Cleaning method and system for cleaning cloth and storage medium

Abstract

The embodiment of the invention provides a cleaning method and system of cleaning cloth and a storage medium, and belongs to the technical field of intelligent cleaning. The cleaning method comprises the steps that estimated cleaning duration is obtained; working cleaning duration is set according to the estimated cleaning duration, wherein the working cleaning duration is longer than the estimated cleaning duration; if the actual cleaning duration does not reach the working cleaning duration, cleaning the cleaning cloth; and if the actual cleaning duration reaches the working cleaning duration, cleaning of the cleaning cloth is stopped. According to the method, the working cleaning duration longer than the estimated cleaning time is set, it is ensured that the cleaning action still has sufficient time to be completed even if the estimated cleaning time calculated by the sensor has certain deviation, and cleaning interruption or incomplete cleaning caused by instantaneous misjudgment is fundamentally avoided.

Description

Technical Field

[0001] This invention relates to the field of intelligent cleaning technology, and more specifically to a method, system, and storage medium for cleaning a cleaning cloth. Background Technology

[0002] With the rapid development of smart home technology, robotic vacuum cleaners have become an important tool for modern household cleaning. To improve cleaning efficiency, most mainstream robotic vacuum cleaners are equipped with dedicated base stations that can automatically clean the robot's mop. One common mop cleaning method used in existing base stations relies on dynamically adjusting the cleaning time based on the detection of the mop's level of dirt. The core implementation of this technology involves installing a turbidity sensor in the base station's wastewater pipe. By measuring the turbidity of the wastewater after cleaning the mop, the degree of dirtiness of the mop is indirectly determined. When the sensor detects a low level of dirt, the cleaning time is shortened; conversely, when a high level of dirt is detected, the cleaning time is extended accordingly, aiming to achieve a balance between efficient cleaning and water conservation.

[0003] However, in actual use, the stains are complex and the sensors are easily affected by environmental interference, such as changes in water temperature or bubbles, which leads to large fluctuations in the detection results. As a result, it is impossible to accurately match the optimal cleaning time, resulting in incomplete cleaning. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, and storage medium for cleaning a rag, which solves the problem of incomplete cleaning of the rag caused by inaccurate sensor detection.

[0005] To achieve the above objectives, one embodiment of the present invention provides a method for cleaning a rag, the cleaning method comprising: Get the estimated cleaning time; The working cleaning time is set according to the estimated cleaning time, and the working cleaning time is longer than the estimated cleaning time. If the actual cleaning time does not reach the working cleaning time, the cloth should be cleaned. If the actual cleaning time reaches the working cleaning time, then stop cleaning the cloth.

[0006] Optionally, obtain the estimated cleaning time, including: The environmental map is divided into multiple cleaning zones based on the degree of dirtiness. Obtain the corresponding historical cleaning time based on different cleaning areas; The estimated cleaning time is determined based on historical cleaning times.

[0007] Optionally, obtaining the estimated cleaning time includes obtaining the soaking time and the time for rinsing out clean water.

[0008] Optionally, the soaking time and the time to obtain clear water are obtained, including: Obtain the actual level of dirt in the cleaned area; The soaking time and the time to rinse with clean water are determined based on the actual level of dirt.

[0009] Optionally, the actual dirt level of the cleaned area is obtained, including: Check the base station cleaning tank for dirt and blockage; If no dirt or blockage is detected in the base station cleaning tank, calculate the turbidity of the wastewater in the cleaning area; The actual level of dirt in the clean area is determined based on the turbidity.

[0010] Optionally, if dirt or blockage is detected in the base station cleaning tank, the negative pressure of the wastewater tank can be increased to clear the dirt or blockage.

[0011] Optionally, the base station cleaning tank is checked for dirt or blockage, including: The flow rate of the sewage pipe at the base station is measured by the flow meter, and the liquid level in the base station cleaning tank is monitored. If the flow rate decreases but the liquid level is normal, then there is dirt or blockage in the cleaning tank. If the flow rate is normal but the liquid level is abnormal, wait for the first threshold time and then check the flow rate and liquid level again. If the flow rate and liquid level are abnormal, the cleaning tank is clogged with dirt. If the flow rate and liquid level are normal, then there is no dirt or blockage in the cleaning tank.

[0012] Optionally, the turbidity of the wastewater in the clean area is calculated, including: A wastewater detection component is used to emit a detection light source into a transparent tube; A detection light source for receiving transmitted signals; Calculate the current value based on the light source intensity; The turbidity of the wastewater is calculated based on the current value.

[0013] Optionally, the soaking time and the time for rinsing out clean water are determined based on the actual degree of soiling, including: Determine the first level of soiling threshold; Compare the first dirt threshold with the actual dirt value; If the actual dirt level is less than the first dirt level threshold, reduce the soaking and cleaning time and / or the time for rinsing out clean water, and use rotation to perform soaking and cleaning operations. If the actual dirt level is greater than or equal to the first dirt level threshold, increase the soaking and cleaning time and / or the time for rinsing with clean water, and rotate the machine to perform the soaking and cleaning operations.

[0014] Optionally, if the actual dirt level is greater than or equal to the first dirt level threshold, the soaking and rinsing time and / or the time for rinsing with clean water are increased, and rotation is used to perform the soaking and rinsing operations, including: Immersion is performed using the first preset rotation speed; Lift the cloth and pump out the water; Cleaning is performed using the second preset rotation speed; The spin-drying is performed using a third preset speed, wherein the first preset speed is less than the second preset speed, and the second preset speed is less than the third preset speed.

[0015] Optionally, the soaking time and the time for rinsing out clean water are determined based on the actual degree of soiling, including: Determine the second level of soiling threshold; Compare the second dirtiness threshold with the actual dirtiness value; If the actual dirt level is less than the second dirt level threshold, the fourth preset speed is used for soaking. If the actual dirt level is greater than or equal to the second dirt level threshold, the fifth preset speed is used for soaking, wherein the fourth preset speed is greater than the fifth preset speed.

[0016] On the other hand, the present invention also provides a cleaning system, the cleaning system comprising: Base station; A cleaning module, installed on the base station, is used to perform the cleaning method as described above to clean the cloth.

[0017] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the cleaning methods described above.

[0018] Through the above technical solution, this invention provides a method, system, and storage medium for cleaning cloths. It obtains an estimated cleaning time as an initial reference value, dynamically generating a new cleaning time based on historical data or real-time sensor information, providing a basis for subsequent operations. Secondly, the actual cleaning time is set to a buffer value slightly larger than the estimated value. If the actual cleaning time is less than the estimated cleaning time, cleaning continues; if it is reached, cleaning stops. Compared with existing technologies, this invention, by setting a working cleaning time greater than the estimated cleaning time, ensures that even if there is a certain deviation in the sensor's calculated estimated cleaning time, the cleaning action still has sufficient time to complete, fundamentally avoiding cleaning interruptions or incomplete cleaning due to momentary misjudgments.

[0019] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a cleaning method according to one embodiment of the present invention; Figure 2 This is a flowchart for obtaining the estimated cleaning time according to one embodiment of the present invention; Figure 3 This is a flowchart for obtaining the estimated cleaning time according to one embodiment of the present invention; Figure 4 This is a flowchart illustrating the actual dirtiness values ​​according to one embodiment of the present invention; Figure 5 This is a flowchart of a dirt and clogging detection method according to an embodiment of the present invention; Figure 6 This is a flowchart for calculating turbidity according to one embodiment of the present invention; Figure 7 This is a flowchart illustrating the control of soaking, rinsing, and rinsing time according to one embodiment of the present invention; Figure 8 This is a flowchart of soaking and cleaning operations according to one embodiment of the present invention; Figure 9 This is a flowchart for determining the rotation speed of a cloth during soaking, according to one embodiment of the present invention. Detailed Implementation

[0021] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0022] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0023] The accompanying drawings show some block diagrams and / or flowcharts. It should be understood that some blocks or combinations thereof in the block diagrams and / or flowcharts can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when executed by the processor, these instructions can create means for implementing the functions / operations described in these block diagrams and / or flowcharts. The technology of this disclosure can be implemented in the form of hardware and / or software (including firmware, microcode, etc.). Additionally, the technology of this disclosure can take the form of a computer program product on a computer-readable storage medium storing instructions, which can be used by or in conjunction with an instruction execution system. To achieve the above objectives, the technical solution adopted by the present invention is as follows: Cleaning equipment such as robot vacuum cleaners are very practical household cleaning tools that can not only reduce our housework burden, save time and energy, and clean the room more thoroughly, but also bring a more intelligent and convenient cleaning experience.

[0024] To improve cleaning efficiency, most mainstream robotic vacuum cleaners are equipped with dedicated base stations that automatically clean the robot's mop. One common mop-cleaning method used in existing base stations relies on dynamically adjusting the cleaning time based on the detection of the mop's level of dirt. A turbidity sensor is installed in the base station's wastewater pipe to indirectly determine the mop's dirtiness by measuring the turbidity of the wastewater after cleaning. However, in actual use, due to the complex composition of dirt and the sensor's susceptibility to environmental interference, such as changes in water temperature or the influence of air bubbles, the detection results fluctuate significantly, making it impossible to accurately match the optimal cleaning time and resulting in incomplete cleaning.

[0025] In order to overcome the shortcomings of the existing technology, after repeated thinking and verification, the inventors discovered that by setting a working cleaning time that is longer than the estimated cleaning time, the cleaning action still has enough time to be completed even if there is a certain deviation in the estimated cleaning time calculated by the sensor, thus fundamentally avoiding cleaning interruption or incomplete cleaning caused by momentary misjudgment.

[0026] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0027] Figure 1 This is a flowchart of a cleaning method according to an embodiment of the present invention, in which the cleaning method includes: In step S1, the estimated cleaning time is obtained.

[0028] In step S2, the working cleaning time is set according to the estimated cleaning time, and the working cleaning time is longer than the estimated cleaning time.

[0029] In step S3, if the actual cleaning time does not reach the working cleaning time, the cloth is cleaned.

[0030] In step S4, if the actual cleaning time reaches the working cleaning time, the cleaning of the cloth is stopped.

[0031] In steps S1 to S4, the reliability of the cleaning process is effectively improved by introducing a dual mechanism of estimated cleaning time and actual cleaning time. First, the estimated cleaning time is obtained as an initial reference value, dynamically generated based on historical data or real-time sensor information, providing a basis for subsequent operations. Second, the actual cleaning time is set as a buffer value slightly larger than the estimated value, forming a safety redundancy. Setting an actual cleaning time slightly larger than this value as the final execution standard ensures that even if the estimate deviates due to momentary sensor interference (such as signal fluctuations, noise, or brief malfunctions), the actual cleaning time can still cover the necessary operation time, avoiding incomplete cleaning due to an underestimation of the estimated value. In steps S3 and S4, cleaning continues if the actual cleaning time does not reach the actual cleaning time, and stops when it does. This logic achieves automated control through threshold comparison, reducing the need for manual intervention. Overall, even if the sensor is briefly interfered with, causing the estimated value to deviate, the preset cleaning time can serve as a safety buffer, ensuring that the cleaning action has enough time to complete, thereby guaranteeing the stability of the basic cleaning effect, significantly improving the self-cleaning function of the robot vacuum cleaner, while optimizing resource utilization and preventing energy waste caused by over-cleaning.

[0032] In this embodiment, the method for obtaining the estimated cleaning time can be various, as known to those skilled in the art. In one example of the present invention, it can be obtained through historical cleaning times, specifically, such as... Figure 2 As shown, the following steps may be included: In step S11, the environmental map is divided into multiple clean areas based on the degree of soiling. Specifically, the bedroom is classified as a lightly polluted area, the living room as a moderately polluted area, and the kitchen as a heavily polluted area.

[0033] In step S12, the corresponding historical cleaning time is obtained according to different cleaning areas. For example, if the cleaning area is lightly contaminated, the corresponding historical cleaning time is 30 seconds; if the cleaning area is moderately contaminated, the corresponding historical cleaning time is 40 seconds; and if the cleaning area is heavily contaminated, the corresponding historical cleaning time is 50 seconds.

[0034] In step S13, the estimated cleaning time is determined based on the historical cleaning time.

[0035] In steps S11 to S13, by dividing the environmental map into zones based on the degree of soiling and matching them with historical cleaning times, dynamic and accurate estimation of cleaning time is achieved. Areas with high soiling levels are automatically assigned longer historical cleaning times as estimated values, while clean areas have shorter times, thus avoiding under- or over-cleaning caused by a one-size-fits-all approach. This zoning strategy, combined with historical data, reduces redundant cleaning in lightly soiled areas while ensuring effective cleaning in heavily soiled areas.

[0036] The aforementioned historical cleaning times rely on long-term data accumulation and cannot cope with sudden contamination. Therefore, in a preferred embodiment of the present invention, the estimated cleaning time can be dynamically adjusted by monitoring the degree of dirt in the cleaning area in real time. The estimated cleaning time includes the soaking time and the time for rinsing out clean water. By adjusting the soaking time and the time for rinsing out clean water, efficient cleaning of the cloth can be achieved.

[0037] Specifically, the methods for determining the soaking time and the time for rinsing the water can be various those known in the art. In one example of the present invention, it can be... Figure 3 The method shown is illustrated. Figure 3 The cleaning method includes: In step S14, the actual dirt level of the cleaned area is obtained.

[0038] In step S15, the soaking time and the time for rinsing out clean water are determined based on the actual degree of dirtiness.

[0039] In steps S14 and S15, firstly, obtaining the actual dirt level accurately reflects the current contamination status of the cleaning area, avoiding under- or over-cleaning issues caused by relying on historical data, and offering greater flexibility, especially in dealing with sudden contamination. Secondly, by dynamically determining the soaking time and rinsing time based on the actual dirt level, optimal cleaning parameters can be matched for different levels of contamination. For example, the soaking time can be extended in heavily contaminated areas to ensure cleaning effectiveness, while the soaking time can be shortened in lightly contaminated areas to improve efficiency. This optimizes the allocation of resources such as water, electricity, and time while ensuring cleaning quality. This real-time feedback and dynamic adjustment mechanism significantly improves the adaptability and intelligence of the cleaning process.

[0040] To ensure the accuracy of the detection of the clean area, in this embodiment, it is necessary to determine whether there is any dirt or blockage in the base station cleaning tank before detecting the actual dirt level. Specifically, such as... Figure 4 As shown, the following steps may be included: In step S141, the cleaning tank of the base station is checked for dirt or blockage. If the cleaning tank is blocked, the sewage cannot flow normally, and directly measuring the turbidity will lead to data distortion, such as false high values. Checking for blockage first can ensure that subsequent measurements reflect the true pollution situation.

[0041] In step S142, if it is detected that there is no dirt or blockage in the base station cleaning tank, the turbidity of the wastewater in the cleaning area is calculated.

[0042] In step S143, the actual dirt level of the clean area is determined based on the turbidity.

[0043] In steps S141 to S143, step S141 checks for dirt or blockage in the base station cleaning tank to prevent abnormal water flow or sensor contamination from affecting subsequent measurements. After confirming there is no blockage, step S142 calculates the wastewater turbidity. Finally, in step S143, the actual dirt level is output based on the linear relationship between turbidity and preset empirical data, reducing environmental factor errors. This step-by-step design eliminates interference factors such as false high turbidity caused by blockage, ensures data reliability through standardized measurement procedures, and reduces the need for manual intervention through automated operation, ultimately achieving the dual goals of accurate detection and resource optimization.

[0044] Furthermore, considering that clogging by debris can affect the detection of sewage turbidity, when dirt and debris are detected clogging the base station cleaning tank, the negative pressure in the sewage tank is increased to clear the blockage. Negative pressure unclogging is a mechanical process, which, compared to chemical cleaning or high-temperature flushing, causes no corrosion or thermal damage to the pipe walls, thus extending equipment lifespan.

[0045] In this embodiment, the methods for detecting whether the base station cleaning tank is clogged can be various and known to those skilled in the art. In one example of the invention, the presence of dirt or blockage in the base station cleaning tank is determined by detecting the flow rate of the base station wastewater pipe flow meter and the liquid level in the base station cleaning tank. Specifically, it can be as follows: Figure 5 The method shown is illustrated. Figure 5 The cleaning method also includes: In step S1411, the flow rate of the flow meter in the sewage pipe of the base station is detected and the liquid level in the base station cleaning tank is detected.

[0046] In step S1412, if the flow rate decreases but the liquid level is normal, then the cleaning tank is clogged with dirt.

[0047] In step S1413, if the flow rate is normal but the liquid level is abnormal, the flow rate and liquid level are detected again after waiting for the first threshold time.

[0048] In step S1414, if the flow rate and liquid level are abnormal, the cleaning tank is clogged with dirt.

[0049] In step S1415, if the flow rate and liquid level are normal, then there is no dirt or blockage in the cleaning tank.

[0050] In steps S1411 to S1415, the coordinated detection of a flow meter and a liquid level sensor enables accurate determination of dirt and blockage in the base station cleaning tank. Real-time monitoring of the sewage pipe flow rate and the cleaning tank liquid level establishes a dual verification mechanism. If the flow rate is normal but the liquid level is abnormal, a re-inspection is performed after waiting for a first threshold time to eliminate interference from momentary fluctuations in the liquid level caused by water inflow. If both the flow rate and liquid level are normal, no blockage is confirmed, ensuring the reliability of the detection results. This design of continuous monitoring and delayed re-inspection significantly improves the accuracy of blockage identification.

[0051] In this embodiment, the methods for calculating turbidity may include, but are not limited to, transmission methods and scattering methods. Transmission methods assess the suspended solids content by measuring the light transmittance of water, while scattering methods determine turbidity based on the intensity and direction of light reflected by suspended particles. In a preferred embodiment of the invention, the method for calculating turbidity may be as follows: Figure 6 The method shown is illustrated. Figure 6 The cleaning method also includes: In step S1421, a wastewater detection component emits a detection light source into the transparent tube.

[0052] In step S1422, the emitted detection light source is received.

[0053] In step S1423, the current value is calculated based on the light source intensity.

[0054] In step S1424, the turbidity of the wastewater is calculated based on the current value.

[0055] In steps S1421 to S1424, a detection light source is emitted into the transparent tube by the wastewater detection component, and the reflected light is received. The intensity of the light source is converted into a current value in real time, and then the turbidity of the wastewater is directly calculated. The more turbid the water, the less light passes through. The light receiver converts the intensity of the transmitted light into a corresponding current. More transmitted light results in a larger current, and vice versa. By measuring the current at the receiver, the degree of turbidity of the water can be calculated, achieving accurate quantification of dirt concentration. This effectively avoids misjudgments caused by water flow fluctuations or sensor errors in traditional indirect detection methods. Its optical detection mechanism has natural resistance to environmental interference such as temperature changes and mechanical vibrations, significantly improving data stability and reducing the risk of false alarms.

[0056] To achieve efficient cleaning of the cloth, this embodiment dynamically adjusts the cleaning time based on a soiling threshold. By comparing the actual soiling level with a preset threshold in real time, the soaking, cleaning, and rinsing times are intelligently controlled. Specifically, as shown... Figure 7 As shown, the following steps may be included: In step S151, a first dirtiness threshold is determined.

[0057] In step S152, the first dirtiness threshold is compared with the actual dirtiness value.

[0058] In step S153, if the actual dirt level is less than the first dirt level threshold, the soaking and cleaning time and / or the time for rinsing with clean water are reduced, and the soaking and cleaning operation is carried out in conjunction with rotation.

[0059] In step S154, if the actual dirt level is greater than or equal to the first dirt level threshold, the soaking and cleaning time and / or the time for rinsing with clean water are increased, and rotation is used to perform the soaking and cleaning operations.

[0060] In steps S151 to S154, based on the comparison between the actual dirt level and a first dirt threshold, when the level is lower than the first dirt threshold, the soaking and cleaning time is reduced to avoid resource waste caused by over-cleaning, while the rotation operation enhances the dirt removal efficiency. When the level reaches or exceeds the first dirt threshold, the cleaning time is increased to ensure deep cleaning, and the rotation enhances the water flow rinsing effect, thereby significantly improving cleaning quality and reducing energy consumption. This decision-making mechanism, by providing real-time feedback on the degree of dirt and dynamically matching the cleaning intensity, solves the problems of incomplete cleaning or resource redundancy caused by fixed cleaning time in traditional methods, ultimately achieving a highly efficient and energy-saving automated cleaning process.

[0061] In this embodiment, considering the increased time for clear water to be produced, storing a large amount of water in the washing tank could cause liquid splashing during the washing of the cloth. Therefore, in this embodiment, it is necessary to lift the cloth and perform a water extraction operation. The specific soaking and washing steps can be as follows: Figure 8 The method shown is illustrated. Figure 8 The steps for soaking and washing the cloth include: In step S1541, the first preset rotation speed is used for soaking.

[0062] In step S1542, the cloth is lifted and a water pumping operation is performed.

[0063] In step S1543, cleaning is performed using a second preset rotation speed.

[0064] In step S1544, a third preset speed is used for spin drying, wherein the first preset speed is less than the second preset speed, and the second preset speed is less than the third preset speed.

[0065] In steps S1541 to S1544, when the actual dirt level exceeds the first preset threshold, a large volume of water is used for soaking at a low speed (the first preset speed) to avoid splashing water caused by high-speed rotation. Then, the cloth is lifted and some water is pumped out to reduce residual water before switching to a medium speed (the second preset speed) for simultaneous rotation and cleaning, utilizing centrifugal force to enhance dirt removal. Finally, the cloth is spun dry at a high speed (the third preset speed). By dynamically adjusting the speed in stages, a highly efficient, energy-saving, and splash-proof cloth cleaning process is achieved.

[0066] In this embodiment, efficient cleaning of the cloth can be achieved by adjusting the rotation speed during soaking. Specifically, for example... Figure 9 As shown, it includes the following steps: In step S155, a second dirtiness threshold is determined.

[0067] In step S156, the second dirtiness threshold is compared with the actual dirtiness value.

[0068] In step S157, if the actual dirtiness value is less than the second dirtiness threshold, the fourth preset rotation speed is used for soaking.

[0069] In step S158, if the actual dirtiness value is greater than or equal to the second dirtiness threshold, the fifth preset rotation speed is used for soaking, wherein the fourth preset rotation speed is greater than the fifth preset rotation speed.

[0070] In steps S154 to S158, when the actual dirt level is low (less than the second preset threshold), a higher fourth preset speed is used for soaking, utilizing the relatively strong water flow to quickly remove surface stains and avoid over-cleaning that would waste resources. Conversely, when the actual dirt level is high (greater than or equal to the second dirt level threshold), the speed is switched to a lower fifth preset speed to enhance the penetration of the detergent, effectively breaking down deep-seated stubborn stains and ensuring thorough cleaning. This adaptive speed adjustment mechanism not only optimizes cleaning efficiency but also controls energy consumption and reduces wear on the cloth material, thereby improving the overall cleaning effect and service life.

[0071] On the other hand, the present invention also provides a cleaning system, which includes a base station and a cleaning module, wherein the cleaning module is disposed on the base station and is used to perform any of the cleaning methods described above to clean the cloth.

[0072] In another aspect, the present invention also provides a computer-readable storage medium storing instructions for being read by a machine to cause the machine to perform any of the cleaning methods described above.

[0073] Through the above technical solution, this invention provides a method, system, and storage medium for cleaning cloths. It obtains an estimated cleaning time as an initial reference value, dynamically generating a new cleaning time based on historical data or real-time sensor information, providing a basis for subsequent operations. Secondly, the actual cleaning time is set to a buffer value slightly larger than the estimated value. If the actual cleaning time is less than the estimated cleaning time, cleaning continues; if it is reached, cleaning stops. Compared with existing technologies, this invention, by setting a working cleaning time greater than the estimated cleaning time, ensures that even if there is a certain deviation in the sensor's calculated estimated cleaning time, the cleaning action still has sufficient time to complete, fundamentally avoiding cleaning interruptions or incomplete cleaning due to momentary misjudgments.

[0074] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0079] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0080] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0082] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for cleaning a rag, characterized in that, The cleaning method includes: Get the estimated cleaning time; The working cleaning time is set according to the estimated cleaning time, and the working cleaning time is longer than the estimated cleaning time. If the actual cleaning time does not reach the working cleaning time, the cloth should be cleaned. If the actual cleaning time reaches the working cleaning time, then stop cleaning the cloth.

2. The cleaning method according to claim 1, characterized in that, Obtain the estimated cleaning time, including: The environmental map is divided into multiple cleaning zones based on the degree of dirtiness. Obtain the corresponding historical cleaning time based on different cleaning areas; The estimated cleaning time is determined based on historical cleaning times.

3. The cleaning method according to claim 1, characterized in that, The estimated cleaning time includes the soaking time and the time for rinsing out clean water.

4. The cleaning method according to claim 3, characterized in that, Obtain the soaking time and the time to obtain clear water, including: Obtain the actual level of dirt in the cleaned area; The soaking time and the time to rinse with clean water are determined based on the actual level of dirt.

5. The cleaning method according to claim 4, characterized in that, Obtain the actual dirt level of the cleaned area, including: Check the base station cleaning tank for dirt and blockage; If no dirt or blockage is detected in the base station cleaning tank, calculate the turbidity of the wastewater in the cleaning area; The actual level of dirt in the clean area is determined based on the turbidity.

6. The cleaning method according to claim 5, characterized in that, If dirt or blockage is detected in the base station cleaning tank, measures include increasing the negative pressure in the wastewater tank to clear the blockage.

7. The cleaning method according to claim 5, characterized in that, Checking for dirt and blockages in the base station cleaning tank includes: The flow rate of the sewage pipe at the base station is measured by the flow meter, and the liquid level in the base station cleaning tank is monitored. If the flow rate decreases but the liquid level is normal, then there is dirt or blockage in the cleaning tank. If the flow rate is normal but the liquid level is abnormal, wait for the first threshold time and then check the flow rate and liquid level again. If the flow rate and liquid level are abnormal, the cleaning tank is clogged with dirt. If the flow rate and liquid level are normal, then there is no dirt or blockage in the cleaning tank.

8. The cleaning method according to claim 6, characterized in that, Calculate the turbidity of the wastewater in the clean area, including: A wastewater detection component emits a detection light source into a transparent tube; A detection light source for receiving transmitted signals; Calculate the current value based on the light source intensity; The turbidity of the wastewater is calculated based on the current value.

9. The cleaning method according to claim 5, characterized in that, The soaking time and the time to purge clean water are determined based on the actual level of dirt, including: Determine the first level of soiling threshold; Compare the first dirt threshold with the actual dirt value; If the actual dirt level is less than the first dirt level threshold, reduce the soaking and cleaning time and / or the time for rinsing out clean water, and use rotation to perform soaking and cleaning operations. If the actual dirt level is greater than or equal to the first dirt level threshold, increase the soaking and cleaning time and / or the time for rinsing with clean water, and rotate the machine to perform the soaking and cleaning operations.

10. The cleaning method according to claim 9, characterized in that, If the actual dirt level is greater than or equal to the first dirt level threshold, increase the soaking and rinsing time and / or the time for rinsing with clean water, and use rotation to perform the soaking and rinsing operations, including: Immersion is performed using the first preset rotation speed; Lift the cloth and pump out the water; Cleaning is performed using the second preset rotation speed; The spin-drying is performed using a third preset speed, wherein the first preset speed is less than the second preset speed, and the second preset speed is less than the third preset speed.

11. The cleaning method according to any one of claims 5 or 9, characterized in that, The soaking time and the time to rinse with clean water are determined based on the actual level of dirt, including: Determine the second level of soiling threshold; Compare the second dirtiness threshold with the actual dirtiness value; If the actual dirt level is less than the second dirt level threshold, the fourth preset speed is used for soaking. If the actual dirt level is greater than or equal to the second dirt level threshold, the fifth preset speed is used for soaking, wherein the fourth preset speed is greater than the fifth preset speed.

12. A cleaning system, characterized in that, The cleaning system includes: Base station; A cleaning module, installed on the base station, is used to perform the cleaning method as described in any one of claims 1 to 11 to clean the rag.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions for being read by a machine to cause the machine to perform the cleaning method as described in any one of claims 1 to 11.

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