Water supplementing method of self-cleaning equipment, self-cleaning equipment and readable storage medium

Abstract

The invention discloses a water supplementing method of self-cleaning equipment, the self-cleaning equipment and a readable storage medium. The method comprises the following steps: acquiring a to-be-cleaned area in response to the self-cleaning equipment in a graphical mode; according to the area information of the to-be-cleaned area, water quantity demand data of the self-cleaning equipment for cleaning the to-be-cleaned area is determined; and performing water supplementing treatment on the self-cleaning equipment according to the water quantity demand data and the current residual water quantity data of the self-cleaning equipment. Therefore, the cleaning efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of smart home appliance technology, and in particular to a water replenishment method for a self-cleaning device, the self-cleaning device itself, and a readable storage medium. Background Technology

[0002] Self-cleaning devices are appliances or systems that automatically remove dirt, bacteria, viruses, dust, or impurities from the interior or surface of an area. Most households now have one to assist with house cleaning, reducing the labor intensity of manual cleaning, improving cleaning efficiency and consistency, and ensuring a higher level of hygiene and cleanliness. Self-cleaning devices rely on a clean water tank within the device for cleaning. Therefore, it is necessary to replenish the water in the tank regularly to ensure smooth cleaning operations.

[0003] Current water replenishment methods typically involve installing sensors in the clean water tank, which replenish the water when the tank is low. However, this method requires additional hardware costs and installation space. Furthermore, aging hardware can lead to false alarms, affecting cleaning efficiency. Summary of the Invention

[0004] The main technical problem addressed by this application is to provide a water replenishment method for a self-cleaning device, a self-cleaning device, and a readable storage medium, which can improve cleaning efficiency.

[0005] To address the aforementioned technical problems, this application provides a water replenishment method for a self-cleaning device, comprising: in response to the self-cleaning device being in a map-based mode, acquiring a region to be cleaned; determining water demand data for the self-cleaning device to clean the region based on the region information of the region to be cleaned; and replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device.

[0006] In one embodiment, the water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device includes: determining a distance coefficient based on the water replenishment distance between the current position of the self-cleaning device and the obtained water replenishment position; obtaining a target remaining number of water dispensing requests for the self-cleaning device based on the distance coefficient and the current remaining number of water dispensing requests; and triggering the self-cleaning device to perform a water replenishment operation in response to the number of water dispensing requests being greater than or equal to the target remaining number of water dispensing requests.

[0007] In one embodiment, the water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device further includes: in response to the number of water dispensing requests being greater than or equal to the current remaining number of water dispensing requests, obtaining the number of water dispensing requests for each sub-region in the area to be cleaned; in response to the existence of at least one target sub-region having a number of water dispensing requests greater than or equal to the current remaining number of water dispensing requests, performing a cleaning operation on the target sub-region, and triggering the self-cleaning device to perform a water replenishment operation after the cleaning operation is completed.

[0008] In one embodiment, the step of cleaning the target sub-region includes: sorting each target sub-region to obtain sorted target sub-regions; and sequentially cleaning the sorted target sub-regions until the remaining water volume of the self-cleaning device is less than or equal to the water volume requirement of the target sub-region currently being cleaned.

[0009] In one embodiment, before the step of obtaining the number of times water is required in each sub-region of the area to be cleaned, the method further includes: dividing the area to be cleaned into multiple sub-regions; and obtaining the number of times water is required in each sub-region according to the regional attributes of each sub-region.

[0010] In one embodiment, the water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device further includes: triggering the self-cleaning device to perform a water replenishment operation in response to the number of water dispensing requests being greater than or equal to the current remaining number of water dispensing requests; triggering the self-cleaning device to perform a cleaning operation in response to the number of water dispensing requests being less than the current remaining number of water dispensing requests; and performing a water replenishment operation after the cleaning operation is completed.

[0011] In one embodiment, the area information includes the area of ​​at least one sub-area and the area coefficient of the sub-area, and the water demand data includes the number of water discharge requests. The step of determining the water demand data for the self-cleaning device to clean the area to be cleaned based on the area information of the area to be cleaned includes: determining the area water consumption of the sub-area based on the area of ​​the sub-area and the area coefficient; and determining the number of water discharge requests for each sub-area in the area to be cleaned based on the area water consumption of the sub-area and a preset single water discharge volume.

[0012] In one embodiment, the current remaining water volume data includes the current remaining number of water discharges. Before the step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device, the method includes: obtaining the current total number of water discharges of the self-cleaning device; and determining the current remaining number of water discharges based on the current total number of water discharges of the self-cleaning device, the preset maximum number of water discharges of the self-cleaning device, and a preset attenuation coefficient.

[0013] To solve the above-mentioned technical problems, this application provides a self-cleaning device, including a memory and a processor. The memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the water replenishment method of the self-cleaning device described above.

[0014] To address the aforementioned technical problems, this application provides a computer-readable storage medium, comprising: storing program data, which, when executed by a processor, is used to implement the aforementioned water replenishment method for a self-cleaning device.

[0015] The above solution, in response to the self-cleaning device being in map mode, acquires the area to be cleaned; determines the water demand data for cleaning the area based on the area information; and replenishes water to the self-cleaning device based on the water demand data and the current remaining water volume. Therefore, by determining the water demand data through the area information and then replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume, false alarms due to sensor aging are avoided, thus improving cleaning efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0017] Figure 1 This is a schematic flowchart of an exemplary embodiment of the water replenishment method for the self-cleaning device shown in this application;

[0018] Figure 2 This is a schematic flowchart illustrating an exemplary embodiment of obtaining the maximum number of water discharges as shown in this application;

[0019] Figure 3 This is an application flowchart of an exemplary embodiment of the water replenishment method for the self-cleaning device shown in this application;

[0020] Figure 4This is a block diagram illustrating a water replenishment device for a self-cleaning device, as shown in an exemplary embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of an embodiment of the self-cleaning device provided in this application;

[0022] Figure 6 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] First, it's important to clarify that a self-cleaning device is a device or system that automatically removes dirt, bacteria, viruses, dust, or impurities from the interior or surface of an area. Most households currently have a self-cleaning device to assist with house cleaning, reducing the labor intensity of manual cleaning, improving cleaning efficiency and consistency, and ensuring a higher level of hygiene and cleanliness. Self-cleaning devices rely on a clean water tank within the device for cleaning. Therefore, it's necessary to replenish the water in the tank regularly to ensure smooth cleaning. Current water replenishment methods typically involve installing sensors in the water tank; when the sensor detects insufficient water, it replenishes the tank. However, this method requires additional hardware costs and installation space. Furthermore, aging hardware can lead to false alarms, affecting cleaning efficiency.

[0025] Based on this, this application provides a water replenishment method for a self-cleaning device, a self-cleaning device, and a readable storage medium. For details, please refer to [reference needed]. Figure 1 , Figure 1 This is a schematic flowchart of an exemplary embodiment of a water replenishment method for a self-cleaning device shown in this application.

[0026] The execution entity of a water replenishment method for a self-cleaning device can be a terminal device, a server, or other processing equipment. The terminal device can be a computer, mobile device, terminal, computing device, vehicle-mounted device, etc. The execution entity of the water replenishment method for a self-cleaning device can also be the water replenishment device itself. In some possible implementations, the water replenishment method of the self-cleaning device can be implemented by a processor calling computer-readable instructions stored in memory. The execution entity of the water replenishment method for a self-cleaning device can also be a big data cluster. A big data cluster is a computer system architecture formed by multiple computers connected through a network. The big data cluster can be deployed on a private cloud built with K8S (Kubernetes, a container orchestration engine).

[0027] Specifically, a water replenishment method for a self-cleaning device according to this embodiment includes the following steps:

[0028] Step S110: In response to the self-cleaning device being in map mode, obtain the area to be cleaned.

[0029] Self-cleaning devices are those that can automatically clean dirt, bacteria, viruses, dust, or impurities from the interior or surface of a preset area. Examples of self-cleaning devices include robotic mopping, floor scrubbing, and robotic sweeping and mopping systems.

[0030] The area to be cleaned refers to the area that has not yet been cleaned.

[0031] Map mode refers to the mode that stores a preset area map.

[0032] The water replenishment device of the self-cleaning device, in response to the self-cleaning device being in map mode, obtains the area to be cleaned. As one example, the water replenishment device retrieves a preset area map from a preset storage database, identifies the cleanable areas marked on the preset area map as the areas to be cleaned, and the preset area map is stored in the preset storage database. As another example, the water replenishment device obtains a preset area map stored in the self-cleaning device, identifies non-wall areas in the preset area map as cleanable areas, and identifies these cleanable areas as the areas to be cleaned.

[0033] Step S120: Determine the water demand data for the self-cleaning equipment to clean the area based on the area information of the area to be cleaned.

[0034] Regional information refers to information that characterizes the attributes of a region. Regional information may include at least one of the following: region area, region floor material, region location, and region cleaning intensity.

[0035] Water demand data refers to data that characterizes the amount of water required for cleaning. Water demand data can include the number of times a self-cleaning device dispenses water or the total water demand.

[0036] The water replenishment device of the self-cleaning equipment determines the water demand for cleaning the area based on the area information. Specifically, the water replenishment device determines the total water demand by multiplying the area area by the preset water consumption per unit area.

[0037] Step S130: Replenish water to the self-cleaning equipment based on the water demand data and the current remaining water volume data of the self-cleaning equipment.

[0038] Current remaining water volume data refers to data representing the remaining water volume in the self-cleaning device. This data can include the current remaining number of water discharges or the current total remaining water volume. Specifically, the water replenishment device of the self-cleaning device obtains the current total number of water discharges, and obtains the first product term between the current total number of water discharges and the preset single-discharge volume; the difference between the preset total water storage capacity of the self-cleaning device and the first product term is determined as the current total remaining water volume.

[0039] The water replenishment device of the self-cleaning equipment replenishes water based on water demand data and the current remaining water volume. Specifically, the water replenishment device triggers the self-cleaning equipment to perform a cleaning operation when the current remaining total water volume is greater than or equal to the total water demand of the area to be cleaned, and triggers the self-cleaning equipment to perform a water replenishment operation when the current remaining total water volume is less than the total water demand of the area to be cleaned.

[0040] As can be seen, by responding to the self-cleaning device being in map mode, the area to be cleaned is acquired; based on the area information of the area to be cleaned, the water demand data for cleaning the area is determined; and based on the water demand data and the current remaining water volume of the self-cleaning device, water is replenished to the self-cleaning device. Therefore, by determining the water demand data through the area information of the area to be cleaned, and then replenishing the self-cleaning device based on the water demand data and the current remaining water volume, false alarms caused by sensor aging are avoided, thus improving cleaning efficiency.

[0041] The area information includes the area of ​​at least one sub-area and the area coefficient of the sub-area, and the water demand data includes the number of water discharge requests. The steps of the water replenishment device of the self-cleaning equipment to determine the water demand data for cleaning the area to be cleaned based on the area information of the area to be cleaned include: determining the area water consumption of the sub-area based on the area area and area coefficient of the sub-area; and determining the number of water discharge requests for each sub-area in the area to be cleaned based on the area water consumption of the sub-area and the preset single water discharge volume of the self-cleaning equipment.

[0042] The regional coefficient includes at least one of the regional floor material coefficient, regional cleaning intensity coefficient, and redundancy coefficient.

[0043] The area floor material coefficient characterizes the influence of floor material on cleaning. The self-cleaning equipment's water replenishment device determines the corresponding area floor material coefficient from a preset coefficient mapping table based on the area's floor material. This preset coefficient mapping table stores the correspondence between preset floor materials and preset floor material coefficients. For example, the area floor material coefficient for ceramic tiles is 1.0, for carpet it is 1.5, and for wood flooring it is 1.2. The value range of the area floor material coefficient can be from 1.0 to 2.0.

[0044] The area cleaning intensity coefficient characterizes the influence of ground stains on cleaning. The area cleaning intensity coefficient can be 1.0, 1.2, or 1.1, and its value ranges from 1.0 to 1.5. Specifically, the self-cleaning equipment's water replenishment device acquires images of the area to be cleaned, performs stain identification on the acquired images, and obtains stain identification results. Based on the stain area in the stain identification results, the corresponding area cleaning intensity coefficient is determined from a preset cleaning intensity mapping table, which includes the correspondence between preset stain areas and preset cleaning intensity coefficients.

[0045] The redundancy coefficient represents other preset comprehensive influencing factors, such as the influencing factor of air dryness. The redundancy coefficient can be 0 or not.

[0046] In one embodiment, the water replenishment device of the self-cleaning equipment obtains a third product term between the area of ​​each sub-region, the corresponding area floor material coefficient, and the corresponding area cleaning intensity; obtains a fourth product term between the sum of each third product term and the preset water consumption per unit area; determines the ratio between the fourth product term and the preset single water output of the self-cleaning equipment as the number of water outputs required for each sub-region; and determines the sum of the number of water outputs required for each sub-region as the number of water outputs required for the area to be cleaned.

[0047] In another embodiment, the preset water consumption per unit area is equal to the preset single water output of the self-cleaning device. The water replenishment device of the self-cleaning device obtains the third product term between the area of ​​each sub-region, the corresponding area floor material coefficient, and the corresponding area cleaning intensity; obtains the first sum value between each third product term; and determines the second sum value between the first sum value and the redundancy coefficient as the number of water outputs required for the area to be cleaned.

[0048] For example, the required number of water outputs for the area to be cleaned satisfies the following formula:

[0049] N_demand=Σ(A_i×α_i×β_i)+C

[0050] In the above formula, N_demand represents the number of times water is required for the area to be cleaned, A_i represents the area of ​​the i-th sub-region, α_i represents the floor material coefficient of the i-th sub-region, β_i represents the area cleaning intensity, and C represents the redundancy coefficient.

[0051] In another embodiment, the preset water consumption per unit area is equal to the preset single water output of the self-cleaning device. The water replenishment device of the self-cleaning device obtains the third product term between the area of ​​each sub-region, the corresponding area floor material coefficient, and the corresponding area cleaning intensity; obtains the first sum value between each third product term; obtains the third sum value between the area of ​​each sub-region; obtains the fifth product term between the third sum value and the redundancy coefficient; and determines the sixth sum value between the first sum value and the fifth sum value as the number of water outputs required for the area to be cleaned.

[0052] For example, the area to be cleaned includes three sub-areas. The area of ​​the first sub-area is A_1 = 10㎡, the floor material is ceramic tile, the corresponding floor material coefficient α_1 = 1.0, and the corresponding cleaning intensity β_1 = 1.0. The area of ​​the second sub-area is A_2 = 5㎡, the floor material is carpet, the corresponding floor material coefficient α_2 = 1.5, and the corresponding cleaning intensity β_2 = 1.2. The area of ​​the third sub-area is A_3 = 3㎡, the floor material is wood flooring, the area floor material coefficient α_3 = 1.2, and the corresponding cleaning intensity β_3 = 1.1. Then the number of water outputs required for the area to be cleaned satisfies the following formula:

[0053] N_demand=(10×1.0×1.0)+(5×1.5×1.2)+(3×1.2×1.1)+0.05×(10+5+3)=10+9+3.96+0.9≈24 times the water output

[0054] Before the step of replenishing water to the self-cleaning equipment based on water demand data and the current remaining water volume data, the method includes: obtaining the current total number of water discharges from the self-cleaning equipment; and determining the current remaining number of water discharges based on the current total number of water discharges, the preset maximum number of water discharges, and a preset attenuation coefficient. Specifically, the water replenishment device obtains the second product term between the preset maximum number of water discharges and the preset attenuation coefficient; and determines the current remaining number of water discharges as the difference between the second product term and the current total number of water discharges.

[0055] The preset maximum number of water discharges refers to the maximum number of times the self-cleaning device discharges water according to a preset single-discharge volume. In one embodiment, the test environment is set to normal room temperature and normal humidity, for example, a temperature of 25℃±1℃ and a humidity of 50%±5%. The self-cleaning test device is set to discharge water multiple times, with each discharge lasting a fixed time T0. Within the fixed time T0, the water discharge module in the self-cleaning test device is controlled to continuously discharge water, ensuring that the water volume discharged each time is the preset single-discharge volume. Discharges are repeated multiple times until the clean water tank in the self-cleaning test device detects a waterless state. The total number of water discharges N_max is recorded to obtain the preset maximum number of water discharges.

[0056] Combination Figure 2 As shown, after the factory calibration of the self-cleaning test equipment begins, the water output time unit T0 is fixed, the single water output time of the self-cleaning test equipment is controlled, and it is determined whether the clean water tank of the self-cleaning test equipment detects water volume. If yes, the cumulative number of water outputs is incremented by 1. If no, the maximum number of water outputs N_max is stored, and the factory calibration is determined to be over.

[0057] A preset attenuation coefficient is used to characterize the aging of the self-cleaning device. Specifically, the preset attenuation coefficient is obtained by simulating the use of the water outlet module in the self-cleaning test device in a real-world application environment. In one embodiment, the measured water outlet volume V0 of the self-cleaning test device in its initial state is collected, multiple test stages are set, and the water outlet module is controlled to discharge water a preset number of times in each test stage. The measured water outlet volume Vt of each test stage is collected, and the attenuation coefficient K' of each test stage is calculated using the formula K' = Vt / V0. Substituting this into the formula K' = 1.0 - α_age × N_used, the aging factor α_age of each test stage is obtained; the average value of the aging factor of each test stage is then obtained. During the task execution, the water replenishment device of the self-cleaning device acquires the cumulative number of water outlets of the self-cleaning device, and the cumulative number of water outlets and the average value of the aging factor are substituted into the formula K = 1.0 - α_age × N_used to obtain the preset attenuation coefficient K.

[0058] As shown in Table 1, in the initial state of the self-cleaning test equipment, when the cumulative number of water discharges is 0, the measured water volume is 0.05 and the attenuation coefficient is 1. In the first test stage, when the cumulative number of water discharges is 100, the corresponding measured water volume is 0.047, the corresponding attenuation coefficient is 0.94, and the corresponding aging factor is 0.0006. In the second test stage, when the cumulative number of water discharges is 300, the corresponding measured water volume is 0.041, the corresponding attenuation coefficient is 0.82, and the corresponding aging factor is 0.0006. In the third test stage, when the cumulative number of water discharges is 500, the corresponding measured water volume is 0.038, the corresponding attenuation coefficient is 0.76, and the corresponding aging factor is 0.00048. The average value of the aging factor for the three test stages is 0.00056.

[0059] Table 1

[0060]

[0061] It should be noted that the testing environment of the self-cleaning test equipment can also be set with different vibrations, different temperatures, and different humidity levels to obtain the preset maximum number of water discharges and the preset attenuation coefficient of the self-cleaning test equipment under various vibration, temperature, or humidity conditions.

[0062] In one embodiment, 5% to 10% of each batch of self-cleaning test equipment are randomly selected for accelerated aging tests to obtain multiple attenuation coefficients; the variance of the multiple attenuation coefficients is determined as the attenuation coefficient.

[0063] For example, the current remaining number of water discharges satisfies the following formula:

[0064] N_available = N_max × K - N_used

[0065] In the above formula, N_available represents the current remaining number of water discharges, N_max represents the preset maximum number of water discharges, K represents the preset attenuation coefficient, and N_used represents the current total number of water discharges.

[0066] As can be seen, by obtaining the remaining water flow count from the maximum number of water discharges, the attenuation coefficient, and the total number of water discharges during cleaning, intelligent water management can be achieved. This reduces the space occupied by additional hardware on the water tank or pump structure, saving space and allowing for the definition of more functions. At the same time, it avoids the wear and clogging problems caused by long-term use of traditional mechanical flow meters.

[0067] As an example, the water demand data includes the number of water dispensing requests, and the current remaining water data includes the current remaining number of water dispensing requests. The steps for replenishing water to the self-cleaning device based on the water demand data and the current remaining water data of the self-cleaning device include: determining a distance coefficient based on the water replenishment distance between the current location of the self-cleaning device and the obtained water replenishment location; obtaining the target remaining number of water dispensing requests for the self-cleaning device based on the distance coefficient and the current remaining number of water dispensing requests; and triggering the self-cleaning device to perform a water replenishment operation in response to the number of water dispensing requests being greater than or equal to the target remaining number of water dispensing requests.

[0068] The distance coefficient is used to characterize the influence of the water replenishment distance between the current location of the self-cleaning device and the acquired water replenishment location on the timing of water replenishment. Specifically, the water replenishment device of the self-cleaning device calculates the water replenishment distance between the current location of the self-cleaning device and the acquired water replenishment location in real time using SLAM (Simultaneous Localization and Mapping). The distance coefficient includes a near distance coefficient, a medium distance coefficient, and a far distance coefficient. The near distance coefficient is greater than the medium distance coefficient, and the medium distance coefficient is greater than the far distance coefficient.

[0069] In one embodiment, the water replenishment distance D < 3m corresponds to a short distance coefficient, and the water replenishment strategy selects a lenient water replenishment threshold coefficient for early warning; 3m ≤ D < 6m corresponds to a medium distance coefficient, and the water replenishment strategy selects a medium water replenishment threshold to balance resources and efficiency; D ≥ 6m corresponds to a long distance coefficient, and the water replenishment strategy selects a strict water replenishment threshold to avoid false triggering.

[0070] The water replenishment device of the self-cleaning equipment determines a distance coefficient based on the water replenishment distance between the current position of the self-cleaning equipment and the acquired water replenishment position. The water replenishment device of the self-cleaning equipment determines the corresponding distance coefficient from a preset distance coefficient mapping table based on the water replenishment distance. The preset distance coefficient mapping table includes the correspondence between preset water replenishment distances and preset distance coefficients.

[0071] The water replenishment device of the self-cleaning equipment obtains the target remaining number of water discharges based on the distance coefficient and the current remaining number of water discharges. Specifically, the water replenishment device of the self-cleaning equipment determines the target remaining number of water discharges as the sixth product term between the distance coefficient and the current remaining number of water discharges.

[0072] The water replenishment device of the self-cleaning equipment also includes: in response to the number of water outlet requests being less than the target remaining number of water outlets, triggering the self-cleaning equipment to perform a cleaning operation on the area to be cleaned.

[0073] As can be seen, the distance coefficient is determined based on the water replenishment distance; the target remaining water dispensing count of the self-cleaning device is obtained based on the distance coefficient and the current remaining water dispensing count; the self-cleaning device is triggered to perform water replenishment operation when the water dispensing demand count is greater than or equal to the target remaining water dispensing count. Therefore, the number of water replenishments can be dynamically adjusted according to the water replenishment distance, enabling water replenishment in advance when near the base station to reduce the return water replenishment distance, saving time and resources, and delaying water replenishment when far from the base station to reduce water waste caused by frequent water replenishment, thereby optimizing water replenishment time.

[0074] As another example, the water demand data includes the number of water discharge requests, and the current remaining water data includes the current remaining number of water discharges. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water data of the self-cleaning device further includes: in response to the number of water discharge requests being greater than or equal to the current remaining number of water discharges, obtaining the number of water discharge requests for each sub-area in the area to be cleaned; in response to the existence of at least one target sub-area having a number of water discharge requests greater than or equal to the current remaining number of water discharges, performing a cleaning operation on the target sub-area, and triggering the self-cleaning device to replenish water after the cleaning operation is completed.

[0075] Before the step of obtaining the number of times water is required in each sub-area of ​​the area to be cleaned, the method of the self-cleaning device further includes: dividing the area to be cleaned into multiple sub-areas; and obtaining the number of times water is required in each sub-area according to the area attributes of each sub-area.

[0076] The regional attributes include the regional area and the regional coefficient. The regional coefficient includes at least one of the regional floor material coefficient, the regional cleaning intensity coefficient, and the redundancy coefficient.

[0077] The water replenishment device of the self-cleaning equipment divides the area to be cleaned into multiple sub-regions. As one example, when the area to be cleaned is a regular shape, the water replenishment device evenly divides it into a preset number of sub-regions. As another example, when the area to be cleaned is an irregular shape, the water replenishment device calculates the pixel area of ​​the area to be cleaned, obtains the ratio between the pixel area and a preset number, and calculates the pixel area of ​​each sub-region; the image of the area to be cleaned is then divided into multiple sub-regions according to the pixel area of ​​each region.

[0078] The water replenishment device of the self-cleaning equipment obtains the number of times each sub-area needs water flow based on its regional attributes. Specifically, the water replenishment device obtains the third product term between the area of ​​each sub-area, the corresponding floor material coefficient, and the corresponding cleaning intensity; obtains the fourth product term between each third product term and the preset water consumption per unit area; determines the number of times each sub-area needs water flow as the ratio between the fourth product term and the preset single water flow rate of the self-cleaning equipment; and determines the sum of the number of times each sub-area needs water flow as the number of times the area to be cleaned needs water flow.

[0079] The self-cleaning device's water replenishment unit responds to situations where the number of water outlet requests for a target sub-area is greater than or equal to the current remaining number of water outlet requests. It then performs a cleaning operation on the target sub-area and triggers the self-cleaning device to replenish water after the cleaning operation is completed.

[0080] The self-cleaning device's water replenishment unit responds to the fact that the number of times the water demand of at least two target sub-regions is greater than or equal to the current remaining number of times the water can be dispensed. The steps for cleaning the target sub-regions include: sorting each target sub-region to obtain sorted target sub-regions; and sequentially cleaning the sorted target sub-regions until the remaining water volume of the self-cleaning device is less than or equal to the water demand of the target sub-region being cleaned.

[0081] The water replenishment device of the self-cleaning equipment sorts each target sub-region to obtain sorted target sub-regions. As one example, the water replenishment device sorts each target sub-region according to a preset priority, resulting in sorted target sub-regions. As another example, the water replenishment device obtains the cleaning distance between the center point of each target sub-region and the position of the self-cleaning equipment; it then sorts the target sub-regions in ascending order of cleaning distance, resulting in sorted target sub-regions.

[0082] The self-cleaning device's water replenishment unit sequentially cleans the sorted target sub-regions until the remaining water volume of the self-cleaning device is less than or equal to the water demand of the currently cleaned target sub-region. The water replenishment unit controls the self-cleaning device to sequentially clean the sorted target sub-regions and acquires the remaining water volume after each cleaning operation. It compares this remaining water volume with the water demand of the currently sorted target sub-regions. If the remaining water volume is greater than or equal to the water demand, the cleaning operation continues. If the remaining water volume is less than the water demand, the self-cleaning device returns to the base station for water replenishment.

[0083] As can be seen, the regional water consumption of sub-regions is determined by the area and regional coefficient, thereby obtaining the water demand data of the area to be cleaned. Therefore, the water demand data obtained based on the area and regional coefficient is more closely aligned with the actual situation of the area to be cleaned and better meets its current water needs for cleaning, which is conducive to improving cleaning and water replenishment efficiency and achieving differentiated cleaning and water replenishment.

[0084] As another example, the water demand data includes the number of times water is demanded, and the current remaining water data includes the current remaining number of times water is dispensed. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water data of the self-cleaning device further includes: triggering the self-cleaning device to perform a water replenishment operation in response to the number of times water is demanded being greater than or equal to the current remaining number of times water is dispensed; triggering the self-cleaning device to perform a cleaning operation in response to the number of times water is demanded being less than the current remaining number of times water is dispensed, and performing a water replenishment operation after the cleaning operation is completed.

[0085] In one embodiment, if N_demand ≥ N_available, the self-cleaning device is controlled to return to the base station to perform a water replenishment operation; if N_demand < N_available, the self-cleaning device is controlled to perform a cleaning operation on the area to be cleaned, and after the cleaning operation is completed, the self-cleaning device is controlled to return to the base station to perform a water replenishment operation.

[0086] The water replenishment device for the self-cleaning equipment also includes: in response to the self-cleaning equipment being in a no-map mode, obtaining the current total number of water discharges, and replenishing the self-cleaning equipment with water based on the current total number of water discharges and the obtained preset water replenishment threshold.

[0087] As an example, the water replenishment device of the self-cleaning equipment obtains the seventh product term between the preset maximum number of water outputs and the preset attenuation coefficient, and determines the preset percentage of the seventh product term as the preset water replenishment threshold.

[0088] For example, water replenishment is triggered when N_used ≥ N_max × K × θ; where N_used represents the total number of water discharges, N_max represents the preset maximum number of water discharges, K represents the preset attenuation coefficient, and θ represents the preset percentage, which can be 90%.

[0089] As another example, the water replenishment device of the self-cleaning equipment obtains the seventh product term between the preset maximum number of water outputs and the preset attenuation coefficient, determines the distance coefficient based on the water replenishment distance between the current position of the self-cleaning equipment and the obtained water replenishment position, obtains the eighth product term between the seventh product term and the distance coefficient, and determines the preset percentage of the eighth product term as the preset water replenishment threshold.

[0090] For example, water replenishment is triggered when N_used ≥ N_max × K × θxγ; where γ represents the distance coefficient.

[0091] It should be noted that in this application, all coefficients can be obtained by analyzing the water usage of each cleaning device in different areas through cloud big data analysis, and the coefficients can be dynamically optimized based on the analysis results.

[0092] In one embodiment, combined with Figure 3 As shown, after the self-cleaning device's water replenishment device starts the cleaning task, it determines whether it is in map mode. If not, it controls the self-cleaning device to dispense water at preset time and distance intervals, and records the floor material and area of ​​the cleaning zone during the cleaning process. It then determines whether the cleaning is complete. If not, it continues to control the self-cleaning device to dispense water at preset time and distance intervals; if yes, the task ends. If the self-cleaning device is in map mode, it analyzes the area map and calculates the water demand data for the area to be cleaned. It then determines whether the current remaining water volume in the self-cleaning device meets the water demand data. If not, it performs a water replenishment operation based on the current remaining water volume data, and then determines whether the cleaning is complete. If yes, it directly determines whether the cleaning is complete. If the self-cleaning device determines that the cleaning is complete, the task ends; if it determines that the cleaning is not complete, it continues cleaning and returns to the step of determining whether the current remaining water volume in the self-cleaning device meets the water demand data.

[0093] Figure 4 This is a block diagram illustrating a water replenishment device for a self-cleaning device, as shown in an exemplary embodiment of this application. Figure 4 As shown, the exemplary self-cleaning device's water replenishment device 400 includes: an acquisition module 410, a water demand data determination module 420, and a water replenishment module 430. Specifically:

[0094] The acquisition module 410 is used to acquire the area to be cleaned in response to the self-cleaning device being in a map mode.

[0095] The water demand data determination module 420 is used to determine the water demand data for the self-cleaning equipment to clean the area based on the area information of the area to be cleaned.

[0096] The water replenishment module 430 is used to replenish water to the self-cleaning device based on water demand data and the current remaining water volume data of the self-cleaning device.

[0097] In the water replenishment device of this exemplary self-cleaning equipment, in response to the self-cleaning equipment being in a map-based mode, the area to be cleaned is acquired; the water demand data for cleaning the area to be cleaned is determined based on the area information of the area to be cleaned; and water is replenished to the self-cleaning equipment based on the water demand data and the current remaining water volume data. Therefore, by determining the water demand data through the area information of the area to be cleaned, and then replenishing the self-cleaning equipment based on the water demand data and the current remaining water volume data, false alarms due to aging caused by the use of sensors are avoided, thus improving cleaning efficiency.

[0098] The functions of each module can be found in the embodiment of the water replenishment method for self-cleaning equipment, and will not be repeated here.

[0099] To implement the water replenishment method of the self-cleaning device in the above embodiments, this application proposes another self-cleaning device, please refer to [link / reference needed]. Figure 5 , Figure 5 This is a schematic diagram of an embodiment of the self-cleaning device provided in this application.

[0100] The self-cleaning device 500 includes a memory 501 and a processor 502, wherein the memory 501 and the processor 502 are coupled together.

[0101] The memory 501 is used to store program data, and the processor 502 is used to execute the program data to implement the water replenishment method of the self-cleaning device in the above embodiment.

[0102] In this embodiment, processor 502 can also be referred to as CPU (Central Processing Unit). Processor 502 may be an integrated circuit chip with signal processing capabilities. Processor 502 can also be a general-purpose processor, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The general-purpose processor can be a microprocessor, or processor 502 can be any conventional processor.

[0103] This application also provides a computer-readable storage medium, such as Figure 6 As shown, the computer-readable storage medium 600 is used to store program data 601, which, when executed by a processor, is used to implement the water replenishment method of the self-cleaning device as described in the method embodiments of this application.

[0104] The methods involved in the water replenishment method embodiments of the self-cleaning device of this application, when implemented as software functional units and sold or used as independent products, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for replenishing water in a self-cleaning device, characterized in that, The method includes: In response to the self-cleaning device being in a map mode, the area to be cleaned is acquired; The water volume requirement for the self-cleaning device to clean the area to be cleaned is determined based on the area information of the area to be cleaned. The self-cleaning device is replenished with water based on the water demand data and the current remaining water volume data.

2. The method according to claim 1, characterized in that, The water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing water to the self-cleaning device based on the water demand data and the current remaining water volume data of the self-cleaning device includes: The distance coefficient is determined based on the water replenishment distance between the current position of the self-cleaning device and the obtained water replenishment position; The target remaining number of water discharges for the self-cleaning device is obtained based on the distance coefficient and the current remaining number of water discharges. In response to the water demand number being greater than or equal to the target remaining water output number, the self-cleaning device is triggered to perform a water replenishment operation.

3. The method according to claim 1, characterized in that, The water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing the self-cleaning device with water based on the water demand data and the current remaining water volume data of the self-cleaning device further includes: In response to the water demand count being greater than or equal to the current remaining water demand count, the water demand count for each sub-area in the area to be cleaned is obtained; In response to the existence of at least one target sub-area having a water demand number greater than or equal to the current remaining water demand number, a cleaning operation is performed on the target sub-area, and after the cleaning operation is completed, the self-cleaning device is triggered to perform a water replenishment operation.

4. The method according to claim 3, characterized in that, The step of cleaning the target sub-region includes: The target sub-regions are sorted to obtain the sorted target sub-regions. The cleaning operation is performed sequentially on the sorted target sub-regions until the remaining water volume of the self-cleaning device is less than or equal to the water volume requirement of the target sub-region being cleaned.

5. The method according to claim 3, characterized in that, Before the step of obtaining the number of times water is required in each sub-area of ​​the area to be cleaned, the method further includes: The area to be cleaned is divided into multiple sub-areas; The number of times water is required for each sub-region is obtained based on the regional attributes of each sub-region.

6. The method according to claim 1, characterized in that, The water demand data includes the number of water dispensing requests, and the current remaining water volume data includes the current remaining number of water dispensing requests. The step of replenishing the self-cleaning device with water based on the water demand data and the current remaining water volume data of the self-cleaning device further includes: In response to the water demand count being greater than or equal to the current remaining water output count, the self-cleaning device is triggered to perform a water replenishment operation; In response to the fact that the number of times water is required is less than the current remaining number of times water is required, the self-cleaning device is triggered to perform a cleaning operation, and a water replenishment operation is performed after the cleaning operation is completed.

7. The method according to claim 1, characterized in that, The regional information includes the area of ​​at least one sub-region and the regional coefficient of the sub-region; the water demand data includes the number of water discharge requests; the step of determining the water demand data for the self-cleaning device to clean the area to be cleaned based on the regional information of the area to be cleaned includes: The regional water consumption of the sub-region is determined based on the regional area of ​​the sub-region and the regional coefficient. The number of water discharge requests for each sub-area in the area to be cleaned is determined based on the regional water consumption and the preset single water discharge volume of the sub-area.

8. The method according to claim 1, characterized in that, The current remaining water volume data includes the current remaining number of water discharges. Before the step of replenishing the self-cleaning device with water based on the water demand data and the current remaining water volume data of the self-cleaning device, the method includes: Obtain the current total number of water discharges from the self-cleaning device; The remaining number of water discharges is determined based on the current total number of water discharges of the self-cleaning device, the preset maximum number of water discharges of the self-cleaning device, and the preset attenuation coefficient.

9. A self-cleaning device, characterized in that, include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to perform the method as claimed in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, include: The system stores program data, which, when executed by a processor, is used to implement the method as described in any one of claims 1-8.

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