the controller is further configured to: control the first lamp beads in the light bar to light up in sequence according to the number of first lamp beads to be lit and in a direction from one end to the other end of the light bar.

[0061] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: control at least one first lamp bead that is recently lit to maintain a breathing state.

[0062] In some embodiments of the present application, based on the aforementioned solution, the number of the first lamp beads that need to be lit is positively correlated with the work progress.

[0063] In some embodiments of the present application, based on the aforementioned scheme, the cleaning sub-task includes a steam preparation sub-task and a self-cleaning sub-task.

[0064] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes: a heating device, disposed inside the cleaning device, and the heating device is configured to: heat the liquid to generate steam; a sensor, disposed in the heating device, and the sensor is configured to: collect sensor data of the heating device; the controller is also configured to: determine the working progress of the steam preparation sub-task according to the sensor data.

[0065] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: after the steam preparation sub-task is completed, control all the first lamp beads in the light bar to maintain a breathing state.

[0066] In some embodiments of the present application, based on the aforementioned solution, the controller is further configured to: during the execution of the drying operation, control the lighting and extinguishing of each first lamp bead in the light bar according to a marquee control strategy.

[0067] In some embodiments of the present application, based on the aforementioned scheme, the controller is also configured to: during the execution of the drying operation, control the light bar to display at least two light bands, and the at least two light bands flow back and forth in the light bar respectively, wherein each light band is formed by at least two adjacent first lamp beads that are lit.

[0068] In some embodiments of the present application, based on the aforementioned solution, the at least two light bands are two light bands, and the two light bands are symmetrical with the middle position of the light bar as the center.

[0069] In some embodiments of the present application, based on the aforementioned solution, during the drying process, the brightness of the first lamp beads at both ends of the light bar when lit is lower than the brightness of the first lamp bead in the middle of the light bar when lit.

[0070] In some embodiments of the present application, based on the aforementioned solution, it is characterized in that the cleaning device also includes: a user interface film, which is attached to the display component, and the user interface film is configured to display graphic information under the illumination of the lamp beads in the display component.

[0071] In some embodiments of the present application, based on the aforementioned solution, the material of the user interface film is polyethylene terephthalate.

[0072] According to a fourth aspect of an embodiment of the present application, a computer program product is provided, 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 having the processor executes a method as claimed in any claim of the embodiment of the second aspect above.

[0073] According to a fifth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the operations performed by the method described in any one of the embodiments of the second aspect above.

[0074] According to a sixth aspect of the embodiments of the present application, a cleaning system is provided, comprising a base station and a cleaning device as described in any one of the embodiments of the first and third aspects.

[0075] Based on the technical solution proposed in this application, by comparing the size relationship between the liquid signal value and multiple (i.e., two or more) signal reference values, the liquid state in the liquid pipeline can be analyzed based on different scales, thereby achieving more accurate and detailed liquid state detection. Specifically, compared to a single signal reference value, by comparing the size relationship between the liquid signal value and multiple signal reference values, the degree of liquid deficiency in the liquid pipeline can be measured from multiple scales, making the data to be analyzed richer, thereby digging out more detailed features that are more in line with the actual liquid state. Based on these detailed features, the influence of bubbles or liquid droplets attached to the detection device on the liquid state detection results can be reduced, thereby improving the accuracy of liquid state detection in cleaning equipment.

[0076] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0078] Figure 1 A schematic diagram showing the structure of a cleaning device according to an embodiment of the present application is shown;

[0079] Figure 2 A liquid pipeline system architecture diagram of a cleaning device according to an embodiment of the present application is shown;

[0080] Figure 3 A demonstration diagram showing a detection device of a cleaning device according to an embodiment of the present application detecting a liquid state;

[0081] Figure 4 A structural block diagram of a cleaning device according to an embodiment of the present application is shown;

[0082] Figure 5 A control flow chart of a cleaning device according to an embodiment of the present application is shown;

[0083] Figure 6 A control flow chart of a cleaning device according to an embodiment of the present application is shown;

[0084] Figure 7 A flow chart showing a cleaning device control method in an embodiment of the present application is shown;

[0085] Figure 8 A schematic diagram of a display component of a cleaning device according to an embodiment of the present application is shown;

[0086] Fig. 9 A schematic diagram of the structure of the controller in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0087] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0088] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0089] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, or in at least one hardware module or integrated circuit, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the accompanying drawings, in order to ensure the simplicity of the drawings, some devices in the drawings that do not affect the explanation of the technical solution of the present application are adaptively omitted.

[0090] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0091] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0092] In order to make those skilled in the art better understand the present application, firstly, Figure 1 and Figure 2 The cleaning equipment and liquid piping system architecture involved in this application are briefly described.

[0093] See also Figure 1 , shows a schematic structural diagram of a cleaning device according to an embodiment of the present application.

[0094] In this application, the cleaning device proposed can be a sweeping robot or a floor scrubber. This application does not make too many restrictions on this. Figure 1 The cleaning device 100 shown is a floor scrubber in an embodiment. A liquid tank ( Figure 1 ) and a liquid pipeline for conveying liquid ( Figure 1 not shown).

[0095] In order to make those skilled in the art better understand the present application, Figure 2 , a specific embodiment is used to illustrate the liquid pipeline in the cleaning equipment.

[0096] See also Figure 2 , showing a liquid pipeline system architecture diagram of a cleaning device according to an embodiment of the present application.

[0097] like Figure 1 , shows a liquid pipeline system architecture of a cleaning device in an embodiment, in which the system architecture includes a liquid tank 101, a detection device 102 (such as a liquid level meter, a flow meter, etc.), a first three-way valve 103, a detergent tank 104, a detergent pump 105, a second three-way valve 106, a heating device liquid pump 107, a pressure relief valve 108, a heating device 109 (such as a boiler), a filter 110, a first reversing valve 111, a steam port 112, a liquid pump 113, a second reversing valve 114, a third three-way valve 115, and a cleaning component 116 (such as a cleaning roller brush, a mop).

[0098] The liquid tank 101 is used to store liquid, and the liquid can be clean water or other liquids that can clean the floor or cleaning objects, which is not specifically limited in this application. The detection device 102 (such as a flow meter, a liquid level meter, etc.) can detect the liquid signal value to determine the degree of liquid shortage in the liquid pipeline.

[0099] Further, the heating device liquid pump 107 is used to pump a set flow of liquid into the heating device 109, so that the heating device 109 heats the liquid to generate steam, and flows to the steam nozzle 112 through the first reversing valve 111, and finally sprays the steam onto the ground. The liquid pump 113 can pump a relatively large set flow of liquid into the heating device 109 through the second reversing valve 114, so that the heating device 109 heats the liquid to generate a hot liquid with a higher temperature, and the generated hot liquid then flows to the cleaning member 116 through the first reversing valve 111, so as to clean the ground or the cleaning member with the hot liquid. The liquid pump 113 can also directly pump a relatively low temperature liquid (which can be a liquid at room temperature) to the cleaning member 116 through the second reversing valve 114 to clean the ground or the cleaning member.

[0100] In this embodiment, the first reversing valve 111 and the second reversing valve 114 are used to switch the flow path of the liquid in the liquid pipeline to adapt to different functional modes of the cleaning device. In the cleaning device of this embodiment, the liquid flow path may include a flow path M, a flow path O, and a flow path P, which are used for the cleaning device to perform cleaning tasks in a cold liquid mode, a hot liquid mode, and a steam mode, respectively. In addition, the cleaning device also includes a flow path Q, in which the detergent pump 105 can be used to pump the detergent in the detergent tank 104 into the second three-way valve 106 to deliver the detergent to the entire liquid pipeline.

[0101] Specifically, in the cold liquid mode, the second reversing valve 114 is in a closed state, and the liquid flows through the detection device 102, the first three-way valve 103, the second three-way valve 106, the liquid pump 113, the second reversing valve 114, the third three-way valve 115, and the cleaning member 116 in sequence. Since the liquid is not heated by the heating device 109, the liquid flowing to the cleaning member 116 is in a low-temperature liquid state (such as a room temperature liquid state).

[0102] In the hot liquid mode, the first reversing valve 111 and the second reversing valve 114 are both in the open state, and the liquid flows through the detection device 102, the first three-way valve 103, the second three-way valve 106, the liquid pump 113, the second reversing valve 114, the pressure relief valve 108, the heating device 109, the filter 110, the first reversing valve 111, the third three-way valve 115, and the cleaning element 116 in sequence. Since the liquid is heated by the heating device 109, the liquid flowing to the cleaning element 116 is in a high-temperature liquid state, which can enhance the cleaning effect on the floor or the cleaning element.

[0103] In the steam mode, the first reversing valve 111 is in a closed state, and the liquid flows through the detection device 102, the first three-way valve 103, the heating device liquid pump 107, the pressure relief valve 108, the heating device 109, the filter 110, the first reversing valve 111, and the steam port 112 in sequence. Since the liquid passes through the heating device liquid pump 107 and flows through the heating device 109 for heating, the liquid flowing to the steam port 112 is in a high-temperature gaseous state, which can enhance the cleaning effect on the floor.

[0104] In the present application, the state of the liquid in the cleaning device can be detected based on the liquid signal value. The detection result is used as the basis for controlling other devices in the cleaning device (such as a prompting device, and also a heating device). However, in some cases, a mixed state of air and liquid coexisting in the liquid pipeline will appear, which will lead to inaccurate detection of the liquid state in the cleaning device. For example, there is actually enough liquid in the cleaning device, but the detection result feedback shows that the liquid is insufficient. For example, there is actually insufficient liquid in the cleaning device, but the detection result feedback shows that the liquid is sufficient. For example, there is enough liquid in the cleaning device but there is no liquid in the liquid pipeline, resulting in a situation where there is enough liquid but the user is prompted that there is insufficient liquid. For example, when there is liquid in the liquid pipeline but there is no liquid in the liquid tank, there is a situation where there is insufficient liquid but the user is not prompted. Ultimately, the control of other devices in the cleaning device is unreasonable.

[0105] The inventors of the present application have analyzed the causes of the above problems. Next, in order to enable those skilled in the art to better understand the inventive concept of the present application, the following will be combined with Figure 3 , explain the reasons for the above problems.

[0106] See also Figure 3 , shows a demonstration diagram of the detection device of the cleaning equipment of an embodiment of the present application detecting the liquid state.

[0107] like Figure 3 As shown in sub-figures (a), (b), and (c) in the figure, a liquid tank 101 and a liquid pipeline 117 for conveying liquid are provided inside the cleaning device, wherein liquid is stored in the liquid tank 101, so that liquid can be supplied to the liquid pipeline 117. In order to ensure the continuity of the liquid supply, it is necessary to accurately monitor whether the liquid in the liquid tank 101 is sufficient, so as to promptly prompt the user to replenish the liquid when the liquid is insufficient. To this end, a detection device 102 can be provided in the liquid pipeline 117, and the liquid state in the liquid pipeline is detected by detecting the liquid signal value in the liquid pipeline 117, thereby judging whether the liquid in the liquid tank 101 is sufficient, and using this as a basis for controlling other devices in the cleaning device.

[0108] In the present application, the detection device 102 may be a photoelectric liquid level sensor or a capacitive liquid level sensor, and the present application does not make any specific limitation on this.

[0109] Among them, the working principle of the photoelectric liquid level sensor is based on its sensing surface (such as Figure 3The sensing surface C) of the detection device 102 senses the amount of liquid, obtains a photoelectric signal that can reflect the amount of liquid, and then converts the returned photoelectric signal into a voltage signal value in mV. In some embodiments, the range of the photoelectric liquid level sensor can be 0mV to 3300mV. In some other embodiments, the photoelectric liquid level sensor can also be other ranges, which is not specifically limited in this application.

[0110] In some embodiments, the specific model of the photoelectric liquid level sensor may be GP2306B. It is understandable that the photoelectric liquid level sensor may also be other models, and this application does not make any specific limitation on this.

[0111] In some embodiments, the voltage signal value returned by the photoelectric liquid level sensor can be directly used as the liquid signal value to reflect the degree of liquid shortage at the location of the detection device in the liquid pipeline. In some other embodiments, the percentage of the returned voltage signal value in the voltage range can also be used as the liquid signal value. Specifically, this application does not make too many restrictions on this.

[0112] In some cases, such as Figure 3 As shown in sub-figure (a) in the figure, the liquid in the liquid tank 101 does not flow smoothly, resulting in a section of air A and a section of liquid B in the liquid pipeline. The detection device 102 feeds back detection results of sometimes insufficient liquid and sometimes sufficient liquid, resulting in unreasonable control of the prompt device and the heating device.

[0113] In some cases, such as Figure 3 As shown in sub-figure (b) in the figure, the liquid in the liquid pipeline 117 is actually sufficient, but due to the presence of tiny bubbles A1 in the liquid pipeline 117, these tiny bubbles A1 gather at the position of the sensing surface C of the detection device 102 and are difficult to be carried away by the liquid, causing the detection device 102 to detect that the liquid signal value is higher than when the liquid is insufficient, and feedback is an erroneous detection result of insufficient liquid, resulting in unreasonable control of the prompt device and the heating device.

[0114] In some cases, such as Figure 3 As shown in sub-figure (c) in the figure, the liquid in the liquid pipeline 117 is actually insufficient, but because there are liquid beads B1 (such as small water drops) attached to the sensing surface C of the detection device 102 in the liquid pipeline 117, the detection device 102 detects that the liquid signal value is lower than when the liquid is sufficient, and feeds back an erroneous detection result that the liquid is sufficient, resulting in unreasonable control of the prompt device and the heating device.

[0115] It can be seen that since a mixed state of air and liquid may exist in the liquid pipeline of the cleaning device, inaccurate detection of the liquid state in the cleaning device may occur. Based on these findings, the present application proposes a cleaning device to improve the accuracy of detecting the liquid state in the cleaning device.

[0116] Next, the implementation details of the technical solution of the embodiment of the present application will be elaborated in detail.

[0117] Before the description, it should be noted that, in order to enable those skilled in the art to better understand the present application, the present application will list some embodiments including control parameters. In these embodiments, the specific values ​​of the control parameters are given with reference to the assumption that the liquid is clean water. For the sake of brevity of the specification, the present application will not specifically explain this in the subsequent description. In addition, the specific values ​​of the control parameters in the embodiments are merely exemplary. In actual applications, the control parameters in the embodiments may also be other values ​​according to actual conditions.

[0118] See also Figure 4 , showing a schematic structural diagram of the cleaning device in an embodiment of the present application.

[0119] like Figure 4 The cleaning device 100 proposed in this application may include a liquid pipeline ( Figure 4 ), detection device 102, controller 200.

[0120] Among them, the liquid pipeline can be arranged inside the cleaning equipment 100, and the liquid pipeline can be configured to: transport liquid inside the cleaning equipment 100; the detection device 102 can be arranged in the liquid pipeline, and the detection device 102 can be configured to: detect the liquid signal value, and the liquid signal value is used to characterize the degree of liquid shortage at the location of the detection device 102.

[0121] In this application, see Figure 3In some embodiments, the sensing surface of the detection device 102 can be oriented parallel to or close to the horizontal direction. The advantage is that it can avoid the situation where the liquid in the liquid pipeline is actually insufficient, and the sensing surface of the detection device 102 is facing downward, resulting in the accumulation of liquid beads on the sensing surface (the liquid is more likely to gather below the detection device 102 due to gravity), thereby causing the detected liquid signal value to be low, thereby obtaining an erroneous detection result that the liquid in the liquid pipeline is sufficient. At the same time, it can also avoid the situation where the liquid in the liquid pipeline is actually sufficient, and the sensing surface of the detection device 102 is facing upward, resulting in the accumulation of bubbles on the sensing surface (the bubbles are more likely to gather above the detection device 102 due to buoyancy), thereby causing the detected liquid signal value to be high, thereby obtaining an erroneous detection result that the liquid in the liquid pipeline is insufficient. Therefore, the sensing surface of the detection device 102 is oriented parallel to or close to the horizontal direction, which can improve the accuracy of liquid state detection in the cleaning device.

[0122] It should be noted that, in the present application, the degree of liquid shortage at the location of the detection device 102 is positively correlated with the liquid signal value, that is, if the liquid signal value detected by the detection device 102 is higher, it means that the degree of liquid shortage is higher. Conversely, if the liquid signal value detected by the detection device 102 is lower, it means that the degree of liquid shortage is lower and the liquid is more sufficient.

[0123] Continue to see Figure 4 The controller 200 can be configured to: obtain the liquid signal value detected by the detection device 102; determine the liquid state of the cleaning device 100 based on the size relationship characteristics between the liquid signal value and at least two signal reference values, and the liquid state includes a liquid insufficient state and a liquid sufficient state.

[0124] In the present application, the detection device can detect the liquid signal value in the liquid pipeline according to the set frequency.

[0125] Specifically, detecting the liquid signal value at a set frequency may be that the detection device regularly detects the liquid signal value at a predetermined time interval, for example, detecting the liquid signal value once every 50 milliseconds, or once every 60 milliseconds. In the present application, the set frequency may be set according to actual conditions, and the present application does not make any specific limitation thereto.

[0126] It should be noted that the detection device may also detect the liquid signal value in other ways, such as detecting the liquid signal value alternately at different time intervals.

[0127] In the present application, the at least two signal reference values ​​may include a first signal reference value and a second signal reference value, and the first signal reference value is greater than the second signal reference value.

[0128] In the present application, in the embodiment where the detection device is a photoelectric liquid level sensor, if the voltage signal value returned by the photoelectric liquid level sensor is directly used as the liquid signal value, the value interval of the first signal reference value can be 1300mV to 1700mV, for example, the first signal reference value can be 1500mV, 1450mV, or 1550mV. The value interval of the second signal reference value can be 500mV to 900mV, for example, the second signal reference value can be 700mV, 650mV, or 750mV.

[0129] In the present application, in an embodiment where the detection device is a photoelectric liquid level sensor, if the percentage of the voltage signal value in the voltage range is taken as the liquid signal value as the value range of the liquid signal value, the value range of the first signal reference value can be 40% to 80% of the voltage range, and the value range of the second signal reference value can be 0% to 40% of the voltage range.

[0130] It should be understood that the first signal reference value and the second signal reference value can be set according to actual needs, and this application does not make any specific limitation on this.

[0131] In the present application, according to actual needs, the number of the signal reference values ​​can be three or four, and the present application does not make any specific limitation on this.

[0132] In the present application, by comparing the size relationship between the liquid signal value and multiple (i.e., two or more) signal reference values, the liquid state in the liquid pipeline can be analyzed based on different scales, thereby achieving more accurate and detailed liquid state detection. Specifically, compared to a single signal reference value, by comparing the size relationship between the liquid signal value and multiple signal reference values, the degree of liquid deficiency in the liquid pipeline can be measured from multiple scales, making the data to be analyzed richer, thereby digging out more detailed features that are more in line with the actual liquid state. Based on these detailed features, the influence of bubbles or liquid droplets attached to the detection device on the liquid state detection results can be reduced, thereby improving the accuracy of liquid state detection in cleaning equipment.

[0133] Continue to see Figure 4 In the present application, the cleaning device 100 may further include a prompting device 118. The prompting device 118 may be configured to: prompt the user to add liquid;

[0134] In the present application, the controller 200 can also be configured to: determine the liquid state of the cleaning device 100 in the first mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, and the first mode is a mode for controlling the prompt device 118 to be turned on or off.

[0135] In the present application, the prompt device may be a display screen. When it is determined that there is insufficient liquid in the cleaning device, the controller may control the display screen to turn on to display a text prompt message similar to "Liquid is insufficient, please refill as soon as possible!" When it is determined that there is sufficient liquid in the cleaning device, the controller may control the display screen to turn off.

[0136] In the present application, the prompt device may also be a speaker. When it is determined that there is insufficient liquid in the cleaning device, the controller may control the speaker to turn on to broadcast a voice prompt message similar to "Liquid is insufficient, please refill as soon as possible!" When it is determined that there is sufficient liquid in the cleaning device, the controller may control the speaker to turn off.

[0137] In the present application, the prompt device may also be a signal sending device. When it is determined that there is insufficient liquid in the cleaning device, the controller may control the signal sending device to turn on, and send a prompt message of insufficient liquid to a remote terminal (such as a mobile phone), so that the user can receive the prompt message through the remote terminal. When it is determined that there is sufficient liquid in the cleaning device, the controller may control the signal sending device to turn off.

[0138] In the present application, it is understood that in the mode of controlling the prompt device to be turned on or off, the analysis logic of the liquid state of the cleaning device matches the first mode. Since a conservative strategy is required to prompt the user to replenish the liquid, the user must be prompted to replenish the liquid only when the liquid is really lacking, so as to avoid misleading the user. Therefore, in the first mode, the analysis logic for determining the liquid state in the cleaning device should remain conservative.

[0139] In the present application, the controller 200 can also be configured as follows: in the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time, or the liquid signal value is continuously greater than the second signal reference value for a second reference time, it is determined that the cleaning device 100 is in a liquid shortage state (also called a water shortage state), and the first reference time is less than the second reference time.

[0140] In the present application, the value interval of the first reference duration can be 2 seconds to 4 seconds. For example, the first reference duration can be 3 seconds, 2.5 seconds, or 3.5 seconds. The value interval of the second reference duration can be 9 seconds to 11 seconds. For example, the second reference duration can be 9.5 seconds, 10 seconds, or 10.5 seconds. It should be understood that the first reference duration and the second reference duration can be set according to actual needs, and the present application does not make specific limitations on this.

[0141] In the present application, a character for recording the state of the cleaning device corresponding to the first mode may be stored in the controller of the cleaning device. For the convenience of description, we define this character as the first character. In the scenario corresponding to the first mode, when the cleaning device enters a liquid shortage state, the value of the first character may be the character value corresponding to the liquid shortage state.

[0142] In the present application, in the first mode of controlling the prompt device to be turned on or off, if the liquid signal value is continuously greater than the first signal reference value (e.g., 1500mV) for a time period that reaches a first reference time period (e.g., 3 seconds), or the liquid signal value is continuously greater than the second signal reference value (e.g., 700mV) for a time period that reaches a second reference time period (e.g., 10 seconds), then it is determined that the cleaning device is in a liquid shortage state. The advantage is that, by the determination condition that the liquid signal value is continuously greater than the first signal reference value for a time period that reaches the first reference time period, the liquid shortage state in the case where there is no liquid in the liquid pipeline can be identified; and by the determination condition that the liquid signal value is continuously greater than the second signal reference value for a time period that reaches the second reference time period, the liquid shortage state in the case where liquid beads are attached to the sensing surface of the detection device can be identified, thereby avoiding the situation where the liquid shortage state in the case where liquid beads are attached to the sensing surface of the detection device cannot be identified by relying only on a single first signal reference value. In this way, the influence of the liquid beads attached to the detection device on the liquid state detection result can be reduced, thereby improving the accuracy of liquid state detection in the cleaning device.

[0143] Further, in the present application, if the liquid signal value obtained by the cleaning device in the liquid sufficient state is continuously greater than the first signal reference value for a period of time that does not reach the first reference period of time, and the liquid signal value is continuously greater than the second signal reference value for a period of time that does not reach the second reference period of time, then it is determined that the cleaning device remains in the liquid sufficient state. In this way, misjudgment caused by accidental factors or short-term fluctuations can be avoided (i.e., it is avoided that the cleaning device enters the liquid insufficient state due to sporadic acquisition of liquid signal values ​​greater than the first signal reference value or the second signal reference value in the liquid sufficient state), thereby ensuring that the cleaning device has a certain anti-interference ability in judging its liquid state, ensuring that the cleaning device will not mistakenly send liquid replenishment prompt information to the user when the liquid is sufficient, and then by reducing the sensitivity of monitoring the liquid state under the liquid replenishment prompt task, it is possible to eliminate the influence of the detection value jitter caused by the mixture of liquid and air in the liquid pipeline on the detection result, improve the reliability of the cleaning device's monitoring of its liquid state, and the reliability of the liquid replenishment prompt information, thereby enhancing the user's trust in the operating status of the cleaning device.

[0144] In the present application, the controller 200 may also be configured to control the prompt device 118 to be in an on state if the duration of the cleaning device 100 being in a liquid insufficient state is greater than or equal to a first set duration.

[0145] In the present application, after determining that the cleaning device has entered a state of insufficient liquid, the duration of the cleaning device in the state of insufficient liquid can be recorded, so as to control the on or off of the prompt device according to the duration. It is understandable that if the duration is long, it can be determined to a large extent that there is insufficient liquid in the cleaning device, so that the prompt device can be controlled to be in an on state to send a liquid replenishment prompt message to the user. It can be seen that only when the liquid in the cleaning device is really insufficient will the liquid replenishment prompt message be sent to the user, so as to avoid the situation where the liquid is incorrectly determined to be sufficient when there is insufficient liquid in the liquid tank, and to avoid the situation where the user is incorrectly prompted that there is insufficient liquid when there is sufficient liquid in the cleaning device.

[0146] On the contrary, if the cleaning device is in the liquid-insufficient state for a short period of time, since it takes a certain amount of time for the liquid in the liquid tank to be transported to the location of the detection device in the liquid pipeline, it cannot be absolutely determined that there is insufficient liquid in the liquid tank in the cleaning device. In this case, a liquid refill reminder message cannot be sent to the user, and it is necessary to continue to analyze the liquid signal for judgment.

[0147] Based on this, in the present application, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set duration, it indicates that during this period, there is no liquid in the liquid pipeline of the cleaning device. Therefore, it can be determined to a large extent that the cleaning device is indeed in a liquid insufficient state. In this case, the prompt device can be controlled to be in an open state to send a liquid replenishment prompt message to the user so that the user can replenish the liquid in time. This ensures that when the cleaning device is indeed in a liquid insufficient state, the user can receive a notification of replenishing liquid in time, thereby avoiding affecting the cleaning effect of the cleaning device or causing abnormal operation of the device due to insufficient liquid. In this way, the possibility of false alarms of the liquid replenishment prompt can be reduced, and frequent prompts to the user during short-term state fluctuations can be avoided, thereby reducing false alarms and unnecessary prompts, enhancing the credibility of the prompt information, and improving the accuracy and reliability of controlling the cleaning device, thereby improving the user experience.

[0148] In the present application, the controller 200 can also be configured as follows: in the first mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a first reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time period, then it is determined that the cleaning device 100 is in a liquid sufficient state.

[0149] In the present application, the value interval of the first reference duration can be 2 seconds to 4 seconds. For example, the first reference duration can be 3 seconds, 2.5 seconds, or 3.5 seconds. It should be understood that the first reference duration and the second reference duration can be set according to actual needs, and the present application does not make specific limitations on this.

[0150] In the scenario corresponding to the first mode, when the cleaning device enters a liquid sufficient state, the value of the first character may be a character value corresponding to the liquid sufficient state.

[0151] In the present application, in the first mode of controlling the prompt device to turn on or off, if the liquid signal value is continuously less than or equal to the first signal reference value (such as 1500mV) for a first reference time (such as 3 seconds), and there is a liquid signal value less than or equal to the second signal reference value (such as 700mV) within the first reference time, then it is determined that the cleaning equipment is in a liquid sufficient state. The advantage is that the judgment condition that the liquid signal value is continuously less than or equal to the first signal reference value reaches the first reference time, and the judgment condition that there is a liquid signal value less than or equal to the second signal reference value within the first reference time is considered. When there is actually sufficient liquid in the liquid pipeline, it is possible to identify the liquid sufficient state when there are no bubbles attached to the sensing surface of the detection device, and it is possible to identify the liquid sufficient state when bubbles are attached to the sensing surface of the detection device, thereby avoiding the situation where only relying on a single first signal reference value cannot identify the liquid sufficient state when bubbles are attached to the sensing surface of the detection device. In this way, the influence of bubbles attached to the detection device on the liquid state detection result can be weakened, thereby improving the accuracy of liquid state detection in the cleaning equipment.

[0152] In the present application, the controller 200 may also be configured as follows: if the duration of the liquid signal value being continuously less than or equal to the first signal reference value does not reach the first reference duration, or if there is a liquid signal value less than or equal to the second signal reference value within the first reference duration, then it is determined that the cleaning device remains in the liquid insufficient state. In this way, misjudgment caused by accidental factors or short-term fluctuations can be avoided (i.e., avoiding misjudgment that the cleaning device enters the liquid sufficient state due to obtaining scattered liquid signal values ​​less than or equal to the first signal reference value in the liquid insufficient state), thereby ensuring that the cleaning device has a certain anti-interference ability in judging its liquid state, ensuring that the cleaning device will not arbitrarily judge that it enters the liquid sufficient state in the case of liquid insufficient state, and then by reducing the sensitivity of monitoring the liquid state under the liquid replenishment prompt task, it can eliminate the influence of the detection value jitter caused by the mixture of liquid and air in the liquid pipeline on the detection result, improve the reliability of the cleaning device's monitoring of its liquid state, and the reliability of the liquid replenishment prompt information, thereby enhancing the user's trust in the operation of the cleaning device.

[0153] In the present application, the controller 200 may also be configured to control the prompt device 118 to be in a closed state if the cleaning device 100 is in a liquid sufficient state.

[0154] In the present application, the cleaning device is judged to be in a liquid sufficient state only when it is determined that there is indeed sufficient liquid in the cleaning device. At this time, the liquid prompting device is controlled to be in a closed state, which can avoid the situation where the user is falsely prompted that there is insufficient liquid when there is sufficient liquid in the cleaning device, and can also avoid the situation where the liquid is falsely judged to be sufficient when there is insufficient liquid in the liquid tank. This can improve the credibility of the prompt information and enhance the accuracy and reliability of the control of the cleaning device.

[0155] In the present application, the controller 200 may also be configured to: in the first mode, if the cleaning device 100 is started, determine that the cleaning device 100 is in a liquid sufficient state.

[0156] In the present application, when the cleaning device is started, by determining that the cleaning device has entered a state of sufficient liquid, the advantage is that it can avoid the situation where the user is mistakenly prompted that the liquid is insufficient when the liquid in the cleaning device is sufficient. Because in some special cases, such as when the cleaning device is used for the first time, the user will fill the liquid tank with liquid, but there is no liquid at all in the liquid pipeline. In this case, if the cleaning device is determined to be in a state of insufficient liquid when it is started, it may mistakenly send a liquid replenishment prompt message to the user, resulting in a false prompt and affecting the user experience. In this way, false alarms and unnecessary prompts can be reduced, the credibility of the prompt information can be enhanced, and the reliability of the control of the cleaning device can be improved, thereby reducing the user's maintenance burden on the cleaning device and improving the user experience.

[0157] In the present application, the controller 200 can also be configured as follows: when the reaction time of the cleaning device 100 is less than or equal to the second set time, if the duration of the cleaning device 100 in the liquid insufficient state is greater than or equal to the first set time, the cleaning device 100 is controlled to stop running and the prompt device 118 is controlled to be in the on state, and the reaction time is the time between the time when the cleaning device 100 is determined to enter the liquid insufficient state and the start time of the cleaning device 100.

[0158] In the present application, the controller 200 can also be configured as follows: when the reaction time of the cleaning device 100 is greater than the second set time, if the duration of the cleaning device 100 in the liquid insufficient state is greater than or equal to the first set time, the control prompt device 118 is in the on state, and the reaction time is the time between the time when the cleaning device 100 is determined to enter the liquid insufficient state and the start time of the cleaning device 100.

[0159] Furthermore, the controller 200 may also be configured to control the cleaning device 100 to stop running if the duration of the liquid shortage state of the cleaning device 100 is greater than or equal to a third set duration after the prompt device 118 is turned on.

[0160] Continue to see Figure 4 , in the present application, the cleaning device 100 may further include a liquid pump 113, wherein the liquid pump 113 is disposed in the liquid pipeline, and the liquid pump 113 may be configured to: pump liquid into the liquid pipeline;

[0161] The controller 200 can also be configured as follows: when the cleaning device 100 enters a liquid insufficient state, the liquid pump 113 in the liquid pipeline is controlled to operate alternately according to different set operating powers, and the total operating time of the liquid pump 113 at the set operating power is controlled to be less than or equal to the first set time, and the set operating power is greater than the initial operating power of the liquid pump 113; after the liquid pump 113 finishes operating at the set operating power, if the cleaning device 100 is still in a liquid insufficient state, the control prompt device 118 is in an on state.

[0162] In order to make those skilled in the art better understand the present application, Figure 5 , described with a specific embodiment.

[0163] Reference Figure 5 , shows a cleaning equipment control flow chart in an embodiment of the present application.

[0164] In one embodiment of the present application, the detection frequency of the liquid signal value in the liquid pipeline can be set to 50 milliseconds / time, that is, it takes 3 seconds to continuously detect 60 liquid signals. In this embodiment, the second set time length can be 15 seconds (in other embodiments, the second set time length can be adjusted according to actual conditions, such as 14 seconds or 16 seconds, and this application does not make too many restrictions on this).

[0165] The length of the second set time is related to the volume of the cleaning device, the operating power of the pump, and the length of the pipeline. When the time from the time the cleaning device enters the liquid insufficient state (water shortage state) to the time the cleaning device is started is within the second set time, this time is not enough to wet the cleaning parts of the cleaning device. Therefore, the second set time can be determined based on the shortest time required for the cleaning parts to be wet after the cleaning device is started. The second set time may be different for different cleaning devices.

[0166] The third set time length can be determined based on the time the cleaning element of the cleaning device can maintain a wet state when the cleaning element is already wet. The third set time length corresponding to cleaning elements of different materials and sizes may also be different.

[0167] like Figure 5As shown, after the cleaning device is started (the start time of the cleaning device is recorded as the 1st second at this time), it can be determined that the cleaning device has entered a liquid sufficient state. Further, after it is determined that the cleaning device has entered a liquid sufficient state, if it is determined again that the cleaning device has entered a liquid insufficient state, the liquid pump in the liquid pipeline can be controlled to alternately operate according to different set operating powers greater than its initial operating power (i.e., the liquid pump is controlled to "take a sip"). If the cleaning device is determined to enter a liquid sufficient state within 15 seconds (i.e., the first set duration) (i.e., the duration of the cleaning device in the liquid insufficient state does not meet the first set duration), it means that there is sufficient liquid in the cleaning device, and there is no need to control the prompt device to be in an open state at this time; if the cleaning device remains in a liquid insufficient state after 15 seconds (i.e., the duration of the cleaning device in the liquid insufficient state meets the first set duration), it means that there is insufficient liquid in the liquid tank, and it is necessary to control the prompt device to be in an open state at this time to send a liquid replenishment prompt message to the user.

[0168] Further, in the above embodiment, in one case, if the cleaning device is determined to have entered a liquid shortage state at the 15th second, the reaction time of the cleaning device (i.e., the time between the time when the cleaning device is determined to have entered the liquid shortage state (the 15th second) and the start time of the cleaning device (the 1st second) is 14 seconds) is less than or equal to the second set time (15 seconds). In this case, it means that the cleaning device may have detected a liquid signal value greater than the second reference signal value (such as 700mV) for 200 consecutive times from the 5th second to the 14th second, which further indicates that liquid may only exist in the liquid pipeline from the 1st second to the 4th second. In other words, at the 15th second, only the small amount of liquid remaining in the liquid pipeline from the 1st second to the 4th second is delivered to the cleaning parts of the cleaning device, and the liquid stored only from the 1st second to the 4th second is not enough to wet the cleaning parts of the cleaning device. Therefore, after the cleaning device has been in a liquid-deficient state for a period of time that meets a first set period of time, the cleaning device can be controlled to stop running while the prompt device is controlled to be in an on state to send a liquid replenishment prompt message to the user, so as to avoid the cleaning parts from cleaning the floor without liquid wetting, thereby avoiding affecting the floor cleaning effect and damaging the cleaning parts.

[0169] In the above embodiment, in another case, if the cleaning device is determined to enter the liquid insufficient state at the 17th second, the reaction time of the cleaning device (i.e., the time between the time when the cleaning device is determined to enter the liquid insufficient state (the 17th second) and the start time of the cleaning device (the 1st second) is 16 seconds) is greater than the second set time (15 seconds). In this case, it means that the cleaning device may have detected a liquid signal value greater than the second reference signal value (such as 700mV) for 200 consecutive times from the 7th second to the 16th second, which further indicates that there may be liquid in the liquid pipeline from the 1st second to the 6th second. That is to say, at the 17th second, the liquid in the liquid pipeline from the 1st second to the 6th second is transported to the cleaning parts of the cleaning device, and the liquid from the 1st second to the 6th second is sufficient to wet the cleaning parts of the cleaning device. Therefore, after the duration of the cleaning device in the liquid insufficient state meets the first set duration, while controlling the prompt device to be in an on state to send a liquid replenishment prompt message to the user, there is no need to control the cleaning device to stop running, but the cleaning device can be controlled to continue to perform the cleaning action to avoid destroying the continuity of the cleaning device performing the cleaning action and affecting the user experience. Further, if the duration of the cleaning device in the liquid insufficient state meets the third set duration of 120 seconds (for example, it can be 110 seconds, the third set duration can be set according to actual conditions, and this application does not make too many restrictions on this), it can be determined that the cleaning parts in the cleaning device are no longer wet. At this time, if the user has not replenished the liquid, the cleaning device can be controlled to stop running and send a liquid replenishment prompt message to the user again. In this way, the cleaning parts are prevented from cleaning the floor in the absence of liquid wetting, thereby avoiding affecting the floor cleaning effect and damaging the cleaning parts.

[0170] In this embodiment, if the cleaning device enters the liquid shortage state, it means that there may be a shortage of liquid in the liquid pipeline. In this case, in order to quickly determine whether there is sufficient liquid in the liquid tank of the cleaning device, the liquid pump in the liquid pipeline can be controlled to alternately operate at different set operating powers greater than its initial operating power to improve the liquid delivery efficiency and flow rate, so as to ensure that the liquid can be quickly and fully delivered to the required position.

[0171] Based on the above scheme, on the one hand, the cleaning device can quickly detect whether it is actually in a state of insufficient liquid. If there is sufficient liquid in the liquid tank of the cleaning device, the cleaning device can be quickly determined to be in a state of sufficient liquid; if there is insufficient liquid in the liquid tank of the cleaning device, it can also be determined in a short time, thereby enhancing the timeliness of the liquid replenishment prompt information sent to the user. It is particularly important to emphasize that by controlling the liquid pump in the liquid pipeline to alternately operate according to different set operating powers greater than its initial operating power, the liquid in the liquid pipeline can be surged, and in the case where bubbles are attached to the sensing surface of the detection device, the bubbles can be taken away by the surging liquid, thereby eliminating the situation where the detected liquid signal value is high due to bubbles attached to the sensing surface of the detection device, avoiding erroneous detection results, and thereby improving the accuracy of liquid state detection in the cleaning device.

[0172] It is particularly important to emphasize that by controlling the liquid pump in the liquid pipeline to alternately operate at different set operating powers greater than its initial operating power, the liquid in the liquid pipeline can be caused to surge. In the case where bubbles are attached to the sensing surface of the detection device, the surging liquid can carry away the bubbles, thereby eliminating the problem of high liquid signal values ​​caused by bubble attachment and avoiding erroneous detection results. This solution helps to improve the accuracy of liquid state detection in cleaning equipment.

[0173] On the other hand, if there is sufficient liquid in the liquid tank of the cleaning equipment, the liquid pipeline can be filled with liquid more quickly, thereby promptly resuming the cleaning action of the cleaning equipment, ultimately improving user satisfaction and the reliability of cleaning equipment control.

[0174] It should be noted that the operating power setting should not be set too high, so as to avoid the liquid pump running at too high power and generating loud noise, which affects the user experience.

[0175] Further, in the present application, the set operating power may include a first operating power of 15V and a second operating power of 7V.

[0176] In the present application, the value range of the first operating power may be 10V to 18V, for example, the first operating power may be 14V, 15V, or 16V. The value range of the second operating power may be 4V to 9V, for example, the second operating power may be 5V, 7V, or 8V. It should be understood that the first operating power and the second operating power may be set according to actual needs, and the present application does not specifically limit this.

[0177] In the present application, according to actual needs, the number of set operating powers can also be three or four, and the present application does not make any specific limitation on this.

[0178] In the present application, the controller 200 may also be configured to: control the liquid pump 113 to operate alternately according to the first operating power and the second operating power according to a set number of alternations.

[0179] In the present application, the value range of the set number of alternations can be 2 to 5 times, for example, the set number of alternations can be 3 times, 2 times, or 4 times. It should be understood that the set number of alternations can be set according to actual needs, and the present application does not make specific limitations on this.

[0180] In the present application, in the process of single-time controlling the liquid pump 113 to alternately operate according to the first operating power and the second operating power, the duration of the operation of the liquid pump 113 according to the first operating power is a fourth set duration, and the duration of the operation of the liquid pump 113 according to the second operating power is a fifth set duration, the first operating power is greater than the second operating power, and the fourth set duration is greater than the fifth set duration.

[0181] In the present application, the value interval of the fourth set time length can be 2 seconds to 5 seconds. For example, the fourth set time length can be 2 seconds, 3 seconds, or 4 seconds. The value interval of the fifth set time length can be 1 second to 4 seconds. For example, the fifth set time length can be 1 second, 2 seconds, or 3 seconds. It should be understood that the fourth set time length and the fifth set time length can be set according to actual needs, and the present application does not make specific limitations on this.

[0182] In the present application, the controller 200 may also be configured to: during the period when the liquid pump 113 operates at the set operating power, if the cleaning device 100 is determined not to be in a liquid shortage state, control the liquid pump 113 to operate at the initial operating power.

[0183] In the present application, after controlling the liquid pump in the liquid pipeline to alternately operate according to different set operating powers greater than its initial operating power, if the cleaning equipment is determined not to be in a state of insufficient liquid, that is, in a state of sufficient liquid, the operating power of the liquid pump can be reduced to the initial operating power. In this way, unnecessary energy consumption can be avoided, and the wear of the cleaning equipment can be effectively reduced, extending the service life of the liquid pump. In addition, returning to the initial operating power can reduce noise and vibration, improve the operating stability of the cleaning equipment and the user's experience. In this way, the cleaning equipment can achieve more efficient energy management and longer maintenance cycles while meeting the liquid demand, ensuring the reliability and economy of the cleaning equipment under various working conditions.

[0184] It should be noted that the first set duration as described above can be set according to actual conditions. In the present embodiment, since the operating power of the liquid pump in the liquid pipeline is increased, the delivery efficiency of the liquid in the liquid tank is improved, and the first set duration can be set to be smaller, such as 10 seconds, 15 seconds, or 18 seconds. Specifically, the present application does not make too many restrictions on this. In other embodiments, the operating power of the liquid pump in the liquid pipeline may not be adjusted. In this case, since the delivery efficiency of the liquid in the liquid tank is not improved, the first set duration can be set to be larger, such as 30 seconds, 28 seconds, or 32 seconds. Specifically, the present application does not make too many restrictions on this.

[0185] In the present application, the controller 200 may also be configured to control the prompt device to be in an off state within a sixth set time period after the cleaning device switches the cleaning gear or switches the cleaning mode.

[0186] Furthermore, after the sixth set time period, it is determined whether to continue to control the prompt device to be in the off state.

[0187] In the present application, the sixth set time length can be 5 seconds, 4 seconds or 6 seconds. Specifically, the sixth set time length can be set according to actual conditions, and the present application does not impose too many restrictions on this.

[0188] During the operation of the cleaning device, if the cleaning gear or mode is switched, the prompt device is controlled to be in an off state within the sixth set time after the switch, and only after the sixth set time is it re-evaluated whether to continue to control the prompt device in an off state. The advantage is that it can avoid the situation where the switching prompt information issued by the cleaning device when the user switches the gear or mode overlaps or interferes with the liquid replenishment prompt information. By judging whether to continue to control the prompt device in an off state after the sixth set time, unnecessary prompt interference can be reduced, thereby improving the user experience.

[0189] In the present application, the controller 200 may also be configured to control the prompt device to be in a closed state when the cleaning device is in a water absorption mode.

[0190] In the water absorption mode, the cleaning device is sucking liquid from the external environment, so the user does not need to refill the liquid immediately. By controlling the prompt device to be in the off state, prohibiting the user from sending liquid refill prompt information, unnecessary interference can be avoided, allowing the user to focus more on the current cleaning task. At the same time, this can also prevent the user from performing unnecessary operations because of the mistaken belief that liquid needs to be refilled, thereby improving the convenience of using the device and the user experience.

[0191] Furthermore, after the cleaning device switches from the water absorption mode to the non-water absorption mode, the current liquid state can be re-evaluated to determine whether to continue to control the prompt device to be in the closed state. The advantage is that the cleaning device needs to rely on the internally stored liquid for cleaning in the non-water absorption mode, so it is necessary to ensure that there is enough liquid. By making a judgment after switching to the non-water absorption mode, the user can be prompted to replenish the liquid in time to avoid affecting the cleaning effect due to lack of liquid, thereby effectively ensuring the continuity and efficiency of the cleaning task.

[0192] Continue to see Figure 4 , in the present application, the cleaning device 100 may further include a heating device 109, wherein the heating device 109 is disposed in the liquid pipeline, and the heating device 109 may be configured to: heat the liquid;

[0193] The controller 200 can also be configured to determine the liquid state of the cleaning device 100 in the second mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value. The second mode is a mode for controlling the heating device 109 to be turned on or off.

[0194] In some embodiments, the heating device may be a boiler, and when it is determined that the liquid in the cleaning device is insufficient, the controller may control the boiler to shut down to stop heating the liquid and avoid the boiler from drying out. When it is determined that the liquid in the liquid tank is sufficient, the controller may control the boiler to turn on.

[0195] In the present application, it is understood that in the mode of controlling the heating device to be turned on or off, the analysis logic of the liquid state of the cleaning device is matched with the second mode. Since the control of the heating device needs to adopt a sensitive strategy to prevent the heating device from running dry when the liquid is insufficient, thereby ensuring the safety of the heating device. Therefore, in the second mode, the analysis logic for determining the liquid state in the cleaning device should maintain sensitivity.

[0196] In the present application, the controller 200 can also be configured as follows: in the second mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a third reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the third reference time period, then it is determined that the cleaning device 100 is in a liquid sufficient state.

[0197] In the present application, the value interval of the third reference duration can be 1 second to 3 seconds. For example, the third reference duration can be 2 seconds, 1.5 seconds, or 2.5 seconds. It should be understood that the third reference duration can be set according to actual needs, and the present application does not make specific limitations on this.

[0198] In the present application, a character for recording the liquid sufficient state corresponding to the second mode may be stored in the controller of the cleaning device. For the convenience of description, we define this character as the second character. In the scenario corresponding to the second mode, when the cleaning device enters the liquid sufficient state, the value of the second character may be the character value corresponding to the liquid sufficient state.

[0199] In the present application, in the second mode of controlling the heating device to be turned on or off, if the liquid signal value is continuously less than or equal to the first signal reference value (for example, 1500mV) for a third reference time (for example, 2 seconds), and there is a liquid signal value less than or equal to the second signal reference value (for example, 700mV) within the third reference time, then it is determined that the cleaning device is in a liquid sufficient state. The advantage is that the judgment condition that the liquid signal value is continuously less than or equal to the first signal reference value for the third reference time is reached, and the judgment condition that there is a liquid signal value less than or equal to the second signal reference value within the third reference time is considered. When there is actually sufficient liquid in the liquid pipeline, it is possible to identify the liquid sufficient state when there are no bubbles attached to the sensing surface of the detection device, and to identify the liquid sufficient state when there are bubbles attached to the sensing surface of the detection device, thereby avoiding the situation where only relying on a single first signal reference value cannot identify the liquid sufficient state when there are bubbles attached to the sensing surface of the detection device. In this way, the influence of bubbles attached to the detection device on the liquid state detection result can be weakened, thereby improving the accuracy of liquid state detection in the cleaning device.

[0200] In the present application, the controller 200 can also be configured as follows: if the duration of the liquid signal value being continuously less than or equal to the first signal reference value does not reach the third reference duration, or there is no liquid signal value less than or equal to the second signal reference value within the third reference duration, then it is determined that the cleaning device is maintained in the liquid insufficient state. In this way, it is possible to avoid misjudgments caused by accidental factors or short-term fluctuations (i.e., avoid misjudgments of the cleaning device entering the liquid sufficient state due to obtaining scattered liquid signal values ​​less than or equal to the first signal reference value in the liquid insufficient state), thereby ensuring that the cleaning device has a certain anti-interference ability in judging its liquid state, and ensuring that the cleaning device will not arbitrarily judge itself to enter the liquid sufficient state representing the liquid sufficient state (i.e., it will not arbitrarily control the operation of the heating device of the cleaning device) when the liquid is insufficient. It can be seen that by reducing the sensitivity of monitoring the liquid state under the heating device protection task, the influence of the detection value jitter caused by the mixing of liquid and air in the liquid pipeline on the detection result can be eliminated, and the reliability of the cleaning device's monitoring of its liquid state and the reliability of the liquid replenishment prompt information can be improved, thereby enhancing the user's trust in the operation of the cleaning device.

[0201] In the present application, the controller 200 can also be configured as follows: if the cleaning device 100 is in a state of sufficient liquid, the heating device 109 is controlled to be in an on state so that the heating device of the cleaning device is operated. In this way, it can be ensured that the heating device is operated only when the liquid in the cleaning device is really sufficient. This not only improves the safety and reliability of the cleaning device, but also reduces unnecessary energy consumption and extends the service life of the cleaning device. At the same time, through automated liquid state monitoring and heating device control, the reliability of the control of the cleaning device can be guaranteed, and the user does not need to frequently intervene manually, which improves the convenience and experience of use.

[0202] In the present application, the controller 200 may also be configured to: in the second mode, if the duration of the liquid signal value being continuously greater than the first signal reference value reaches a fourth reference duration, or the duration of the liquid signal value being continuously greater than the second signal reference value reaches a fifth reference duration, it is determined that the cleaning device 100 is in a liquid insufficient state;

[0203] Further, in the present application, the fourth reference duration is shorter than the fifth reference duration, and the fourth reference duration is shorter than the third reference duration.

[0204] In the present application, the value interval of the fourth reference duration may be 0.5 seconds to 2 seconds. For example, the fourth reference duration may be 1 second, 0.6 seconds, or 1.5 seconds. The value interval of the fifth reference duration may be 9 seconds to 11 seconds. For example, the fifth reference duration may be 10 seconds, 9.5 seconds, or 10.5 seconds. It should be understood that the fourth reference duration and the fifth reference duration may be set according to actual needs, and the present application does not make specific limitations on this.

[0205] In the scenario corresponding to the second mode, when the cleaning device enters a liquid insufficient state, the value of the second character may be a character value corresponding to the liquid insufficient state.

[0206] In the present application, in the second mode of controlling the heating device to be turned on or off, if the duration of the liquid signal value being continuously greater than the first signal reference value (e.g., 1500mV) reaches a fourth reference duration (e.g., 1 second), or the duration of the liquid signal value being continuously greater than the second signal reference value (e.g., 700mV) reaches a fifth reference duration (e.g., 10 seconds), the cleaning device is determined to be in a liquid shortage state. The advantage is that, by the determination condition that the liquid signal value is continuously greater than the first signal reference value for a duration reaching the fourth reference duration, the liquid shortage state in which the liquid pipeline is completely free of liquid can be identified; and by the determination condition that the liquid signal value is continuously greater than the second signal reference value for a duration reaching the fifth reference duration, the liquid shortage state in which liquid beads are attached to the sensing surface of the detection device can be identified, thereby avoiding the situation where the liquid shortage state in which the liquid beads attached to the sensing surface of the detection device cannot be identified by relying only on a single first signal reference value, so that the influence of the liquid beads attached to the detection device on the liquid state detection result can be reduced, thereby improving the accuracy of liquid state detection in the cleaning device.

[0207] In the present application, the fourth reference time is shorter than the third reference time, which has the advantage of enhancing the sensitivity of detecting the insufficient liquid state in the cleaning equipment, so that the insufficient liquid situation can be responded to more quickly, and the heating device can be controlled to be in an off state in time, so that the heating device of the cleaning equipment stops running, and the dry burning of the heating device is avoided. In this way, the liquid signal detected by the continuous reference time is used to judge the state of the liquid in the cleaning equipment, and the influence of the detection value jitter caused by the mixing of liquid and air in the liquid pipeline on the detection result can be eliminated, and the normal operation of the cleaning equipment can be ensured, while minimizing the risk of damage to the cleaning equipment caused by insufficient liquid, thereby improving the safety and reliability of the cleaning equipment. In addition, this rapid response mechanism also helps to reduce unnecessary energy consumption, improve energy efficiency, and extend the service life of cleaning equipment.

[0208] In the present application, the controller 200 can also be configured as follows: if the duration of the liquid signal value being continuously greater than the first signal reference value does not reach the fourth reference duration, and the duration of the liquid signal value being continuously greater than the second signal reference value does not reach the fifth reference duration, then it is determined that the cleaning device is maintained in the liquid sufficient state. In this way, it is possible to avoid misjudgments caused by accidental factors or short-term fluctuations (i.e., avoid misjudgments of the cleaning device entering a liquid insufficient state due to obtaining scattered liquid signal values ​​greater than the first signal reference value, or liquid signal values ​​greater than the second signal reference value in a liquid sufficient state), thereby ensuring that the cleaning device has a certain anti-interference ability in judging its liquid state, ensuring that the cleaning device will not arbitrarily determine that it has entered a liquid insufficient state characterizing liquid insufficient (i.e., will not arbitrarily control the heating device of the cleaning device to stop running) when the liquid is sufficient, and then by reducing the sensitivity of monitoring the liquid state under the heating device protection task, it is possible to eliminate the influence of the detection value jitter caused by the mixing of liquid and air in the liquid pipeline on the detection result, improve the reliability of the cleaning device's monitoring of its liquid state, and the reliability of the liquid replenishment prompt information, thereby enhancing the user's trust in the operating status of the cleaning device.

[0209] In the present application, the controller 200 may also be configured to control the heating device 109 to be in an off state if the cleaning device 100 is in a liquid insufficient state.

[0210] After determining that the cleaning device has entered a state of insufficient liquid, the heating device can be controlled to be in a closed state, so that the heating device of the cleaning device stops operating. It can be seen that once it is detected that the cleaning device is in a state of insufficient liquid, by immediately controlling the heating device to be in a closed state, it is possible to avoid dry burning of the heating device and damage to the heating device and the cleaning device, thereby improving the safety and service life of the cleaning device, while optimizing energy utilization and reducing unnecessary power consumption.

[0211] In the present application, the controller 200 may also be configured to: in the second mode, if the cleaning device 100 is started, determine that the cleaning device 100 is in a liquid insufficient state.

[0212] For example, starting the cleaning device in the hot water mode or the steam mode triggers the cleaning device to perform the heating device protection task, and determines that the cleaning device enters the liquid insufficient state.

[0213] In the present application, when the cleaning device is started, the cleaning device will automatically trigger the heating device protection task, thereby ensuring that the cleaning device will protect the heating device after each startup. Furthermore, in the process of executing the heating device protection task, the cleaning device determines that the cleaning device enters a liquid shortage state at startup, which has the advantage of avoiding the situation where the liquid is insufficient and the user mistakenly believes that the liquid is sufficient when the liquid is insufficient. Because in some special cases, such as when the cleaning device is just started, the user may neglect to check whether there is sufficient liquid in the cleaning device. In this case, if the cleaning device is insufficient in liquid at startup, it is misjudged as a liquid sufficient state due to the presence of a small amount of liquid in the liquid pipeline, and the heating device of the cleaning device may be mistakenly controlled to operate, causing the heating device to dry burn, thereby damaging the heating device and the cleaning device. Therefore, this situation can be avoided through the present application, thereby improving the safety and service life of the cleaning equipment, while optimizing energy utilization and reducing unnecessary power consumption.

[0214] In order to make those skilled in the art better understand the present application, Figure 6 , described with a specific embodiment.

[0215] Reference Figure 6 , shows a cleaning equipment control flow chart in an embodiment of the present application.

[0216] In one embodiment of the present application, the detection frequency of the liquid signal value can be set to 50 milliseconds per time, that is, it takes 2 seconds to continuously detect the liquid signal 40 times, and it takes 1 second to continuously detect the liquid signal 20 times.

[0217] Furthermore, if Figure 6 As shown, after starting the cleaning device, it can be determined that the cleaning device has entered a liquid insufficient state during the execution of the heating device protection task. At this time, the heating device can be controlled to be in a closed state so that the heating device of the cleaning device stops running. Further, if the liquid signal value is continuously less than or equal to the first signal reference value for 2 seconds, and there is a liquid signal value less than or equal to the second signal reference value within 2 seconds, then it is determined that the cleaning device has entered a liquid sufficient state, and the heating device of the cleaning device can be controlled to run. If the liquid signal value is continuously greater than the first signal reference value for 1 second, or the liquid signal value is continuously greater than the second signal reference value for 10 seconds, then it is determined that the cleaning device has entered a liquid insufficient state, and the heating device of the cleaning device can be controlled to stop running.

[0218] In the present application, the first mode and the second mode may be used in parallel to analyze the liquid signal value in the liquid pipeline, and the prompt device and the heating device may be controlled to be turned on or off based on different analysis results.

[0219] In the present application, after obtaining the liquid signal value used to characterize the degree of liquid shortage at the location of the detection device, the first analysis result obtained by analyzing the liquid signal value based on the first mode controls the opening or closing of the prompt device, and the second analysis result obtained by analyzing the liquid signal value based on the second mode controls the opening or closing of the heating device. Such a setting can realize the use of different control modes for different devices, thereby meeting the sensitivity requirements of different devices for liquid detection, so as to realize precise control of different devices.

[0220] Specifically, on the one hand, the first analysis result based on the first mode analyzing the liquid signal value controls the opening or closing of the prompt device, so that it can prompt the user to replenish the liquid at a more accurate time, ensuring that the cleaning equipment always has enough liquid (such as clean water) during operation to maintain its cleaning equipment in an optimal working state. On the other hand, the second analysis result based on the second mode analyzing the liquid signal value controls the opening or closing of the heating device, and it can be determined when to control the operation of the heating device of the cleaning equipment and when to control the heating device of the cleaning equipment to stop operating. For example, when it is ensured that the cleaning equipment is in a state of sufficient liquid, the heating device is controlled to operate, and when it is inferred that the cleaning equipment is in a state of insufficient liquid, the heating device is controlled to stop operating. This effectively prevents the dry burning of the heating device, improves the safety and service life of the cleaning equipment, and at the same time optimizes energy utilization and reduces unnecessary power consumption. It can be seen that by analyzing the liquid signal value in the liquid pipeline in parallel with different modes, and controlling the opening and closing of the prompt device and the heating device in the cleaning equipment respectively based on different analysis results, the different sensitivity requirements of the control prompt device and the control heating device for the liquid signal value analysis can be met. While reducing the false alarm of the prompt device, it can also reduce the risk of dry burning of the heating device.

[0221] It needs to be emphasized again that the first mode is different from the second mode. Therefore, for the liquid signal value detected by the same detection device, the control results obtained using the first mode and the second mode may be different. For example, when the prompt device is turned on using the first mode, the heating device controlled based on the second mode may be turned on or off. When the prompt device is turned off using the first mode, the heating device controlled based on the second mode may be turned on or off. Similarly, when the heating device is turned off using the second mode, the prompt device controlled based on the first mode may be turned on or off. When the heating device is turned on using the second mode, the prompt device controlled based on the first mode may be turned on or off. That is, the control results of the prompt device and the heating device are independent. And the control of the prompt device and the heating device may be asynchronous. For example, the control result of the prompt device is in front, and the control result of the heating device is in the back. Or the control result of the prompt device is in the back, and the control result of the heating device is in the front.

[0222] In the present application, by running different modes in parallel and controlling the opening and closing of the prompt device and the heating device in the cleaning equipment based on different analysis results, the different sensitivity requirements of the control prompt device and the control heating device for the analysis of the liquid signal value can be met. While reducing the false alarm of the prompt device, it can also reduce the risk of dry burning of the heating device, and realize a dual protection mechanism for the cleaning equipment, which can ensure that it can flexibly respond to changes in the state of the liquid in different usage scenarios. Therefore, the technical solution proposed in this application can realize precise control of the prompt device and the heating device at the same time according to the different sensitivity requirements of the prompt device and the heating device for liquid detection.

[0223] In the present application, in a solution of analyzing the liquid signal value in the liquid pipeline in the first mode and the second mode in parallel, the fourth reference time length is shorter than the first reference time length.

[0224] In the present application, by limiting the fourth reference time length to be less than the first reference time length, the control mode under the heating device protection task can be made more sensitive than the control mode under the liquid replenishment prompt task, and vice versa, the control mode under the liquid replenishment prompt task can be made more conservative than the control mode under the heating device protection task. In this way, the requirements of different liquid state detection sensitivities of the two tasks of prompting the user to replenish liquid and protecting the heating device can be fully met, thereby further ensuring the superiority and progress of the technical solution of the present application. Specifically, by limiting the fourth reference time length to be less than the first reference time length, it can be satisfied that the opening or closing of the control prompt device adopts a more conservative mode to avoid false alarms that the cleaning device is in a state of insufficient liquid when the liquid in the liquid pipeline has not completely reached the detection device, thereby reducing unnecessary user intervention. This mode can ensure that the user is prompted only when the liquid is really needed to be replenished, so as not to affect the user's experience. At the same time, it can also meet the control of the opening or closing of the heating device to ensure that once the cleaning device is considered to be in a state of insufficient liquid, measures are immediately taken to stop the operation of the heating device to prevent the occurrence of dry burning. This high-sensitivity mode can effectively protect the heating device and avoid equipment damage caused by overheating.

[0225] It can be seen that by executing these two modes in parallel, the cleaning equipment can monitor the liquid status at different levels, which not only improves the user experience but also ensures the safety and reliability of the equipment. The implementation of this dual mode not only optimizes the liquid management of the equipment, but also extends the service life of the equipment and reduces maintenance costs.

[0226] Based on the same inventive concept, the embodiment of the present application also provides a cleaning equipment control method, wherein a detection device is provided in the liquid pipeline of the cleaning equipment. Figure 7 , shows a flow chart of a cleaning device control method in an embodiment of the present application. The cleaning device control method can be executed by a device having a computing and processing function. It should be noted that for details not disclosed in the method embodiment of the present application, please refer to the above-mentioned embodiment of the cleaning device of the present application.

[0227] Reference Figure 7 As shown, the cleaning equipment control method at least includes steps 710 to 720:

[0228] Step 710: Acquire the liquid signal value detected by the detection device, wherein the liquid signal value is used to represent the degree of liquid shortage at the location where the detection device is located.

[0229] Step 720: Determine the liquid state of the cleaning device based on the size relationship between the liquid signal value and at least two signal reference values, where the liquid state includes a liquid insufficient state and a liquid sufficient state.

[0230] In some embodiments of the present application, based on the aforementioned solution, the degree of liquid deficiency at the location of the detection device is positively correlated with the liquid signal value.

[0231] In some embodiments of the present application, based on the aforementioned solution, the at least two signal reference values ​​include a first signal reference value and a second signal reference value, and the first signal reference value is greater than the second signal reference value.

[0232] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a prompting device, and the prompting device is configured to: prompt the user to replenish liquid; the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values ​​is determined, including step 721: based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, determine the liquid state of the cleaning device in a first mode, the first mode being a mode for controlling the prompting device to be turned on or off.

[0233] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the first mode is determined based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, including step 7211: in the first mode, if the time period during which the liquid signal value is continuously greater than the first signal reference value reaches a first reference time period, or the time period during which the liquid signal value is continuously greater than the second signal reference value reaches a second reference time period, it is determined that the cleaning device is in a liquid insufficient state, and the first reference time period is less than the second reference time period.

[0234] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 722: if the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, controlling the prompt device to be in an on state.

[0235] In some embodiments of the present application, based on the aforementioned scheme, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in an on state, including step 7221: when the reaction time of the cleaning device is less than or equal to the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the cleaning device is controlled to stop running and the prompt device is controlled to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start time of the cleaning device.

[0236] In some embodiments of the present application, based on the aforementioned scheme, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in the on state, and also includes step 7222: when the reaction time of the cleaning device is greater than the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in the on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start time of the cleaning device.

[0237] In some embodiments of the present application, based on the aforementioned scheme, the method further includes step 723: if after the prompt device is in an on state, the duration of the cleaning device in a liquid shortage state is greater than or equal to a third set duration, the cleaning device is controlled to stop running.

[0238] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a liquid pump, which is arranged in the liquid pipeline, and the liquid pump is configured to: pump liquid into the liquid pipeline; if the duration of the cleaning device in the liquid insufficient state is greater than or equal to a first set duration, the prompt device is controlled to be in an on state, and also includes step 7223: when the cleaning device enters the liquid insufficient state, the liquid pump in the liquid pipeline is controlled to operate alternately according to different set operating powers; after the liquid pump finishes running at the set operating power, if the cleaning device is still in the liquid insufficient state, the prompt device is controlled to be in an on state.

[0239] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 724: controlling the total operating time of the liquid pump at the set operating power to be less than or equal to the first set time.

[0240] In some embodiments of the present application, based on the aforementioned solution, the set operating power is greater than the initial operating power of the liquid pump.

[0241] In some embodiments of the present application, based on the aforementioned scheme, the set operating power includes a first operating power and a second operating power, and the controlling of the liquid pump in the liquid pipeline to operate alternately according to different set operating powers includes step 72231: controlling the liquid pump to operate alternately according to the first operating power and the second operating power according to the set number of alternations.

[0242] In some embodiments of the present application, based on the aforementioned scheme, the set number of alternations includes 3 times, and the first operating power is greater than the second operating power.

[0243] In some embodiments of the present application, based on the aforementioned scheme, in the process of controlling the liquid pump to alternately operate according to the first operating power and the second operating power for a single time, the duration of the operation of the liquid pump according to the first operating power is a fourth set duration, and the duration of the operation of the liquid pump according to the second operating power is a fifth set duration, and the fourth set duration is greater than the fifth set duration.

[0244] In some embodiments of the present application, based on the aforementioned scheme, the method further includes step 725: during the period when the liquid pump operates at the set operating power, if the cleaning device is determined not to be in a liquid shortage state, controlling the liquid pump to operate according to the initial operating power.

[0245] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the first mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, and also includes step 7212: in the first mode, if the time duration during which the liquid signal value is continuously less than or equal to the first signal reference value reaches a first reference time duration, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time duration, then it is determined that the cleaning device is in a liquid sufficient state.

[0246] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 726: if the cleaning device is in a liquid sufficient state, controlling the prompt device to be in a closed state.

[0247] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 727: in the first mode, if the cleaning device is started, determining that the cleaning device is in a liquid sufficient state.

[0248] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device also includes a heating device, which is arranged in the liquid pipeline, and the heating device is configured to: heat the liquid; determine the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values, and also include step 728: based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, determine the liquid state of the cleaning device in the second mode, the second mode is a mode for controlling the heating device to be turned on or off.

[0249] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the second mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, including step 7281: in the second mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a third reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the third reference time period, then it is determined that the cleaning device is in a liquid sufficient state.

[0250] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 729: if the cleaning device is in a liquid sufficient state, controlling the heating device to be in an on state.

[0251] In some embodiments of the present application, based on the aforementioned scheme, the liquid state of the cleaning device in the second mode is determined based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, and also includes step 7282: in the second mode, if the time length during which the liquid signal value is continuously greater than the first signal reference value reaches a fourth reference time length, or the time length during which the liquid signal value is continuously greater than the second signal reference value reaches a fifth reference time length, it is determined that the cleaning device is in a liquid insufficient state.

[0252] In some embodiments of the present application, based on the aforementioned scheme, the fourth reference duration is smaller than the fifth reference duration, and the fourth reference duration is smaller than the third reference duration.

[0253] In some embodiments of the present application, based on the aforementioned solution, the method further includes step 730: if the cleaning device is in a liquid insufficient state, controlling the heating device to be in an off state.

[0254] In some embodiments of the present application, based on the above-mentioned solution, the method further includes step 731: in the second mode, if the cleaning device is started, it is determined that the cleaning device is in a liquid insufficient state.

[0255] In some embodiments of the present application, based on the aforementioned scheme, the cleaning device further includes: a prompting device, the prompting device is configured to: prompt a user to replenish liquid; a heating device, arranged in the liquid pipeline, the heating device is configured to: heat the liquid; the determining the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values ​​includes: step 732: in the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time, or the liquid signal value is continuously greater than the second signal reference value for a second reference time, then it is determined that the cleaning device is in a liquid shortage state; the first mode is a mode for controlling the prompting device to be turned on or off; to step 733: in the second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time, then it is determined that the cleaning device is in a liquid shortage state; the second mode is a mode for controlling the heating device to be turned on or off; wherein the fourth reference time is less than the first reference time.

[0256] At present, the display functions of existing cleaning equipment are relatively simple, and most of them can only simply display the working mode or power. Users cannot intuitively and richly understand the working status and progress of the cleaning equipment, thereby reducing the user experience. Based on this, this application also proposes a cleaning equipment that provides users with more equipment information in a clearer and more vivid display method, allowing users to accurately understand the real-time working status of the cleaning equipment and improve the user experience.

[0257] Please continue to see Figure 1 and Figure 4 The cleaning device 100 proposed in the present application may include a display component 119 and a controller 200 .

[0258] Among them, Figure 1 As shown in sub-figure (b) in FIG. 1 , the display component 119 can be disposed outside the main body of the cleaning device 100 to display the working status and progress information of the cleaning device to the user, such as Figure 1 As shown in sub-figure (a) in FIG. 1 , a transparent cover 120 may be further provided above the display assembly 119 to protect the display assembly 119 .

[0259] See also Figure 8 , showing a schematic diagram of a display component of a cleaning device according to an embodiment of the present application.

[0260] like Figure 8As shown in sub-figure (a) in FIG. 1 , the cleaning device may further include a user interface film 121, which is attached to the display component 119. The user interface film 121 may be configured to display graphic information under the illumination of the lamp beads in the display component 119, and the graphic information may reflect the working status and progress of the cleaning device. Specifically, the user interface film 121 includes a plurality of transparent icons. When the lamp beads at different positions in the display component 119 are lit, the light thereof may be projected through the corresponding transparent icons, thereby displaying the corresponding icon shapes, so as to reflect the working status and progress of the cleaning device to the user.

[0261] In some embodiments, Figure 8 As shown in sub-figure (a) in the figure, the transparent icons may include a hot water mode icon D, a steam mode icon E, an automatic mode icon F, a water absorption mode icon G, a light bar icon H, an error icon I, a charging icon J, a network icon K, and a digital icon L.

[0262] In the present application, the material of the user interface film 121 may be polyethylene terephthalate. It should be noted that the material of the user interface film 121 may also be other materials, and the present application does not make too many restrictions on this.

[0263] In the present application, the display component 119 is provided with a light bar, and the light bar may be composed of a plurality of first lamp beads. Figure 8 In the embodiment shown in the neutron diagram (b), the light bar is composed of 14 first lamp beads, namely lamp beads No. 5 to No. 18.

[0264] In the present application, the display component 119 is further provided with a digital lamp, and the digital lamp may be composed of a plurality of second lamp beads. Figure 8 In the embodiment shown in the neutron diagram (b), the digital lamp is composed of 16 second lamp beads, namely lamp beads No. 22 to No. 37.

[0265] In the present application, the display component 119 is also provided with a hot water mode light, a steam mode light, an automatic mode light, and a water absorption mode light. The hot water mode light, the steam mode light, the automatic mode light, and the water absorption mode light can be respectively composed of at least one third lamp bead. Figure 8 In the embodiment shown in the neutron diagram (b), the hot water mode lamp is composed of lamp bead No. 1, the steam mode lamp is composed of lamp bead No. 2, the automatic mode lamp is composed of lamp bead No. 3, and the water absorption mode lamp is composed of lamp bead No. 4.

[0266] In the present application, the display component 119 is also provided with a network display light, a charging display light, and an error display light. The network display light, the charging display light, and the error display light can be composed of a plurality of fourth lamp beads. Figure 8In the embodiment shown in the neutron diagram (b), the network display light is composed of No. 21 lamp beads, the charging display light is composed of No. 20 lamp beads, and the error display light is composed of No. 19 lamp beads.

[0267] In the present application, the controller 200 can be configured to: obtain the work progress of the cleaning sub-task during the execution of the cleaning sub-task; determine the number of first lamp beads that need to be lit according to the work progress; control the first lamp beads in the light bar to light up in sequence according to the number of first lamp beads that need to be lit, and control at least one first lamp bead to maintain a breathing state.

[0268] In the present application, it should be noted that the first lamp bead maintaining a breathing state can be understood as the first lamp bead being in a flashing state, that is, the first lamp bead is in an alternating switching state of lighting and extinguishing.

[0269] In the present application, the controller 200 may also be configured to control the first lamp beads in the light bar to light up in sequence according to the number of first lamp beads to be lit and in a direction from one end to the other end of the light bar.

[0270] In the present application, the controller 200 may also be configured to: control at least one first lamp bead that is recently lit to maintain a breathing state.

[0271] In the present application, the number of the first lamp beads that need to be lit is positively correlated with the work progress.

[0272] In the present application, the cleaning sub-task may include a steam preparation sub-task and a self-cleaning sub-task.

[0273] In order for those skilled in the art to better understand the above scheme, Figure 8 Sub-figure (b) in FIG. 1 is used to illustrate a specific embodiment.

[0274] like Figure 8As shown in sub-figure (b) in the figure, when the cleaning device is in the process of self-cleaning sub-work, the light bar includes a total of 14 red and blue two-color lamp beads (i.e., lamp beads 5-18), and its work progress can be displayed in blue during the self-cleaning sub-work. When starting self-cleaning, lamp beads No. 18, No. 17, and No. 16 can be lit in blue, and at the same time, lamp beads No. 17 and No. 16 start breathing with a period of 1600ms (the last two lamp beads of all lit lamp beads always maintain a breathing state, indicating that the self-cleaning sub-work is running). In this embodiment, the total running time of the self-cleaning sub-work can be 125s, and as the progress of the self-cleaning sub-work increases, the remaining 11 lamp beads will gradually light up. Specifically, one more lamp bead will be lit every 125000 / 11ms. For example, at 72000 / 11ms after the self-cleaning sub-work begins, lamp bead No. 15 begins to light up in blue, lamp bead No. 16 and lamp bead No. 15 are in a blue breathing state, and lamp bead No. 18 and lamp bead No. 17 are in a blue constant light state. Until the self-cleaning sub-work is completed, lamp beads No. 7-18 are all blue constant lights, and lamp beads No. 5 and lamp beads No. 6 are in a blue breathing state.

[0275] like Figure 8 As shown in sub-figure (b) in the figure, when the cleaning device is in the process of steam preparation sub-operation, the light bar has a total of 14 red and blue two-color lamp beads (i.e., lamp beads 5-18). In the steam preparation sub-operation, its work progress can be displayed by red and blue lamp beads composed of purple lamp beads. When steam preparation starts, lamp beads 18, 17, and 16 can be lit in purple, and at the same time, lamp beads 17 and 16 start breathing with a cycle of 1600ms (the last two lamp beads of all the lit lamp beads always maintain the breathing state, indicating that the steam preparation sub-operation is running).

[0276] In this embodiment, as the progress of the steam preparation sub-work increases, the remaining 11 lamp beads will also gradually light up. Specifically, one more lamp bead may be lit every 72000 / 11ms. For example, 72000 / 11ms after the steam preparation sub-work begins, lamp bead No. 15 begins to light up in purple, lamp bead No. 16 and lamp bead No. 15 are in a purple breathing state, and lamp bead No. 18 and lamp bead No. 17 are purple and always on. Until the steam preparation sub-work is completed, lamp beads No. 7-18 are all purple and always on, and lamp beads No. 5 and lamp beads No. 6 are in a purple breathing state.

[0277] In the present application, the controller 200 may also be configured to: after the steam preparation sub-task is completed, control all the first lamp beads in the light bar to maintain a breathing state.

[0278] Furthermore, in the present application, the controller 200 can also be configured to: determine a display number based on the work progress, and the display number matches the work progress; determine a second lamp bead to be lit in the digital lamp based on the display number; and control the lighting of the second lamp bead to be lit.

[0279] When the cleaning equipment is in the process of steam preparation sub-work, the digital light can also display the progress of the steam preparation sub-work. For example, the duration of the entire steam preparation process can be set to 72s, and the progress increases by 1% every 72000 / 100=720ms. While calculating the progress 1-100, the lighting and extinguishing of each lamp bead in the digital light are controlled, so that the progress of the steam preparation sub-work is displayed in digital form on the display component, so that the user can accurately know the specific progress value of the steam preparation.

[0280] After the steam preparation sub-task is completed, the digital lights (i.e., lamp beads 22-37) can also maintain the same frequency breathing state as all the first lamp beads in the light bar, and the cycle can be 1.5s. In this way, the user can be reminded in a striking manner that the steam preparation is completed.

[0281] In the present application, the cleaning device may also include: a heating device, arranged inside the cleaning device, and the heating device is configured to heat the liquid to generate steam; a sensor, arranged in the heating device, and the sensor is configured to collect sensor data of the heating device; the controller 200 is also configured to determine the working progress of the steam preparation sub-task based on the sensor data.

[0282] In the present application, the sensor may be a pressure sensor or a temperature sensor. It is understood that the pressure sensor can reflect the progress of steam preparation by detecting the pressure value in the heating device. That is, the higher the pressure value, the closer the steam preparation is to completion. It is also understood that the temperature sensor can reflect the progress of steam preparation by detecting the temperature value in the heating device. That is, the higher the temperature value, the closer the steam preparation is to completion.

[0283] In the present application, the controller 200 may also be configured to: during the execution of the drying operation, control the lighting and extinguishing of each first lamp bead in the light bar according to a marquee control strategy.

[0284] During the drying process, the present application controls the display component to present a marquee effect (such as a red marquee), which can intuitively inform the user that the cleaning device is performing a drying operation.

[0285] In the present application, the controller 200 can also be configured to: during the drying process, control the light bar to display at least two light bands, and the at least two light bands flow back and forth in the light bar respectively, wherein each light band is formed by at least two adjacent first lamp beads that are lit.

[0286] In the present application, the at least two light bands are two light bands, and the two light bands are symmetrical with the middle position of the light bar as the center.

[0287] In the present application, during the drying process, the brightness of the first lamp beads at both ends of the light bar when lit is lower than the brightness of the first lamp bead at the middle position of the light bar when lit.

[0288] In order for those skilled in the art to better understand the above scheme, Figure 8 Sub-figure (b) in FIG. 1 is used to illustrate a specific embodiment.

[0289] During the drying process of the cleaning device, the light strip includes 14 red and blue dual-color light beads (i.e., light beads No. 5-18), and the progress may not be displayed during the drying process, but the flow effect of the red light strip may be displayed. That is, in a specific embodiment, light strips ① and ② flow from the middle to both ends, then flow from both ends to the middle, overlap in the middle and separate, and then flow to both ends respectively, in this cycle.

[0290] In the initial state, the middle lamp beads 10-13 can be lit, and then the lamp beads 10 and 13 will breathe (i.e. on-off-on). From the visual effect, the middle of the lamp beads 11 and 12 is used as the symmetry axis. The light strip ① composed of lamp beads 10 and 11 overlaps with the light strip ② composed of lamp beads 12 and 13 in the middle, and then disperses. In this way, there can be a light strip at each end of the light strip, and each light strip is composed of 3 adjacent lamp beads, which can give users the visual effect of 2 light strips (6 lights in total) overlapping from the two ends of the light strip to the middle to form 4 lit lamp beads.

[0291] Next, lamp beads 9 and 14 perform the breathing action of (off-on). From this moment on, a total of 6 lamp beads are lit (i.e., the light strip ① composed of three lamp beads on the left side of the symmetry axis and the light strip ② composed of three lamp beads on the right side of the symmetry axis). After the above actions are completed, lamp beads 8 and 15 begin to perform the breathing action of (off-on), while lamp beads 11 and 12 begin to perform the breathing action of (on-off). In this way, from a visual point of view, the effect of two light strips flowing in the direction of lamp beads 5 and 18 is formed. Similarly, after the above actions are completed, lamp beads 7 and 16 perform the breathing action of (off-on), while lamp beads 10 and 13 perform the breathing action of (on-off), that is, light strips ① and ② continue to flow toward the two ends of the light strip.

[0292] In some embodiments, the brightness of lamp beads 5-7 and lamp beads 16-18 can be distinguished separately, and their brightness when lit can be slightly weaker than the brightness of the other 8 lamp beads when lit. In this way, the user can feel that the brightness decreases until it disappears when the light strip reaches both ends.

[0293] Furthermore, when the corresponding light beads of light strip ① and light strip ② are light beads 5-7 and 16-18 respectively, continue to perform the following actions:

[0294] First, the No. 7 and No. 16 lamp beads perform the breathing action of (on-off), and when the No. 7 and No. 16 lamp beads are completely extinguished, the No. 6 and No. 17 lamp beads begin to perform the breathing action of (on-off), and when both are completely extinguished (displayed as No. 14 lamp beads are completely extinguished), the No. 5 and No. 18 lamp beads perform the same breathing action of (off-on). So far, the light strip ① and the light strip ② have completed the flow effect from the middle to the two ends of the light strip.

[0295] After the above actions are completed, light strips ① and ② continue to perform the effect of flowing from both ends to the middle.

[0296] First, the No. 5 and No. 18 lamp beads perform the breathing action of (off-on), and after that, the No. 6 and No. 17 lamp beads perform the breathing action of (off-on), and after that, the No. 7 and No. 16 lamp beads perform the breathing action of (off-on). At this time, three lamp beads are lit on the light strip ① and the light strip ② respectively, and continue to flow to the middle position respectively.

[0297] That is, lamp beads No. 8 and No. 15 perform the breathing action of (off-on), while lamp beads No. 5 and No. 18 perform the breathing action of (on-off).

[0298] And so on, until the lamp beads corresponding to light strip ① and light strip ② are lamp beads 9-11 and lamp beads 12-14 respectively, lamp beads 9 and 14 begin to perform the breathing action of (on-off). After completion, since light strip ① and light strip ② have three lamp beads respectively, when they meet in the middle position, there will be an overlap phenomenon, that is, the two lights of each other are superimposed on the position of lamp beads 11 and 12. The reason is that since there is a light strip at each end of the light strip, and each light strip is composed of 3 adjacent lamp beads, it will make the human eye feel that there are 2 light strips (6 lights in total) from the two ends of the light strip to the middle and then overlap into 4 lit lamp beads. From a visual point of view, only lamp beads 10-13 are lit at this time. Then light strip ① and light strip ② change direction and continue to flow to the two ends of the light strip.

[0299] Finally, the above control actions are repeated again. In this way, from a visual effect, it can be formed that the light strips ① and ② are always executing the flow effect from one end of the light strip to the other end (first, the light strip ① is from the direction of the No. 5 lamp bead to the No. 18 lamp bead, and the light strip ② is from the direction of the No. 18 lamp bead to the direction of the No. 5 lamp bead), and after completely flowing to the bottom of one end of the light strip and disappearing, they change direction (that is, the light strip ① is from the direction of the No. 18 lamp bead to the No. 5 lamp bead, and the light strip ② is from the direction of the No. 5 lamp bead to the No. 18 lamp bead)

[0300] In some embodiments of the present application, for a lamp bead that performs the (on-off) and (off-on) breathing actions, its breathing cycle may be 300-700ms, for example, 500ms. For a lamp bead that performs the (on-off-on) breathing action, its breathing cycle may be 800-1200ms, for example, 1000ms.

[0301] In the present application, by performing a breathing action on each lamp bead, the frame rate of the light strip flowing on the light bar can be greatly improved, thereby prompting the user in a striking manner that the drying operation is currently in progress.

[0302] It should be noted that in some of the above-mentioned embodiments including control parameters, the specific values ​​of the control parameters listed are merely exemplary. In practical applications, the control parameters in the embodiments may also be other values ​​according to actual conditions.

[0303] In this application, if Figure 8As shown in sub-figure (b) in the figure, different modes of the cleaning equipment can also be displayed by lighting up the lamp beads. For example, lamp bead No. 4 is lit in water absorption mode; lamp bead No. 3 is lit in automatic mode; lamp bead No. 2 is lit in steam mode; and lamp bead No. 1 is lit in hot water mode. In terms of power display, in addition to preparing steam and reporting error status, lamp beads No. 22-37 can display the power percentage in digital form. The controller obtains the current power and controls the lighting of the lamp beads. For example, when the power is 100, controlling lamp beads No. 22-23 to light up represents "1", controlling the lighting and extinguishing of lamp beads No. 31-37, and controlling the lighting and extinguishing of lamp beads No. 24-30 represent "00", and the combination is displayed as "100". Other display functions include: network signal display, which can light up lamp bead No. 21. When the network is successfully connected, lamp bead No. 21 can be controlled to be always on. During the network connection process, lamp bead No. 21 can be controlled to flash once every 200ms. When the network is not connected, lamp bead No. 21 can be controlled to flash once every 400ms; error signal display, which can control lamp bead No. 19 to light up. When an error occurs, lamp bead No. 19 flashes, and the corresponding error code can be displayed by arranging the second lamp bead of the digital light; charging display, which can control lamp bead No. 20 to light up, and control lamp bead No. 20 to be always on when the cleaning equipment is charging.

[0304] Based on the cleaning equipment proposed in this application, the working mode, working progress and power information of the cleaning equipment can be clearly and intuitively displayed through a variety of display methods, thereby enhancing the user's understanding of the working status of the cleaning equipment and the user experience. The cleaning equipment has the following beneficial effects: First, the information display is comprehensive and intuitive, and the user can easily understand the real-time status of the cleaning equipment through numbers, light bar colors and dynamic effects, without complicated operations; secondly, the clear display method improves the user's convenience and comfort, and enhances satisfaction with the product; finally, the innovative display design, such as the light bar colors and dynamic effects corresponding to different modes, makes the product unique and competitive in the market. In addition, the display component is directly connected to the controller, and the operating status of the equipment is displayed through the lamp beads, so that the user can intuitively understand the working condition of the cleaning equipment.

[0305] Next, this application will combine Fig. 9 , a brief description is given of the controller 200 in the cleaning device 100.

[0306] Reference Fig. 9 , showing a schematic diagram of the structure of the controller in an embodiment of the present application.

[0307] like Fig. 9As shown, the controller 200 may include at least one memory 204, at least one processor 202, and at least one computer program (computer program instruction) stored in the memory 204 and executable on the processor 202. When the processor 202 executes the computer program, the components (such as Figure 4 The control logic of the heating device 109, liquid pump 113, prompting device 118, and display component 119 shown.

[0308] Among them, Fig. 9 In the embodiment of the present invention, a bus architecture (represented by bus 206) is provided, which may include any number of interconnected buses and bridges, and bus 206 links various circuits including at least one processor represented by processor 202 and memory represented by memory 204. Bus 206 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 205 provides an interface between bus 206 and receiver 201 and transmitter 203. Receiver 201 and transmitter 203 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 202 is responsible for managing bus 206 and general processing, while memory 204 may be used to store data used by processor 202 when performing operations.

[0309] Based on the same inventive concept, 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 with the processor executes to implement the operations performed by the cleaning equipment control method as described above.

[0310] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0311] Based on the same inventive concept, an embodiment of the present application also provides a cleaning system, which includes a base station and a cleaning device as described in the above embodiments, wherein the base station is used to place the cleaning device, and to charge the cleaning device and replenish liquid, such as clean water.

[0312] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as at least one instruction or code on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0313] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0314] The units described as separate devices may or may not be physically separated, and the devices used as control devices may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0315] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store computer program instructions.

[0316] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A cleaning device, characterized in that: The cleaning equipment comprises: A liquid pipeline is disposed inside the cleaning device, and the liquid pipeline is configured to: transport liquid inside the cleaning device; A detection device is provided in the liquid pipeline, and the detection device is configured to: detect a liquid signal value, wherein the liquid signal value is used to indicate the degree of liquid shortage at the location of the detection device; A controller, wherein the controller is configured to: obtain the liquid signal value detected by the detection device; determine the liquid state of the cleaning device based on the size relationship characteristics between the liquid signal value and at least two signal reference values, wherein the liquid state includes a liquid insufficient state and a liquid sufficient state.

2. The method according to claim 1, characterized in that: The degree of liquid deficiency at the location of the detection device is positively correlated with the liquid signal value.

3. The cleaning device according to any one of claims 1 to 2, characterized in that: The at least two signal reference values ​​include a first signal reference value and a second signal reference value, the first signal reference value being greater than the second signal reference value.

4. The cleaning device according to claim 3, characterized in that: The cleaning device also includes: A prompting device, wherein the prompting device is configured to: prompt a user to replenish liquid; The controller is also configured to determine the liquid state of the cleaning device in a first mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value. The first mode is a mode for controlling the prompt device to be turned on or off.

5. The cleaning device according to claim 4, characterized in that The controller is also configured to: in the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, it is determined that the cleaning device is in a liquid insufficient state, and the first reference time period is less than the second reference time period.

6. The cleaning device according to claim 5, characterized in that The controller is further configured to control the prompt device to be in an on state if the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration.

7. The cleaning device according to claim 6, characterized in that The controller is also configured to: when the reaction time of the cleaning device is less than or equal to a second set time, if the duration of the cleaning device in a liquid insufficient state is greater than or equal to the first set time, control the cleaning device to stop running and control the prompt device to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter a liquid insufficient state and the start-up time of the cleaning device.

8. The cleaning device according to claim 6, characterized in that The controller is also configured to: when the reaction time of the cleaning device is greater than the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, control the prompt device to be in an on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start-up time of the cleaning device.

9. The cleaning device according to claim 8, characterized in that The controller is further configured to control the cleaning device to stop running if, after the prompt device is turned on, the duration of the cleaning device being in a liquid shortage state is greater than or equal to a third set duration.

10. The cleaning device according to claim 6, characterized in that The cleaning device also includes: A liquid pump is provided in the liquid pipeline, and the liquid pump is configured to: pump liquid into the liquid pipeline; The controller is also configured to: when the cleaning device enters a liquid insufficient state, control the liquid pump in the liquid pipeline to operate alternately according to different set operating powers; after the liquid pump finishes operating at the set operating power, if the cleaning device is still in a liquid insufficient state, control the prompt device to be in an on state.

11. The cleaning device according to claim 10, characterized in that The controller is further configured to control the total operating time of the liquid pump at the set operating power to be less than or equal to the first set time.

12. The cleaning device according to claim 10, characterized in that The set operating power is greater than an initial operating power of the liquid pump.

13. The cleaning device according to any one of claims 10 to 12, characterized in that The set operating power includes a first operating power and a second operating power; The controller is further configured to control the liquid pump to operate alternately at the first operating power and the second operating power according to a set number of alternations.

14. The cleaning device according to claim 13, characterized in that The set alternating times include 3 times, and the first operating power is greater than the second operating power.

15. The cleaning device according to claim 13, characterized in that In the process of controlling the liquid pump to alternately operate according to the first operating power and the second operating power for a single time, the duration for which the liquid pump operates according to the first operating power is a fourth set duration, and the duration for which the liquid pump operates according to the second operating power is a fifth set duration, and the fourth set duration is greater than the fifth set duration.

16. The cleaning device according to claim 12, characterized in that The controller is further configured to: during the period when the liquid pump operates at the set operating power, if the cleaning device is determined not to be in a liquid shortage state, control the liquid pump to operate at the initial operating power.

17. The cleaning device according to claim 4, characterized in that The controller is also configured to: in the first mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a first reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time period, it is determined that the cleaning device is in a liquid sufficient state.

18. The cleaning device according to claim 17, characterized in that The controller is further configured to control the prompt device to be in a closed state if the cleaning device is in a liquid sufficient state.

19. The cleaning device according to claim 17, characterized in that The controller is further configured to: in the first mode, if the cleaning device is started, determine that the cleaning device is in a liquid sufficient state.

20. The cleaning device according to any one of claims 3 to 19, characterized in that The cleaning device also includes: A heating device is provided in the liquid pipeline, and the heating device is configured to: heat the liquid; The controller is also configured to determine the liquid state of the cleaning device in a second mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, and the second mode is a mode for controlling the heating device to be turned on or off.

21. The cleaning device according to claim 20, characterized in that The controller is also configured to: in the second mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a third reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the third reference time period, it is determined that the cleaning device is in a liquid sufficient state.

22. The cleaning device according to claim 21, characterized in that The controller is further configured to control the heating device to be in an on state if the cleaning device is in a liquid sufficient state.

23. The cleaning device according to claim 21, characterized in that The controller is also configured to: in the second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time period, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time period, it is determined that the cleaning device is in a liquid insufficient state.

24. The cleaning device according to claim 23, characterized in that The fourth reference duration is shorter than the fifth reference duration, and the fourth reference duration is shorter than the third reference duration.

25. The cleaning device according to claim 23, characterized in that The controller is further configured to control the heating device to be in an off state if the cleaning device is in a liquid insufficient state.

26. The cleaning device according to claim 23, characterized in that The controller is further configured to determine that the cleaning device is in a liquid shortage state if the cleaning device is started in the second mode.

27. The cleaning device according to claim 3, characterized in that The cleaning device also includes: A prompting device, wherein the prompting device is configured to: prompt a user to replenish liquid; A heating device is provided in the liquid pipeline, and the heating device is configured to: heat the liquid; The controller is also configured as follows: in a first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, then the cleaning device is determined to be in a liquid insufficient state; the first mode is a mode for controlling the prompt device to be turned on or off; in a second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time period, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time period, then the cleaning device is determined to be in a liquid insufficient state; the second mode is a mode for controlling the heating device to be turned on or off; wherein the fourth reference time period is less than the first reference time period.

28. A cleaning equipment control method, characterized in that: A detection device is provided in the liquid pipeline of the cleaning equipment, and the method comprises: Acquiring a liquid signal value detected by the detection device, wherein the liquid signal value is used to represent the degree of liquid shortage at the location where the detection device is located; Based on the size relationship characteristics between the liquid signal value and at least two signal reference values, the liquid state of the cleaning device is determined, and the liquid state includes a liquid insufficient state and a liquid sufficient state.

29. The method according to claim 28, characterized in that: The degree of liquid deficiency at the location of the detection device is positively correlated with the liquid signal value.

30. The method according to any one of claims 28 to 29, characterized in that The at least two signal reference values ​​include a first signal reference value and a second signal reference value, the first signal reference value being greater than the second signal reference value.

31. The method according to claim 30, characterized in that The cleaning device further includes a prompting device, wherein the prompting device is configured to: prompt a user to add liquid; the determining of the liquid state of the cleaning device based on the magnitude relationship between the liquid signal value and at least two signal reference values ​​comprises: Based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, the liquid state of the cleaning device in the first mode is determined, and the first mode is the mode for controlling the prompt device to be turned on or off.

32. The method according to claim 31, characterized in that The determining of the liquid state of the cleaning device in the first mode based on the size relationship characteristics of the liquid signal value and the first signal reference value, and the size relationship characteristics of the liquid signal value and the second signal reference value, comprises: In the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, it is determined that the cleaning device is in a liquid insufficient state, and the first reference time period is less than the second reference time period.

33. The method according to claim 32, characterized in that The method further comprises: If the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, the prompting device is controlled to be in an on state.

34. The method according to claim 33, characterized in that If the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, controlling the prompt device to be in an on state comprises: In the case that the reaction time of the cleaning device is less than or equal to the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the cleaning device is controlled to stop running and the prompt device is controlled to be in the on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start time of the cleaning device.

35. The method according to claim 33, characterized in that If the duration of the cleaning device being in a liquid shortage state is greater than or equal to a first set duration, controlling the prompt device to be in an on state, further includes: In the case that the reaction time of the cleaning device is greater than the second set time, if the duration of the cleaning device in the liquid insufficient state is greater than or equal to the first set time, the prompt device is controlled to be in the on state, and the reaction time is the time between the time when the cleaning device is determined to enter the liquid insufficient state and the start-up time of the cleaning device.

36. The method according to claim 35, characterized in that The method further comprises: If, after the prompt device is in the on state, the duration of the cleaning device being in the liquid insufficient state is greater than or equal to the third set duration, the cleaning device is controlled to stop running.

37. The method according to claim 33, characterized in that The cleaning device further includes a liquid pump, which is disposed in the liquid pipeline, and the liquid pump is configured to: pump liquid into the liquid pipeline; if the duration of the liquid shortage state of the cleaning device is greater than or equal to a first set duration, the prompt device is controlled to be in an on state, and further includes: When the cleaning device enters a liquid shortage state, controlling the liquid pump in the liquid pipeline to operate alternately according to different set operating powers; After the liquid pump finishes running at the set operating power, if the cleaning device is still in a liquid insufficient state, the prompt device is controlled to be in an on state.

38. The method according to claim 37, characterized in that The method further includes: controlling the total operating time of the liquid pump at the set operating power to be less than or equal to the first set time.

39. The method according to claim 37, characterized in that The set operating power is greater than an initial operating power of the liquid pump.

40. The method according to any one of claims 37 to 39, characterized in that The set operating power includes a first operating power and a second operating power, and the controlling the liquid pump in the liquid pipeline to operate alternately according to different set operating powers includes: According to the set alternation times, the liquid pump is controlled to operate alternately according to the first operating power and the second operating power.

41. The method according to claim 40, characterized in that The set alternating times include 3 times, and the first operating power is greater than the second operating power.

42. The method according to claim 40, characterized in that In the process of controlling the liquid pump to alternately operate according to the first operating power and the second operating power for a single time, the duration for which the liquid pump operates according to the first operating power is a fourth set duration, and the duration for which the liquid pump operates according to the second operating power is a fifth set duration, and the fourth set duration is greater than the fifth set duration.

43. The method according to claim 39, characterized in that The method further comprises: During the period when the liquid pump is operated at the set operating power, if the cleaning device is determined not to be in a liquid shortage state, the liquid pump is controlled to operate at the initial operating power.

44. The method according to claim 31, characterized in that The determining of the liquid state of the cleaning device in the first mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, further includes: In the first mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a first reference time period, and there is a liquid signal value less than or equal to the second signal reference value within the first reference time period, it is determined that the cleaning device is in a liquid sufficient state.

45. The method according to claim 44, characterized in that The method further comprises: If the cleaning device is in a liquid sufficient state, the prompting device is controlled to be in a closed state.

46. ​​The method according to claim 44, characterized in that The method further comprises: In the first mode, if the cleaning device is started, it is determined that the cleaning device is in a liquid sufficient state.

47. The method according to any one of claims 30 to 46, characterized in that The cleaning device further includes a heating device, which is arranged in the liquid pipeline, and the heating device is configured to: heat the liquid; the determining of the liquid state of the cleaning device based on the magnitude relationship between the liquid signal value and at least two signal reference values ​​also includes: Based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, the liquid state of the cleaning device in the second mode is determined, and the second mode is a mode for controlling the heating device to be turned on or off.

48. The method according to claim 47, characterized in that The determining of the liquid state of the cleaning device in the second mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, comprises: In the second mode, if the liquid signal value is continuously less than or equal to the first signal reference value for a third reference time period, and there is a liquid signal value less than or equal to the second signal reference value during the third reference time period, it is determined that the cleaning device is in a liquid sufficient state.

49. The method according to claim 48, characterized in that The method further comprises: If the cleaning device is in a liquid sufficient state, the heating device is controlled to be in an on state.

50. The method according to claim 48, characterized in that The determining of the liquid state of the cleaning device in the second mode based on the size relationship characteristics between the liquid signal value and the first signal reference value, and the size relationship characteristics between the liquid signal value and the second signal reference value, further includes: In the second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time, it is determined that the cleaning device is in a liquid insufficient state.

51. The method according to claim 50, characterized in that The fourth reference duration is shorter than the fifth reference duration, and the fourth reference duration is shorter than the third reference duration.

52. The method according to claim 50, characterized in that The method further comprises: If the cleaning device is in a liquid insufficient state, the heating device is controlled to be in a closed state.

53. The method according to claim 50, characterized in that The method further comprises: In the second mode, if the cleaning device is activated, it is determined that the cleaning device is in a liquid shortage state.

54. The method according to claim 30, characterized in that The cleaning device further comprises: a prompting device, the prompting device being configured to prompt a user to add liquid; a heating device, disposed in the liquid pipeline, the heating device being configured to heat the liquid; and the determining of the liquid state of the cleaning device based on the magnitude relationship between the liquid signal value and at least two signal reference values ​​comprises: In the first mode, if the liquid signal value is continuously greater than the first signal reference value for a first reference time period, or the liquid signal value is continuously greater than the second signal reference value for a second reference time period, it is determined that the cleaning device is in a liquid shortage state; the first mode is a mode for controlling the prompt device to be turned on or off; In the second mode, if the liquid signal value is continuously greater than the first signal reference value for a fourth reference time period, or the liquid signal value is continuously greater than the second signal reference value for a fifth reference time period, it is determined that the cleaning device is in a liquid shortage state; the second mode is a mode for controlling the heating device to be turned on or off; The fourth reference duration is shorter than the first reference duration.

55. A cleaning device, characterized in that: The cleaning equipment comprises: A display component, wherein the display component is provided with a light bar, and the light bar is composed of a plurality of first lamp beads; The controller is configured to: obtain the work progress of the cleaning sub-task during the execution of the cleaning sub-task; determine the number of first lamp beads that need to be lit according to the work progress; control the first lamp beads in the light bar to light up in sequence according to the number of first lamp beads that need to be lit, and control at least one first lamp bead to maintain a breathing state.

56. The cleaning device according to claim 55, characterized in that The controller is further configured to control the first lamp beads in the light bar to light up in sequence according to the number of the first lamp beads to be lit and in a direction from one end to the other end of the light bar.

57. The cleaning device according to claim 55, characterized in that The controller is also configured to control at least one first lamp bead that is recently lit to maintain a breathing state.

58. The cleaning device according to claim 55, characterized in that The number of the first lamp beads that need to be lit is positively correlated with the work progress.

59. A cleaning device according to any one of claims 55 to 58, characterised in that The cleaning sub-task includes a steam preparation sub-task and a self-cleaning sub-task.

60. The cleaning device according to claim 59, characterized in that The cleaning device also includes: A heating device is disposed inside the cleaning device, and the heating device is configured to: heat liquid to generate steam; A sensor is provided on the heating device, and the sensor is configured to: collect sensor data of the heating device; The controller is further configured to determine the working progress of the steam preparation sub-task according to the sensor data.

61. The cleaning device according to claim 60, characterized in that The controller is also configured to control all first lamp beads in the light bar to maintain a breathing state after the steam preparation sub-task is completed.

62. The cleaning device according to claim 61, characterized in that The controller is also configured to: In the process of performing the drying work, the lighting and extinguishing of each first lamp bead in the light bar are controlled according to the marquee control strategy.

63. The cleaning device according to claim 62, characterized in that The controller is also configured to: During the drying process, the light bar is controlled to display at least two light bands, and the at least two light bands flow back and forth in the light bar respectively, wherein each light band is formed by at least two adjacent first lamp beads that are lit.

64. The cleaning device according to claim 63, characterized in that The at least two light strips are two light strips, and the two light strips are symmetrical with the middle position of the light bar as the center.

65. The cleaning device according to claim 63, characterized in that During the drying process, the brightness of the first lamp beads at both ends of the light bar when lit is lower than the brightness of the first lamp beads at the middle of the light bar when lit.

66. A cleaning device according to any one of claims 1 to 4, characterized in that The cleaning device also includes: The user interface film is attached to the display component, and the user interface film is configured to display graphic information under the illumination of the lamp beads in the display component.

67. A cleaning device according to any one of claims 66, characterized in that The material of the user interface film is polyethylene terephthalate.

68. A computer program product, characterized in that The computer program product comprises computer instructions which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so as to enable a computer device having the processor to perform the method according to any one of claims 28 to 54.

69. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one program code, and the at least one program code is loaded and executed by the processor to implement the operations performed by the method according to any one of claims 28 to 54.

70. A cleaning system, characterized in that The cleaning system comprises a base station and a cleaning device as described in any one of claims 1 to 27 and 55 to 67.

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