Control method of cleaning equipment and cleaning equipment

Abstract

The invention relates to the technical field of cleaning, and discloses a control method of cleaning equipment and the cleaning equipment, the cleaning equipment comprises a cleaning tank and a fan, the cleaning tank is used for cleaning a cleaning part, the fan is used for blowing and drying the cleaning part in the cleaning tank, two electrode plates are arranged on the cleaning tank, and the two electrode plates are arranged on the cleaning tank. The two electrode plates are used for conducting full liquid detection on the cleaning tank, when the draught fan blows air through the air outlet, the air can be blown to the two electrode plates and a connecting space for connecting the two electrode plates, and the method comprises the steps that a cleaning instruction is received; and in response to the cleaning instruction, executing a cleaning task of cleaning the cleaning piece, and in the process of executing the cleaning task of cleaning the cleaning piece, controlling the fan to blow air so as to avoid non-full-liquid conduction of the two electrode plates. According to the invention, the full-water false detection of the electrode plate can be avoided.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and more specifically, to a control method for cleaning equipment and a cleaning equipment. Background Technology

[0002] In automated cleaning processes, a common step is to clean cleaning components (e.g., mops) in a cleaning tank. The tank contains a cleaning solution (e.g., water, or a mixture of water and cleaning solution), and cleaning is achieved through the relative movement of the components and the solution. To prevent overflow and damage to the cleaning equipment, a level detection component (e.g., an electrode plate) is typically installed in the tank to monitor the liquid level. When the level detection component detects that the tank is full, it triggers an alarm, pauses the cleaning process, and alerts the user. However, in actual cleaning, when using an electrode plate to detect the liquid level, an alarm is triggered simply because the electrode plate is conductive. However, the electrode plate's conductivity can be erratic; if the alarm is triggered when the tank is not full, it can lead to false alarms, affecting the normal cleaning operation and reducing the reliability and intelligence of the cleaning equipment.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a control method and cleaning equipment for a cleaning device, which at least solves the technical problem of false alarms on the electrode plates in the cleaning tank affecting the normal cleaning of the cleaning equipment.

[0005] To address the aforementioned technical problems, this application provides a control method for a cleaning device. The cleaning device includes a cleaning tank and a fan. The cleaning tank is used to clean cleaning components, and the fan is used to dry the cleaning components within the cleaning tank by blowing air. Two electrode plates are disposed on the cleaning tank for detecting the liquid level. When the fan blows air through an air outlet, it can direct the air towards the two electrode plates and the connection space connecting the two electrode plates. The method includes: receiving a cleaning command; responding to the cleaning command, executing a cleaning task to clean the cleaning components, and during the execution of the cleaning task, controlling the fan to blow air so that the two electrode plates avoid non-full liquid conduction.

[0006] In some embodiments, performing the cleaning task of cleaning the cleaning component includes: performing a predetermined cleaning process on the cleaning component; and after the predetermined cleaning process, controlling the cleaning component to rotate to clean the cleaning tank.

[0007] In some embodiments, performing a predetermined cleaning process on the cleaning component includes performing a predetermined number of cleaning cycles on the cleaning component, wherein one cleaning cycle includes: a combing stage in which the cleaning component is controlled to rotate along a first direction at a first rotation speed for a first duration; a immersion stage in which the cleaning component is controlled to rotate along a second direction at a second rotation speed for a second duration; a soaking stage in which the main unit injects water into the cleaning component for a third duration; and a cleaning stage in which the cleaning component is controlled to rotate along a second direction at a third rotation speed for a fourth duration.

[0008] In some embodiments, controlling the cleaning component to rotate to clean the cleaning tank includes: controlling the cleaning component to rotate at a fourth rotation speed for a fifth duration, wherein the fourth rotation speed is less than a rotation speed threshold.

[0009] In some embodiments, the cleaning device further includes a first clean water tank and a first clean water pump, and the method further includes: controlling the first clean water pump to inject water from the first clean water tank into a second clean water tank of the main unit through a clean water pipe located above the cleaning tank, wherein the second clean water tank is used to fill the cleaning component with water; after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipe.

[0010] In some embodiments, the step of controlling the first water pump to back-pump water from the water pipe after completing the injection of water from the first water tank into the second water tank includes: after controlling the first water pump to stop injecting water from the first water tank into the second water tank, at a predetermined time interval, controlling the first water pump to back-pump water from the water pipe.

[0011] In some embodiments, performing the cleaning task of cleaning the cleaning component further includes: controlling the cleaning component to rotate at a predetermined speed for a predetermined duration to absorb water from the cleaning tank.

[0012] In some embodiments, the method further includes: controlling the injection of a predetermined amount of water into a second clean water tank of the host, wherein the predetermined amount is less than the capacity of the cleaning tank.

[0013] In some embodiments, the predetermined amount is 70% to 80% of the capacity.

[0014] In some embodiments, the cleaning instruction is received in at least one of the following situations: the cleaning device completes the entire cleaning task, the main unit of the cleaning device is replenished with water, the cleaning device performs a backwash during the entire cleaning task; and / or, the cleaning device is controlled to execute the cleaning instruction in a preset scenario according to a preset cleaning frequency.

[0015] In some embodiments, the method further includes: displaying the cleaning stage at which the cleaning device completes the entire cleaning task; and / or, displaying the remaining cleaning time required for the cleaning device to complete the entire cleaning task.

[0016] This application also provides a cleaning device, including a control device for performing any of the methods described above.

[0017] In some embodiments, the fan forms an air duct cavity from the fan outlet through an air duct pipe or the housing of the cleaning equipment itself. The air outlet of the air duct cavity is connected to the bottom plate of the cleaning tank. A cover plate is provided on one side above the cleaning tank. A blowing air duct is formed between the cover plate and the bottom plate of the cleaning tank. One end of the blowing air duct is connected to the air outlet of the air duct cavity. The two electrode plates are provided on the cleaning tank near the other end of the blowing air duct.

[0018] This application embodiment also provides a control device for a cleaning equipment. The cleaning equipment includes a cleaning tank and a fan. The cleaning tank is used to clean cleaning components, and the fan is used to blow air onto and dry the cleaning components in the cleaning tank. Two electrode plates are disposed on the cleaning tank for detecting the liquid level in the cleaning tank. When the fan blows air through the air outlet, it can blow air onto the two electrode plates and the connection space connecting the two electrode plates. The control device includes: a receiving module for receiving a cleaning command; and a control module for responding to the cleaning command, executing a cleaning task to clean the cleaning components, and controlling the fan to blow air during the cleaning task to prevent the two electrode plates from being partially filled with liquid.

[0019] This application also provides an electronic device, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the control method for the cleaning device described in any one of the above embodiments.

[0020] This application also provides a computer-readable storage medium, which includes a stored executable program, wherein the executable program, when running, controls the device where the computer-readable storage medium is located to execute the control method of the cleaning equipment described in any one of the above-mentioned embodiments.

[0021] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the control method for the cleaning equipment described in any of the above claims.

[0022] The control method for the cleaning equipment provided in this application, during the cleaning task of cleaning the cleaning parts, controls the fan to blow air so that the two electrode plates are prevented from being partially filled with liquid. On the one hand, when the fan blows air through the air outlet, it can blow the liquid between the two electrode plates and the connecting space between them in a timely manner, so that the two electrode plates and the connecting space between them can remain clean and dry during the cleaning task, avoiding false alarms caused by the two electrode plates and the connecting space between them being partially filled with liquid due to water or dirt. On the other hand, it can also prevent the liquid in the current cleaning process from flowing into the cleaning equipment from the air outlet and causing damage to the cleaning equipment. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of an optional structure of the cleaning equipment used in the embodiments of this application is shown;

[0025] Figure 2 A flowchart illustrating a control method for a cleaning device according to an embodiment of this application is shown;

[0026] Figure 3A This illustration shows a schematic diagram of an optional structure of the cleaning equipment mounting cover provided in an embodiment of this application before the cover is installed;

[0027] Figure 3B This illustration shows a schematic diagram of the optional structure of the cleaning equipment mounting cover provided in this application embodiment after the cover is installed;

[0028] Figure 4 A flowchart of a cleaning method provided by an optional embodiment of this application is shown;

[0029] Figure 5 A schematic diagram of the control device of the cleaning equipment according to an embodiment of this application is shown;

[0030] Figure 6 A schematic diagram of the frame of the cleaning equipment according to an embodiment of this application is shown;

[0031] Figure 7 A schematic diagram of the structure of the cleaning robot according to an embodiment of this application is shown;

[0032] Figure 8A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1-Cleaning tank, 2-Fan, 3-First electrode plate, 4-Second electrode plate, 5-Air outlet, 6-Cover plate, 7-Supporting rib, 8-Magnet. Detailed Implementation

[0035] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0036] It should be understood that various modifications can be made to the embodiments described herein. Therefore, the above description should not be considered as limiting, but merely as an example of embodiments. Other modifications within the scope and spirit of this application will be apparent to those skilled in the art.

[0037] The accompanying drawings, which are included in and form part of this specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0038] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0039] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0040] The above and other aspects, features and advantages of this application will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0041] Specific embodiments of this application are described thereafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this application, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that could obscure the application. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as the basis and representative basis for the claims to teach those skilled in the art to use this application in a variety of substantially any suitable detailed structures.

[0042] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in other embodiments,” all of which may refer to one or more of the same or different embodiments according to this application.

[0043] Terminology Explanation

[0044] Cleaning equipment: A general term for equipment used to clean a predetermined area. For example, it can be a base station, a host, or the entire system consisting of a base station and a host - a cleaning robot.

[0045] Cleaning robot: Consists of a base station and a main unit. The main unit performs cleaning operations and may include: a main brush, side brushes, a main unit fan, a dust collection box, a water tank, and a mop. The main brush sweeps up debris; the side brushes sweep debris from corners into the main brush area; the main unit fan generates strong suction to draw the swept dust into the dust collection box; the dust collection box collects dust and debris; the mop mops by rotating; and the water tank replenishes the mop. The base station provides the main unit with powerful command and logistical functions such as charging, water replenishment, cleaning, and dust collection.

[0046] Electrode plates: Devices installed in the cleaning tank to detect whether the cleaning tank is full of water. Generally, two electrodes are installed. When the water in the cleaning tank is full enough, the two electrodes are connected and send out a water full indication message.

[0047] Cleaning task: refers to the process logic of cleaning the cleaning items in the cleaning tank.

[0048] Cleaning task: The process by which a cleaning component completes a cleaning of a predetermined cleaning area. This can be done by dividing the predetermined cleaning area into multiple sub-areas, cleaning each of the sub-areas individually, and completing the cleaning of the entire predetermined cleaning area when all sub-areas have been cleaned.

[0049] Example 1

[0050] As described above, the false alarm of the electrode plates being full of water in the cleaning tank is a difficult problem to solve. The detection logic is that the electrode plates are considered full when they are conductive. The specific solution is to install an electrode plate on one side of the cleaning tank. The principle of the electrode plate water full detection is that when the electrode plate is conductive, if the collected Analog-to-Digital Converter (ADC) value is less than a set threshold, it is judged as full, the cleaning task is paused, and the user is reminded to clean.

[0051] However, there are actually many reasons why the electrode plates may become conductive, such as: 1. water stains causing connection between the electrode plates; 2. cleaning foam causing connection; 3. impurities causing connection, etc. These non-full water conditions can lead the system to misjudge the water level as full, resulting in abnormal water replenishment or drainage and affecting the normal operation of the equipment. Therefore, the above-mentioned electrode plate detection method lacks real-time monitoring and adaptive adjustment capabilities for the electrode plate status, and cannot effectively distinguish between the true full water state and false triggering scenarios, thus reducing the reliability and intelligence level of cleaning.

[0052] To address the aforementioned problems, this application provides a method for controlling a cleaning device. Before describing the control method for the cleaning device provided in this embodiment, the cleaning device involved in this method will be described first. Figure 1 The following is a schematic diagram of an optional structure of the cleaning equipment used in the embodiments of this application, such as... Figure 1 As shown, the cleaning equipment includes a cleaning tank 1 and a blower 2. The cleaning tank 1 is used to clean the cleaning parts (not shown in the figure), and the blower 2 is used to blow and dry the cleaning parts in the cleaning tank 1. Two electrode plates (first electrode plate 3 and second electrode plate 4) are provided on the cleaning tank 1. The two electrode plates are used to detect whether the cleaning tank 1 is full. The blower 2 exits through the blower outlet via an air duct or the housing of the cleaning equipment itself. Figure 1 The diagram shows an air duct cavity formed by the housing of the cleaning device itself. When air is discharged through the air outlet 5 of the air duct cavity, it can blow towards the two electrode plates and the connecting space connecting the two electrode plates.

[0053] It should be noted that the shape of the aforementioned cleaning tank 1 can vary. For example, it can be adapted to the shape of the cleaning component, which can also be various types of mops. For instance, the cleaning component can be a disc mop, a roller mop, or a tracked mop. Disc mops are generally paired circular mops that can rotate and wipe, typically performing cleaning work by rotating in opposite directions at high speed. The outer surface of a roller mop is in line contact with the ground, and the center line (axis) of its rotation axis is parallel to the ground. Tracked mops have at least two main rotation axes: a drive shaft and a driven shaft. These two shafts, one in front of the other, taut the tracked mop, forming a flat cleaning plane of a certain width, with the tracked mop in surface contact with the ground. The entire flat surface of the mop simultaneously contacts the ground and generates friction. The axis of the rotation shaft is also parallel to the ground, but its function is support and transmission. When the cleaning component is a disc mop, the cleaning tank 1 can be formed by two closely adjacent circular or elliptical grooves, each groove precisely accommodating one disc mop. When the cleaning component is a roller mop, the cleaning tank 1 can be a long, narrow groove shaped to accommodate the roller. The fan 2 can be a fan with multiple speed settings to meet various airflow requirements. The fan 2 can also provide air at multiple temperatures; for example, blowing hot air can improve the efficiency of drying the cleaning components. It should be noted that the cleaning tank 1 can also be connected to the air outlet of the fan 2 via a guide plate extending from the bottom of the cleaning tank 1, integrally formed. This design ensures smooth airflow to the cleaning components within the tank, and the integral forming also simplifies the manufacturing process and reduces production costs.

[0054] Two electrode plates (first electrode plate 3 and second electrode plate 4) are installed on the cleaning tank 1. The two electrode plates are used to detect the full liquid level of the cleaning tank 1. When the blower 2 blows air through the air outlet 5, it can blow air towards the two electrode plates and the connecting space between the two electrode plates. For example, the two electrode plates can be set at the transition point between the cleaning tank and the aforementioned guide plate. When the water level is not full, the air from the blower 2 can blow air towards the two electrode plates and the space between them, keeping the two electrode plates and the space between them dry and avoiding false alarms. When the water level reaches the predetermined full water position, the electrode plates are activated, triggering a full water alarm.

[0055] Figure 2 A flowchart illustrating a control method for a cleaning device according to an embodiment of this application is shown, such as... Figure 2 As shown, the process includes the following steps:

[0056] S201: Receive cleaning command;

[0057] S202: In response to the cleaning command, perform a cleaning task to clean the cleaning parts, and during the cleaning task, control the fan to blow air so that the two electrode plates are prevented from being non-liquid-filled and conducting.

[0058] Through the above steps, during the cleaning task of cleaning the parts, the fan is controlled to blow air to prevent the two electrode plates from being partially filled with liquid. On the one hand, when the fan blows air through the air outlet, it can blow out the liquid between the two electrode plates and the connecting space between them in a timely manner. Therefore, the two electrode plates and the connecting space between them can remain clean and dry during the cleaning task, avoiding false alarms caused by water or dirt on the two electrode plates and the connecting space between them being partially filled with liquid. On the other hand, it can also prevent liquid from flowing into the cleaning equipment from the air outlet during the cleaning process, thus preventing damage to the cleaning equipment.

[0059] In general cleaning processes of related technologies, the cleaning of the parts is usually dried by air after cleaning is completed. For example, after various cleaning actions, such as combing, soaking, and cleaning, the parts are dried by air. However, by the time the air drying is performed, the cleaning process has already affected the electrode plates, which can still cause false alarms. The air blowing mechanism in the method of this application embodiment is completely different from that in related technologies. In this application embodiment, the air blowing is controlled during the entire cleaning process to prevent the two electrode plates from being partially filled with liquid. This allows for the timely removal of various causes of false alarms, such as water, dirt, or foam. Therefore, it effectively avoids the problem of false alarms due to water fullness during cleaning, prevents interruption of the cleaning task, and improves the reliability and intelligence of automatic cleaning.

[0060] Optionally, at the start of the cleaning task, the blower is activated to blow air onto the first electrode plate 3, the second electrode plate 4, and the space between the two electrode plates. This blows the liquid (e.g., wastewater) between the two electrode plates into the cleaning tank 1. During the cleaning process, the liquid in the cleaning tank 1 is sucked away along with the contaminants. When the cleaning tank is not full, the conductivity between the two electrode plates is interrupted, preventing false detection of fullness during the cleaning process. This blowing method effectively removes liquid generated during the cleaning process (including previous cleaning processes), preventing false detection of fullness. Furthermore, it prevents liquid from flowing into the cleaning equipment from the air outlet and damaging the equipment.

[0061] To improve the air output efficiency of the blower 2, a cover plate 6 can be installed in the direction of the blower towards the cleaning tank, forming a blowing duct between the cover plate 6 and the bottom plate of the cleaning tank 1, and the two electrode plates mentioned above can be installed at the air outlet 5 near the blowing duct.

[0062] For example, it can be Figure 1 A cover plate 6 is added to the base plate of the cleaning tank. The air outlet of the air duct cavity is connected to the bottom plate of the cleaning tank. The cover plate 6 is set on one side above the cleaning tank. A blowing air duct is formed between the cover plate 6 and the bottom plate of the cleaning tank 1. One end of the blowing air duct is connected to the air outlet of the air duct cavity. The two electrode plates mentioned above are set on the cleaning tank near the other end of the blowing air duct.

[0063] In this embodiment, a cover plate 6 is provided on the side of the cleaning tank 1 near the fan 2, such that at least part of the cover plate 6 is located above one side of the cleaning tank 1, and a blowing duct is formed between the cover plate 6 and the bottom plate of the cleaning tank 1. The blowing duct can be used to guide the airflow, thereby improving the blowing efficiency of the fan, and making the blowing of the two electrode plates and the air between the two electrode plates stable and reliable, and making the alarm of the electrode plates more reliable.

[0064] When installing the cover, it is possible to Figure 1 Based on this, a support rib 7 is installed on the housing of the cleaning equipment above the air outlet 5. The support rib 7 supports the cover plate 6, thereby forming a narrow airflow channel between the cover plate 6 and the bottom plate of the cleaning tank 1, ensuring that the air blown by the fan is directed into the cleaning tank 1. Alternatively, the cover plate 6 can also be detachably installed on the top of the bottom plate of the cleaning tank 1 by magnetic attraction. For example, a magnet is installed on the bottom plate of the cleaning tank 1 (indicated by dashed lines in the figure that the magnet is embedded in the bottom plate of the cleaning tank 1), and a magnet is also installed on the corresponding position on the side of the cover plate 6 near the bottom plate. The cover plate 6 is installed on the top of the bottom plate of the cleaning tank 1 by the attraction of the two magnets. Figure 3A The diagram shows an optional structure of the cleaning equipment mounting cover provided in this application embodiment before the cover is installed. The cover 6 can be magnetically attached to the top of the bottom plate of the cleaning tank 1; or it can be installed on the top of the bottom plate of the cleaning tank 1 by the support of the aforementioned support ribs 7; or both of the above methods can be used to achieve reliable installation of the cover 6. Figure 3B This diagram illustrates an optional structure of the cleaning equipment mounting cover provided in this embodiment of the application, after the cover plate is installed. Due to the airflow diversion by the cover plate 6, the air outlet 5 extends to... Figure 3B The air outlet is 5' in the middle.

[0065] Alternatively, the cover plate 6 can also be installed above the bottom plate of the cleaning tank 1 in other ways. For example, the cover plate 6 can also be detachably installed above the bottom plate of the cleaning tank 1 by means of snap-fit ​​or other methods. For instance, the cover plate 6 is provided with a buckle, and the housing of the cleaning equipment is provided with a snap hole that engages with the buckle. Detachably installing the cover plate above the bottom plate of the cleaning tank 1 in a detachable manner makes disassembly and assembly convenient and facilitates the cleaning of the parts of the cleaning equipment.

[0066] In some embodiments, two electrode plates are spaced apart and positioned at the top edge of one side of the cleaning tank 1. When the cleaning tank 1 is full of liquid, both electrode plates are in contact with the liquid, causing them to conduct and triggering a full-water alarm. When the cleaning tank 1 is not full, the two electrode plates are not in contact with the liquid and are in a disconnected state. During cleaning, wastewater may splash onto or between the two electrode plates through the aforementioned air outlet, causing them to conduct and resulting in a false full-water alarm. Therefore, in this embodiment, a fan can be used to continuously blow air during the cleaning process to effectively prevent wastewater from entering the two electrode plates. The two electrode plates have a simple structure and are convenient and reliable for detection.

[0067] In some embodiments, performing a cleaning task to clean a cleaning component includes: performing a predetermined cleaning process on the cleaning component; and after the predetermined cleaning process, controlling the cleaning component to rotate to clean the cleaning tank.

[0068] In this embodiment, the predetermined cleaning process described above can be a general process for cleaning cleaning components in related technologies. That is, in related technologies, the cleaning of cleaning components ends after the predetermined cleaning process is completed. In this embodiment, after the predetermined cleaning process is executed, the cleaning component is also controlled to rotate to clean the cleaning tank. By controlling the cleaning component to continue rotating, residual water in the cleaning tank after the predetermined cleaning process can be absorbed, solving the problem of residual water overflowing from the water pump (including sewage pump and clean water pump) pipeline of the cleaning equipment into the cleaning tank.

[0069] In some embodiments, the above-described predetermined cleaning process for the cleaning component may include performing a predetermined number of cleaning cycles on the cleaning component, wherein one cleaning cycle includes: a combing stage in which the cleaning component is controlled to rotate along a first direction at a first rotation speed for a first duration, a second stage in which the cleaning component is controlled to rotate along a second direction at a second rotation speed for a second duration, a soaking stage in which the main unit injects water into the cleaning component for a third duration, and a cleaning stage in which the cleaning component is controlled to rotate along a second direction at a third rotation speed for a fourth duration.

[0070] The cleaning cycle may vary depending on the cleaning task. For example, for a cleaning robot, cleaning parts can be cleaned at different stages of the cleaning task. The requirements for cleaning parts differ at each stage, meaning the cleaning tasks are different. Different cleaning tasks can correspond to different cleaning cycles. For instance, during the initial immersion stage before the main unit leaves the station, the corresponding cleaning task could have two cleaning cycles; during the mid-process rewash or rehydration stage, the corresponding cleaning task could also have two cleaning cycles; and during the final cleaning stage after the main unit completes the cleaning task, the corresponding cleaning task could have four, six, or more cleaning cycles, optionally six.

[0071] The first direction can be the forward rotation direction of the cleaning component, and the second direction can be the reverse rotation direction. Of course, the forward and reverse directions are relative and can be determined according to requirements.

[0072] The magnitude of each of the aforementioned first, second, and third rotational speeds can be determined based on the cleaning requirements of the cleaning components. The first, second, and third rotational speeds can be the same or different. Optionally, the first and second rotational speeds can be different, while the second and third rotational speeds can be the same.

[0073] The first, second, third, and fourth time durations mentioned above can also be set to specific values ​​according to the cleaning requirements of the cleaning items. The first, second, third, and fourth time durations can be the same or different. Optionally, the first, second, third, and fourth time durations can be the same.

[0074] It should be noted that the rotational speed here can be expressed in several ways. For example, it can be the duty cycle of the cleaning component. The duty cycle refers to the proportion of the actual rotation time of the cleaning component within a fixed working cycle, usually expressed as a percentage (%). Therefore, based on the relationship between the duty cycle and the rotational speed, the rotational speed can be converted into a duty cycle, and then the cleaning component can be controlled. For example, it can be simply understood that the smaller the rotational speed, the smaller the duty cycle.

[0075] Based on the specific values ​​of the parameters for the direction, speed, and duration of rotation of the cleaning component, as an example, the combing stage can be controlled by rotating the cleaning component clockwise for n seconds with a first duty cycle, where n is a positive integer; the soaking stage can be controlled by rotating the cleaning component counterclockwise for n seconds with a second duty cycle; and the washing stage can be controlled by rotating the cleaning component counterclockwise for n seconds with a second duty cycle. The specific values ​​mentioned above are merely examples; different cleaning components and different washing requirements may necessitate different values.

[0076] In some embodiments, controlling the rotation of the cleaning component to clean the cleaning tank may include: controlling the cleaning component to rotate at a fourth rotational speed for a fifth duration, wherein the fourth rotational speed is less than a rotational speed threshold. The aforementioned rotational speed threshold may be the aforementioned third rotational speed, or a speed even lower than the third rotational speed. Controlling the cleaning component to rotate at a fourth rotational speed less than the rotational speed threshold, i.e., controlling the cleaning component to rotate at a low speed, has two advantages: firstly, after the predetermined cleaning process is completed, there may be some sludge in the cleaning tank; therefore, changing the rotational speed can alter the inertia of the sludge in the cleaning tank, making it easier to clean; secondly, a lower rotational speed makes it easier for sludge to adhere and be cleaned. Therefore, controlling the cleaning component to rotate at a fourth rotational speed, less than the third rotational speed of the cleaning component in the predetermined cleaning process, can achieve a better cleaning effect on water or dirt.

[0077] The fifth duration mentioned above can also be set to a specific value based on the cleaning requirements of the cleaning components. For example, this fifth duration can be the same as or different from the first, second, third, and fourth durations mentioned above. Optionally, the fifth duration is longer than the fourth duration mentioned above. For example, when setting specific values, the fourth duration at the third rotation speed can be set to n seconds, and the fifth duration at the fourth rotation speed can be set to m seconds, where m is greater than n.

[0078] The cleaning equipment may include a clean water tank and a corresponding clean water pump, as well as a wastewater tank and a corresponding wastewater pump. The clean water pump is used to inject water from the clean water tank into the main unit's clean water tank, which in turn fills the cleaning components with water. The wastewater pump is used to extract waste from the cleaning tank 1 and transfer it to the wastewater tank. The wastewater pump can continuously pump wastewater during the cleaning process.

[0079] In some embodiments, the cleaning equipment further includes a first clean water tank and a first clean water pump, and the method may further include: controlling the first clean water pump to inject water from the first clean water tank into a second clean water tank of the main unit through a clean water pipe located above the cleaning tank, wherein the second clean water tank is used to inject water into the cleaning components; after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipe.

[0080] In this embodiment, after the water in the first clean water tank is injected into the second clean water tank, the first clean water pump is controlled to back-pump the water in the clean water pipe, which can recover the water in the clean water pipe and ensure that the water in the clean water pipe flows into the second clean water tank of the main unit as much as possible.

[0081] The aforementioned first clean water tank refers to the clean water tank of the aforementioned cleaning equipment, and the aforementioned first clean water pump refers to the clean water pump of the aforementioned cleaning equipment. The aforementioned second clean water tank refers to the clean water tank of the aforementioned main unit. The terms "first" and "second" are used only to distinguish components on different equipment and are not used for ordering.

[0082] Taking a base station as an example of a cleaning robot, the cleaning equipment includes a clean water tank (the base station clean water tank) and a clean water pump (the base station clean water pump). Injecting water from the first clean water tank into the second clean water tank of the main unit refers to injecting water from the base station clean water tank into the main unit's clean water tank. The clean water in the main unit's clean water tank is then injected into the cleaning components via the main unit's clean water pump, thus wetting and cleaning the cleaning components.

[0083] The aforementioned control of the first clean water pump to inject water from the first clean water tank into the second clean water tank of the host unit via a clean water pipe located above the cleaning tank can be implemented in various scenarios. For example, at the start of the cleaning task, the base station clean water pump (i.e., the first clean water pump) injects clean water from the base station clean water tank (i.e., the first clean water tank) into the host unit clean water tank (i.e., the second clean water tank); or during the execution of the aforementioned cleaning task, the base station clean water pump replenishes the clean water in the base station clean water tank and injects it into the host unit clean water tank.

[0084] Regardless of the scenario described above, after filling the main unit's clean water tank with clean water, and after completing the filling of the first clean water tank into the second clean water tank, the first clean water pump can be controlled to back-pump water from the clean water pipe. This means that water in the clean water pipe is recovered as much as possible at any time during cleaning, ensuring that as much water as possible flows into the second clean water tank of the main unit. This conserves water and prevents water from overflowing into the pipe and affecting other components. To further ensure maximum water recovery in the clean water pipe, controlling the first clean water pump to back-pump water from the clean water pipe after filling the second clean water tank can include: after controlling the first clean water pump to stop filling the second clean water tank, at a predetermined time interval, controlling the first clean water pump to back-pump water from the clean water pipe. When the first clean water pump injects water into the second clean water tank of the main unit, the water is still flowing forward in the clean water pipe to the second clean water tank. If it is immediately reversed, the water may not have enough time to be reversed to the first clean water tank and will remain in the clean water pipe. Therefore, after the first clean water pump stops injecting water from the first clean water tank into the second clean water tank of the main unit, a predetermined interval is allowed for the water in the pipe to stabilize. After stabilization, the first clean water pump is then controlled to reverse, making the reverse extraction more thorough and recovering as much clean water as possible from the clean water pipe, so that as much water as possible in the clean water pipe flows into the second clean water tank of the main unit.

[0085] It should be noted that when the first clean water pump back-pumps water from the clean water pipeline after a predetermined interval, the predetermined interval and the back-pumping duration can be the same or different. To avoid adverse effects from back-pumping, the back-pumping duration can be kept shorter. For example, the predetermined interval could be 5 seconds, and the back-pumping duration could be 2 seconds.

[0086] Therefore, after the controller of the cleaning equipment stops the first clean water pump, it controls the first clean water pump to back-pump for a certain period of time after a predetermined interval, effectively recovering the clean water in the clean water pipe, effectively saving clean water usage, and ensuring the reliability of the cleaning process.

[0087] To further ensure maximum water recovery in the clean water pipes and prevent residual water from flowing out, the pipe structure can be modified. For example, a communicating vessel can be installed at the outlet of the clean water pipe to retain residual water and prevent it from flowing out. This serves two purposes: firstly, it maximizes the recovery of clean water from the pipes, ensuring that as much clean water as possible is supplied to the main unit's clean water tank; secondly, it prevents residual water from flowing out, avoiding damage to the cleaning equipment or misleading the electrodes.

[0088] In some embodiments, performing a cleaning task to clean the cleaning component may further include: controlling the cleaning component to rotate at a predetermined speed for a predetermined duration to absorb water from the cleaning tank.

[0089] In this embodiment, by including a cleaning component in the cleaning task to rotate at a predetermined speed for a predetermined time to absorb water in the cleaning tank, the residual water in the cleaning tank can be absorbed as much as possible, preventing water from flowing out of the cleaning tank and affecting the safe operation of the cleaning equipment.

[0090] It should be noted that the aforementioned control of the cleaning component to rotate at a predetermined speed for a predetermined duration to absorb water from the cleaning tank can occur after cleaning the cleaning tank, or after cleaning the cleaning tank and back-draining water from the clean water pipe. When the cleaning component rotates at a predetermined speed for a predetermined duration to absorb water from the cleaning tank, this predetermined speed can be the same as or different from the fourth speed mentioned above. The predetermined duration of the cleaning component's rotation can be the same as or different from the fifth duration mentioned above. Optionally, the predetermined speed of the cleaning component's rotation can be the same as the fourth speed mentioned above, but the predetermined duration of the cleaning component's rotation can be shorter than the fifth duration mentioned above. For example, if the fifth duration is m seconds, the predetermined duration of the cleaning component's rotation can be n seconds, where m is greater than n.

[0091] It should be noted that during the process of controlling the cleaning component to rotate at a predetermined speed for a predetermined time to absorb water from the cleaning tank, the direction of rotation of the cleaning component can be either the forward direction or the reverse direction. As mentioned above, the predetermined speed of the cleaning component can be the same as the fourth speed mentioned above, that is, it can also be a low speed less than the speed threshold. Therefore, controlling the cleaning component to rotate in reverse at a low speed for a period of time can achieve effective water absorption and drying of the cleaning tank.

[0092] Taking the cleaning of the cleaning tank, the backflow of the clean water pipe, and the absorption of water from the cleaning tank as an example, after the aforementioned predetermined cleaning process, the cleaning components can be controlled to continue rotating at a low speed to clean the cleaning tank; the first clean water pump can be controlled to backflow and recover water from the clean water pipe, preventing it from flowing into the cleaning tank; and the roller can be controlled to continue rotating at a low speed to absorb water from the cleaning tank. The combination of these three processes effectively improves the cleaning and dehumidification effect of the cleaning tank. It should be noted that the cleaning of the cleaning tank and the backflow of the clean water pipe can be performed simultaneously, or the backflow of the clean water pipe can be performed after the cleaning of the cleaning tank.

[0093] In some embodiments, the above method may further include: obtaining the cleaning stage corresponding to the cleaning task, and determining whether it is necessary to control the first clean water pump to backflow based on the cleaning stage; if the cleaning stage is the outgoing rinse stage, the rewash mode, or the water replenishment stage, determining that it is necessary to control the first clean water pump to backflow; if the cleaning stage is the final cleaning stage, determining that it is not necessary to control the first clean water pump to backflow.

[0094] After the aforementioned pre-defined cleaning process is completed, injecting clean water into the main unit's clean water tank is typically used for the initial pre-cleaning of the cleaned parts, the re-cleaning of the cleaned parts after cleaning, or mid-cleaning water replenishment. However, the final cleaning process of the cleaned parts requires emptying the water from the main unit's clean water tank and spinning the cleaned parts dry, so there is no need to inject clean water into the main unit's clean water tank. Therefore, in this embodiment, it can be determined whether to control the clean water pump to backflow based on the current cleaning stage of the cleaned parts, thereby improving the control accuracy of the clean water pump backflow and enabling precise control of the cleaning of the cleaned parts.

[0095] In some embodiments, the method may further include: controlling the injection of a predetermined amount of water into the second clean water tank of the host, wherein the predetermined amount is less than the capacity of the cleaning tank.

[0096] In this embodiment, a predetermined amount of water is injected into the second clean water tank of the main unit. Since the water in the second clean water tank is to be injected onto the cleaning components, and the water on the cleaning components will ultimately flow into the cleaning tank, when the amount of water injected into the second clean water tank is less than the capacity of the cleaning tank, the water flowing into the cleaning tank will not be too full, effectively preventing the possibility of water overflowing the cleaning tank during the cleaning process. Of course, the water injected into the cleaning tank should not be too little, as this would affect the cleaning of the cleaning components. Therefore, the amount of water to be injected can be evaluated and verified in advance. When it is determined that it does not affect the cleaning of the cleaning components and effectively avoids the possibility of overflowing the cleaning tank, the water injection volume can be set to 70% to 80% of the cleaning tank capacity. Therefore, the above water injection volume can be flexibly adjusted according to different cleaning needs. Furthermore, it should be noted that after determining the water injection volume, the actual water injection time can be determined based on the required water injection volume, and water is injected into the second clean water tank of the main unit according to the water injection time.

[0097] Therefore, during the cleaning process, the water level in the second clean water tank can be monitored in real time. When the water level in the second clean water tank reaches 70%–80% of the cleaning tank's capacity, the filling should be stopped to prevent excessive liquid in the cleaning tank from causing splashing or overflow during the cleaning process. It should be noted that the aforementioned water level can also be the amount of a mixture of water and cleaning fluid.

[0098] In some embodiments, performing a cleaning task to clean the cleaning component includes: determining the blowing parameters of a fan based on the operating parameters of the cleaning component and the positions of the two electrode plates, wherein the operating parameters include the rotational speed and / or power of the cleaning component, and the blowing parameters include at least one of blowing speed, blowing temperature, and blowing direction; and controlling the operation of the fan based on the blowing parameters of the fan.

[0099] During the cleaning process, the blowing parameters of the fan can be determined based on the operating parameters of the cleaning component and the positions of the two electrode plates to ensure that the fan reliably blows air onto the two electrode plates and between the two electrode plates, thus avoiding false alarms from the two electrode plates.

[0100] In some embodiments, a cleaning instruction is received in at least one of the following situations: the cleaning device completes the entire cleaning task, the main unit of the cleaning device is replenished with water, the cleaning device performs a backwash during the entire cleaning task; and / or, the cleaning device is controlled to execute the cleaning instruction in a preset scenario according to a preset cleaning frequency.

[0101] Therefore, the cleaning instructions received under the above-mentioned conditions can be flexibly selected and combined to choose a cleaning frequency that satisfies the user and meets various types of cleaning needs. For example, the cleaning instructions can be received under only one of the above-mentioned conditions to clean the cleaning parts; the cleaning instructions can be received under any two of the above-mentioned conditions to clean the cleaning parts; or the cleaning instructions can be received under all three of the above-mentioned conditions to clean the cleaning parts.

[0102] In this embodiment, the cleaning task described above can be applied to different cleaning scenarios or cleaning modes, with different cleaning modes corresponding to different cleaning frequency requirements. Therefore, the cleaning equipment can also be controlled to execute the cleaning instructions in a preset scenario according to a preset cleaning frequency.

[0103] For example, if the cleaning device receives the above cleaning instruction when it completes the entire cleaning task, this scenario involves cleaning the cleaning components only when the cleaning device completes the entire cleaning task, which is a low-frequency cleaning mode. If the cleaning device receives the above cleaning instruction when the main unit is replenished with water, and also when the cleaning device completes the entire cleaning task, this scenario requires cleaning the cleaning components not only when the main unit is replenished with water, but also when the cleaning device completes the entire cleaning task, which is a medium-frequency cleaning mode. If the cleaning device receives the above cleaning instruction when it completes the entire cleaning task, when the main unit is replenished with water, and during the backwash during the entire cleaning task, this scenario involves cleaning the cleaning components not only when the entire cleaning task is completed, but also when the main unit is replenished with water, and also during the backwash during the entire cleaning task, i.e., cleaning the cleaning components whenever possible, which is a high-frequency cleaning mode. It should be noted that the backwashing of cleaning equipment during the entire cleaning task can be triggered in various ways. For example, it can be time-based, such as controlling the cleaning unit to return to the washing tank for cleaning at a predetermined time or after a predetermined cleaning duration. Alternatively, it can be area-based, controlling the cleaning unit to return to the washing tank after cleaning a specific area (e.g., a room in the entire house). Another example is detecting the wastewater generated during the cleaning process; controlling the cleaning unit to return to the washing tank when the turbidity reaches a predetermined level. Many other factors can also trigger the backwashing of cleaning units, which will not be listed here.

[0104] In some embodiments, the above method may further include: displaying the cleaning stage in which the cleaning equipment is currently completing the entire cleaning task; and / or, displaying the remaining cleaning time required for the cleaning equipment to complete the entire cleaning task. By displaying the cleaning stage, the cleaning stage in the entire cleaning task can be clearly identified, enabling visualization of the cleaning process; displaying the remaining cleaning time required for the cleaning equipment to complete the entire cleaning task can effectively show the remaining cleaning time and improve the user experience. Additionally, various information about the cleaning process can be displayed, such as whether water is being added, a predetermined cleaning procedure is being executed, the cleaning tank is being cleaned, or water is being absorbed from the cleaning tank. These can be displayed as needed and will not be elaborated upon here.

[0105] In the application scenarios of cleaning robots, the problem of false alarms due to full water on the electrode plates in the cleaning tank of the base station is also a difficult problem to solve. The electrode plate detection method also lacks the ability to monitor and adaptively adjust the state of the electrode plates in real time, and cannot effectively distinguish between the real full water state and the false triggering scenario, thereby reducing the overall reliability and intelligence level of the cleaning robot base station.

[0106] Based on the above embodiments and optional embodiments, an optional implementation method is provided.

[0107] In this optional embodiment, the cleaning component is a roller mop of the cleaning robot, which will be used as an example for explanation. The cleaning robot includes a base station and a main unit. The main unit is used to perform cleaning operations when it goes out, and the base station is used to provide command and logistical services such as charging, water replenishment, and washing for the main unit.

[0108] The cleaning robot's base station is equipped with a roller washing tank. A cover plate is installed on the inner side of the washing tank to form a relatively sealed drying air duct. Drying air vents are opened on the cover plate and the bottom surface of the washing tank facing the entrance. Two water-filled detection electrodes are installed between the cover plate and the bottom surface of the washing tank to detect whether the washing tank is full. The two electrodes are covered by the cover plate, leaving a narrow air duct in the middle for drying the roller mop. Two electrodes are located under the cover plate. The drying air vents are opened between the cover plate and the washing tank floor. This allows wastewater to enter the electrodes through the drying air vents during the washing process, causing the electrodes to falsely trigger the water-filled alarm.

[0109] To address the aforementioned issues, in this optional embodiment, during the entire cleaning process, the base station drying fan is turned on to blow the water under the cover between the electrode sheets into the cleaning tank, thereby allowing the drum to rotate and suck away the dirt during cleaning.

[0110] Figure 4 A flowchart of a cleaning method provided by an optional embodiment of this application is shown, such as... Figure 4 As shown, the process includes the following steps:

[0111] Step S402, Begin;

[0112] Step S404: Obtain the cleaning task;

[0113] Step S4061: Perform the cleaning task;

[0114] Step S4062: While performing the cleaning task, turn on the drying fan (i.e., the fan blows out warm air).

[0115] Step S408: Perform a drainage operation, which is the process of discharging wastewater. It should be noted that the drainage operation can also be performed simultaneously with the cleaning task; that is, cleaning and discharging wastewater can occur concurrently.

[0116] Step S410, End.

[0117] The following describes the process of cleaning the roller mop of the cleaning robot, using the method provided in this application.

[0118] When using a cleaning robot to clean an area, the process of washing the roller mop in the main unit includes: an initial soaking process before leaving the station, a mid-process rewash / refill process, and a final cleaning process. These three processes are explained below.

[0119] Table 1

[0120]

[0121] Table 1 is a flowchart of the host's first out-of-station immersion process according to an optional embodiment of this application. As shown in Table 1, the table illustrates the operation of each component of the host and base station during each cleaning stage in the host's first out-of-station immersion process, as follows:

[0122] Before explaining the initial immersion process for the main unit before it leaves the site, it's important to note that during each cleaning stage of this process, the base station drying fan continuously blows air, and the base station wastewater pump continuously pumps out wastewater until the main unit leaves the site. During each cleaning stage, the rollers must be lowered into place before any other actions can begin.

[0123] S1, Wetting Phase: The control drum is in a descending state, and the following actions are performed: The base station water pump continuously injects hot water (e.g., 60℃) into the main unit water tank for the first time period; the main unit water pump injects water into the drum for the second time period (the main unit water pump starts injecting water into the drum after a certain period of time following the base station water pump; if the main unit water tank is full at the beginning, water injection can start directly); after the main unit water pump starts working, the drum is started to reverse at the first duty cycle for the third time period; after the drum reverses at the first duty cycle, it starts to reverse at the second duty cycle until the base station water pump stops, and then continues to work for the fourth time period.

[0124] S2, Combing stage: The control roller is in a descending state and rotates forward for n seconds with a first duty cycle, where n can be an integer greater than zero.

[0125] S3, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0126] S4, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0127] S5, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0128] S6, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0129] S7, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0130] S8, during the hot water injection phase, the control drum is in a descending state, and the control base station's clean water pump injects hot water into the host water tank for the fifth time period. After the base station's clean water pump stops injecting hot water, the control drum reverses at the third duty cycle for the sixth time period. After the drum reverses at the third duty cycle for n seconds, the control drum reverses at the fourth duty cycle for the seventh time period.

[0131] S9, during the cleaning plate cleaning stage, the control drum is in a descending state, and the control drum reverses the eighth time period with the first duty cycle;

[0132] S10, during the reverse pumping phase, the control drum is in a descending state. After the base station's clean water pump finishes injecting hot water into the host water tank, wait for a period of time and then reverse pump for a period of time.

[0133] S11, during the cleaning disc drying stage, the control roller is in a descending state, and the control roller reverses n seconds with the first duty cycle;

[0134] S12, during the exit phase, the control drum is in a raised state.

[0135] Table 2

[0136]

[0137] Table 2 is a process table for mid-process rewashing or water replenishment of the host according to an optional embodiment of this application. As shown in Table 2, the table shows the operation of each component of the host and base station in each cleaning stage during the mid-process rewashing or water replenishment of the host, as follows:

[0138] Before explaining the mid-process rewashing or water replenishment procedure for the main unit, it should be noted that during each cleaning stage of this process, the base station drying fan continuously blows air, and the base station wastewater pump continuously pumps out wastewater until the main unit leaves the station. During each cleaning stage of this process, the rollers must be lowered into place before any other actions can begin.

[0139] S1, during the hot water injection phase, the control drum is in a descending state, and the following actions are performed: the base station water pump continuously injects hot water (e.g., 60℃) into the main unit water tank for the first time period; the base station water pump injects water into the drum for the second time period (the main unit water pump starts injecting water into the drum after a certain period of time following the base station water pump; if the main unit water tank is full at the beginning, it can start injecting water directly); after the base station water pump starts working, the drum is started to reverse at the first duty cycle for the third time period; after the drum reverses at the first duty cycle, it starts to reverse at the second duty cycle until the base station water pump stops, and then continues to work for the fourth time period.

[0140] S2, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0141] S3, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0142] S4, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0143] S5, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0144] S6, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0145] S7, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0146] S8, during the hot water injection phase, the control drum is in a descending state, and the control base station's clean water pump injects hot water into the host water tank for the fifth time period. After the base station's clean water pump stops injecting hot water, the control drum reverses at the third duty cycle for the sixth time period. After the drum reverses at the third duty cycle for n seconds, the control drum reverses at the fourth duty cycle for the seventh time period.

[0147] S9, during the cleaning plate cleaning stage, the control drum is in a descending state, and the control drum reverses the eighth time period with the first duty cycle;

[0148] S10, during the reverse pumping phase, the control drum is in a descending state. After the base station's clean water pump finishes injecting hot water into the host water tank, wait for a period of time and then reverse pump for a period of time.

[0149] S11, during the cleaning disc drying stage, the control roller is in a descending state, and the control roller reverses n seconds with the first duty cycle;

[0150] S12, during the exit phase, the control drum is in a raised state.

[0151] Table 3

[0152]

[0153] Table 3 is a host final cleaning process table provided according to an optional embodiment of this application. As shown in Table 3, the table shows the operation of each component of the host and base station in each cleaning stage during the host final cleaning process, as follows:

[0154] Before explaining the final cleaning process, it's important to note that during each cleaning stage of this process, the base station drying fan continuously blows air, and the base station wastewater pump continuously pumps out wastewater until the main unit leaves the station. During each cleaning stage, the rollers must be lowered into place before any other actions can begin.

[0155] S1, during the hot water injection phase, the control drum is in a descending state and performs the following actions: the base station water pump continuously injects hot water (e.g., 60°C) into the main unit water tank for a period of time; after the base station water pump starts working, the drum is started to reverse at the second duty cycle; after the base station water pump stops, the drum continues to work for a period of time.

[0156] S2, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0157] S3, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0158] S4, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0159] S5, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0160] S6, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0161] S7, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0162] S8, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0163] S9, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0164] S10, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0165] S11, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0166] S12, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0167] S13, during the cleaning phase, the control drum is in a descending state, and the control drum reverses in reverse for n seconds with the second duty cycle;

[0168] S14, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0169] S15, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0170] S16, during the cleaning phase, the control drum is in a descending state, and the control drum reverses in reverse for n seconds with the second duty cycle;

[0171] S17, Combing stage, the control roller is in a descending state, and the control roller rotates forward n seconds with the first duty cycle;

[0172] S18, soaking stage: control the drum to be in a descending state, control the drum to reverse n seconds with the second duty cycle, and control the main unit's clean water pump to inject water into the drum for n seconds.

[0173] S19, Cleaning stage: Control the drum to be in a descending state, and control the drum to reverse n seconds with the second duty cycle;

[0174] S20, during the emptying of the clean water tank (main unit clean water tank) stage, the control drum is in a descending state, the control drum reverses at the second duty cycle, and the control drum continues to rotate for a period of time after the clean water tank is emptied; the control main unit clean water pump continues to output water until the clean water tank is emptied.

[0175] S21, the water-spraying stage, the control drum is in a descending state, and the control drum continues to reverse in a reverse direction for a period of time with the third duty cycle. This time can be longer.

[0176] S22, during the cleaning plate cleaning stage, the control drum is in a descending state, and the control drum reverses the eighth time period with the first duty cycle;

[0177] S23, during the cleaning disc drying stage, the control roller is in a descending state, and the control roller reverses the ninth time period with the first duty cycle.

[0178] After the final cleaning, the main unit remains at the base station and does not need to leave the station.

[0179] It should be noted that the washing frequency of the main unit's roller mop can be set to three levels:

[0180] For low-frequency tasks, the drum only needs to be cleaned at the end of the task.

[0181] When using medium frequency, the drum needs to be replenished with water midway through the process and cleaned when the task is completed.

[0182] At high frequencies, the drum needs to be rinsed after each room is cleaned, and it also needs to be cleaned when replenishing water and when the task is completed.

[0183] In addition to cleaning the drum, the dust collection top also needs to be cleaned, including: confirming contact of the charging electrodes; cleaning at the beginning of the dust collection process with a fifth duty cycle for a period of time, followed by a sixth duty cycle for a period of time, and then continuing at a seventh duty cycle until the cleaning task is completed. The cleaning times for the fifth, sixth, and seventh duty cycles can be determined according to requirements; they can be the same or different. For example, the cleaning time for the fifth duty cycle can be longer than the cleaning time for the sixth duty cycle.

[0184] Based on the above optional implementation methods and the new technical processing, the following beneficial effects are achieved:

[0185] 1. Continuous Air Blowing: During the cleaning process, the drying fan is turned on continuously. This prevents water from flowing into the cover plate during the current cleaning process and blows out water generated during previous cleaning processes, thus isolating the electrode plates and avoiding false detections due to waterlogged electrodes. This effectively solves the problem of water backflow in the cleaning tank and causing false alarms on the electrode plates when the fan is turned on while cleaning the mop (sometimes in conjunction with the presence of the structural cover plate).

[0186] 2. Cleaning Pan Cleaning: The drum rotates at low speed to absorb residual water from the cleaning pan after washing. This mainly addresses the issue of residual water overflowing from the water pump (including the wastewater pump and clean water pump) pipeline into the cleaning tank. After turning off the clean water pump or the sludge pump, the drum continues to rotate at low speed. Additionally, a section has been added to the mop washing logic to address residual water in the cleaning tank after the rewash: After the rewash, the injection of clean water stops, and the sludge pump and drum rotate at low speed to absorb any remaining water in the cleaning tank.

[0187] 3. Backflow: After water filling, wait for a period of time (e.g., 5 seconds) before performing backflow to ensure that as much water as possible flows from the pipes into the main unit's water tank. The backflow logic of the base station's clean water pump is controlled to recover water from the pipes. Additionally, structural improvements, such as designing a connector at the outlet to prevent residual water from flowing out, effectively save water and improve the reliability of cleaning.

[0188] Example 2

[0189] According to an embodiment of this application, an apparatus for implementing the control method for the above-described cleaning equipment is also provided. Figure 5A schematic diagram of the control device for a cleaning equipment according to an embodiment of this application is shown. The cleaning equipment includes a cleaning tank and a fan. The cleaning tank is used to clean the cleaning items, and the fan is used to dry the cleaning items in the cleaning tank by blowing air. Two electrode plates are disposed on the cleaning tank for detecting the liquid level. When the fan blows air through the air outlet, it can direct the air towards the two electrode plates and the connecting space between the two electrode plates. Figure 5 As shown, the control device 500 of the cleaning equipment includes a receiving module 52 and a control module 54, which will be described below.

[0190] Receiver module 52 is used to receive cleaning instructions;

[0191] The control module 54 is connected to the receiving module 52 and is used to respond to the cleaning command, execute the cleaning task of cleaning the cleaning part, and control the fan to blow air so that the two electrode plates are prevented from being non-liquid-filled during the cleaning task of cleaning the cleaning part.

[0192] It should be noted that the receiving module 52 and the control module 54 mentioned above correspond to steps S201 to S202 in Embodiment 1. The instances and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1. It should be noted that the above modules can operate in an electronic device as part of the device.

[0193] Figure 6 A schematic diagram of the frame of a cleaning device according to an embodiment of this application is shown. Figure 6 As shown, the cleaning device 600 includes a control device 500 for performing any of the above methods. In some embodiments, the cleaning device may be a separate base station, a separate host, or a cleaning robot including a base station and a host, as long as it includes a control device capable of performing any of the above methods for controlling the cleaning device.

[0194] Taking the cleaning equipment as an example, the cleaning equipment 600 also includes a cleaning tank and a fan. The cleaning tank is used to clean the cleaning parts, and the fan is used to blow air to dry the cleaning parts in the cleaning tank. Two electrode plates are set on the cleaning tank. The two electrode plates are used to detect the liquid level in the cleaning tank. When the fan blows air out through the air outlet, it can blow air towards the two electrode plates and the connection space connecting the two electrode plates.

[0195] In some embodiments, a cover plate is provided in the direction of the blower toward the cleaning tank, a blowing duct is formed between the cover plate and the bottom surface of the cleaning tank, and two electrode plates are provided at the air outlet near the blowing duct.

[0196] In some embodiments, the cleaning device further includes a first clean water tank, a first clean water pump, and a clean water pipe for injecting water from the first clean water tank into a second clean water tank of the main unit where the cleaning component is located. A connector is provided at the outlet of the clean water pipe. This connector is used to prevent clean water from flowing out after the water injection is completed.

[0197] Figure 7 A schematic diagram of the structure of a cleaning robot according to an embodiment of this application is shown. Figure 7 As shown, the cleaning robot 700 includes a base station 702 and a host 704. The control device 500 of the cleaning equipment can be set in the base station 702. The host 704 includes a second clean water tank and a roller mop. The second clean water tank of the host 704 receives clean water injected from the first clean water tank of the base station 702. The water in the second clean water tank is injected into the roller mop by the second clean water pump of the host to clean the roller mop.

[0198] Figure 8 A schematic diagram of the structure of an electronic device according to an embodiment of this application is shown. Figure 8 As shown, the electronic device 800 includes a memory 802 and a processor 804, wherein the memory 802 stores an executable program; and the processor 804 is used to run the program, wherein the program executes the control method of the cleaning device described above when it runs.

[0199] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the control method and device for the cleaning equipment in this embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned control method for the cleaning equipment. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0200] The processor can access information and applications stored in memory via a transmission device to execute the following steps: A cleaning device includes a cleaning tank and a fan. The cleaning tank is used to clean the cleaning components, and the fan is used to dry the cleaning components within the cleaning tank. Two electrode plates are installed on the cleaning tank to detect the liquid level. When the fan blows air through an outlet, it can direct the airflow towards the two electrode plates and the connection space connecting the two electrode plates. The method includes: receiving a cleaning command; responding to the cleaning command, executing a cleaning task to clean the cleaning components, and during the execution of the cleaning task, controlling the fan to blow air so that the two electrode plates avoid non-full liquid conduction.

[0201] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform the following steps: performing a cleaning task to clean the cleaning component, including: performing a predetermined cleaning process on the cleaning component; and after the predetermined cleaning process, controlling the cleaning component to rotate to clean the cleaning tank.

[0202] In some embodiments, the processor may also invoke information and application programs stored in the memory via a transmission device to perform the following steps: performing a predetermined cleaning process on the cleaning component, including: performing a predetermined number of cleaning cycles on the cleaning component, wherein one cleaning cycle includes: a combing stage in which the cleaning component is controlled to rotate along a first direction at a first rotation speed for a first duration, a immersion stage in which the cleaning component is controlled to rotate along a second direction at a second rotation speed for a second duration, and a soaking stage in which the host injects water into the cleaning component for a third duration, and a cleaning stage in which the cleaning component is controlled to rotate along a second direction at a third rotation speed for a fourth duration.

[0203] In some embodiments, the processor may also invoke information and application programs stored in the memory via a transmission device to perform the following steps: controlling the cleaning component to rotate to clean the cleaning tank, including: controlling the cleaning component to rotate at a fourth rotation speed for a fifth duration, wherein the fourth rotation speed is less than a rotation speed threshold.

[0204] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform the following steps: the cleaning device further includes a first clean water tank and a first clean water pump: controlling the first clean water pump to inject water from the first clean water tank into the second clean water tank of the main unit through a clean water pipe located above the cleaning tank, wherein the second clean water tank is used to inject water into the cleaning components; after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipe.

[0205] In some embodiments, the processor may also invoke information and application programs stored in the memory via a transmission device to perform the following steps: after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipeline, including: after controlling the first clean water pump to stop injecting water from the first clean water tank into the second clean water tank, after a predetermined time interval, controlling the first clean water pump to back-pump water from the clean water pipeline.

[0206] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform the following steps: performing a cleaning task to clean the cleaning component, further including: controlling the cleaning component to rotate at a predetermined speed for a predetermined time to absorb water from the cleaning tank.

[0207] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform: controlling the injection of a predetermined amount of water into the second clean water tank of the host, wherein the predetermined amount is less than the capacity of the cleaning tank.

[0208] In some embodiments, the processor may also invoke information and application programs stored in the memory via a transmission device to execute: a predetermined amount of 70% to 80% of the capacity.

[0209] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform the following steps: receiving a cleaning instruction in at least one of the following situations: the cleaning device completes the entire cleaning task, the main unit of the cleaning device is replenished with water, the cleaning device performs a backwash during the entire cleaning task; and / or, controlling the cleaning device to execute the cleaning instruction in a preset scenario according to a preset cleaning frequency.

[0210] In some embodiments, the processor may also invoke information and applications stored in the memory via a transmission device to perform the following steps: displaying the cleaning stage in which the cleaning equipment has completed the entire cleaning task; and / or, displaying the cleaning time required for the cleaning equipment to complete the entire cleaning task.

[0211] According to an embodiment of this application, a computer-readable storage medium is also provided, which includes a stored executable program, wherein the executable program controls the device where the computer-readable storage medium is located to perform the above-described control method for the cleaning device when it is running.

[0212] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0213] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: the cleaning device includes a cleaning tank and a fan, the cleaning tank is used to clean the cleaning parts, the fan is used to blow air to dry the cleaning parts in the cleaning tank, two electrode plates are provided on the cleaning tank, the two electrode plates are used to detect the liquid level in the cleaning tank, and when the fan blows air through the air outlet, it can blow air towards the two electrode plates and the connection space connecting the two electrode plates, including: receiving a cleaning command; responding to the cleaning command, performing a cleaning task to clean the cleaning parts, and during the process of performing the cleaning task to clean the cleaning parts, controlling the fan to blow air so that the two electrode plates avoid non-full liquid conduction.

[0214] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: performing a cleaning task to clean the cleaning component, including: performing a predetermined cleaning process on the cleaning component; and after the predetermined cleaning process, controlling the cleaning component to rotate to clean the cleaning tank.

[0215] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: performing a predetermined cleaning process on the cleaning component, including: performing a predetermined number of cleaning cycles on the cleaning component, wherein one cleaning cycle includes: a combing stage in which the cleaning component is controlled to rotate along a first direction at a first rotation speed for a first duration, a immersion stage in which the cleaning component is controlled to rotate along a second direction at a second rotation speed for a second duration, a soaking stage in which the host injects water into the cleaning component for a third duration, and a cleaning stage in which the cleaning component is controlled to rotate along a second direction at a third rotation speed for a fourth duration.

[0216] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: controlling the cleaning component to rotate to clean the cleaning tank, including: controlling the cleaning component to rotate at a fourth rotation speed for a fifth duration, wherein the fourth rotation speed is less than a rotation speed threshold.

[0217] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: the cleaning device further includes a first clean water tank and a first clean water pump: controlling the first clean water pump to inject water from the first clean water tank into the second clean water tank of the main unit through a clean water pipe located above the cleaning tank, wherein the second clean water tank is used to inject water into the cleaning components; after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipe.

[0218] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: after completing the injection of water from the first clean water tank into the second clean water tank, controlling the first clean water pump to back-pump water from the clean water pipeline, including: after controlling the first clean water pump to stop injecting water from the first clean water tank into the second clean water tank, after a predetermined time interval, controlling the first clean water pump to back-pump water from the clean water pipeline.

[0219] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: performing a cleaning task to clean the cleaning component, and further including: controlling the cleaning component to rotate at a predetermined speed for a predetermined time to absorb water in the cleaning tank.

[0220] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: controlling the injection of a predetermined amount of water into the second clean water tank of the host, wherein the predetermined amount is less than the capacity of the cleaning tank.

[0221] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: a predetermined amount of 70% to 80% of its capacity.

[0222] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: receiving a cleaning instruction in at least one of the following situations: the cleaning device completes the entire cleaning task, the main unit of the cleaning device replenishes water, the cleaning device performs a backwash during the entire cleaning task; and / or, controlling the cleaning device to execute the cleaning instruction in a preset scenario according to a preset cleaning frequency.

[0223] Optionally, in this embodiment, the computer-readable storage medium is further configured to store program code for performing the following steps: displaying the cleaning stage in which the cleaning device completes the entire cleaning task; and / or, displaying the cleaning time required for the cleaning device to complete the entire cleaning task.

[0224] According to an embodiment of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps of the control method for the cleaning equipment described above.

[0225] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0226] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0227] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0228] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0229] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0230] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, 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.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0231] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device comprises a cleaning tank for cleaning the cleaning piece and a fan for blowing and drying the cleaning piece in the cleaning tank. Two electrode sheets are arranged on the cleaning tank for full liquid detection. When the fan blows air through the air outlet, the two electrode sheets and the connecting space connected with the two electrode sheets can be blown. The method comprises: receiving a cleaning instruction; in response to the cleaning instruction, performing a cleaning task of cleaning the cleaning piece, and controlling the fan to blow air to prevent the two electrode sheets from being non-liquid full during the cleaning task of cleaning the cleaning piece.

2. The method of claim 1, wherein, The execution of the cleaning task of cleaning the cleaning piece comprises: performing a predetermined cleaning process on the cleaning piece; after the predetermined cleaning process, controlling the cleaning piece to rotate to clean the cleaning tank.

3. The method of claim 2, wherein, The execution of the cleaning task of cleaning the cleaning piece comprises: performing a predetermined number of cleaning cycles on the cleaning piece, wherein one cleaning cycle comprises: controlling the cleaning piece to rotate in a first direction at a first rotating speed for a first time length in a combing stage, controlling the cleaning piece to rotate in a second direction at a second rotating speed for a second time length, controlling the host to inject water into the cleaning piece for a third time length in a soaking stage, and controlling the cleaning piece to rotate in the second direction at a third rotating speed for a fourth time length in a cleaning stage.

4. The method of claim 3, wherein, The control of the cleaning piece to rotate to clean the cleaning tank comprises: controlling the cleaning piece to rotate at a fourth rotating speed for a fifth time length, wherein the fourth rotating speed is less than a rotating speed threshold.

5. The method of claim 1, wherein, The cleaning device further comprises a first clean water tank and a first clean water pump, and the method further comprises: controlling the first clean water pump to inject water in the first clean water tank into a second clean water tank of the host through a clean water pipeline located above the cleaning tank, wherein the second clean water tank is used to inject water into the cleaning piece; after completing the injection of water in the first clean water tank into the second clean water tank, controlling the first clean water pump to reverse the water in the clean water pipeline.

6. The method of claim 5, wherein, The control of the first clean water pump to reverse the water in the clean water pipeline after completing the injection of water in the first clean water tank into the second clean water tank comprises: after controlling the first clean water pump to stop injecting water in the first clean water tank into the second clean water tank, controlling the first clean water pump to reverse the water in the clean water pipeline at intervals for a predetermined time length.

7. The method of claim 2, wherein, The execution of the cleaning task of cleaning the cleaning piece further comprises: controlling the cleaning piece to rotate at a predetermined rotating speed for a predetermined time length to absorb water in the cleaning tank.

8. The method of claim 1, wherein, The method further comprises: controlling to inject a predetermined amount of water into the second clean water tank of the host, wherein the predetermined amount is less than the capacity of the cleaning tank.

9. The method of claim 8, wherein, The predetermined amount is 70% to 80% of the capacity.

10. The method according to any one of claims 1 to 9, characterized in that, The cleaning instruction is received in at least one of the following cases: the cleaning device completes the entire cleaning task, the host of the cleaning device replenishes water, and the cleaning device performs backwashing during the entire cleaning task. And / or, according to the preset cleaning frequency control, the cleaning device executes the cleaning instruction under the preset scene; and / or, Display the cleaning stage of the cleaning device completing the entire cleaning task; and / or, display the cleaning duration required by the cleaning device to complete the entire cleaning task.

11. A cleaning apparatus, characterized by The control device is used for executing the method in any one of claims 1 to 10.

12. The cleaning apparatus of claim 11, wherein, The fan forms an air duct cavity through an air duct pipe or a shell of the cleaning device itself from a fan outlet, an air outlet of the air duct cavity is connected to a bottom plate of the cleaning tank, a cover plate is arranged on one side above the cleaning tank, a blowing air duct is formed between the cover plate and the bottom plate of the cleaning tank, one end of the blowing air duct is in communication with the air outlet of the air duct cavity, and the two electrode plates are arranged on the cleaning tank near the other end of the blowing air duct.

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