Self-cleaning control method for cleaning system, and cleaning system and computer-readable storage medium

Abstract

Disclosed in the present application are a self-cleaning control method for a cleaning system, and a cleaning system and a computer-readable storage medium. The cleaning system comprises a cleaning device and a base station. The self-cleaning control method comprises: in response to a self-cleaning instruction, executing a program for cleaning a cleaning member of a cleaning device; executing a program for performing cleaning of dirty water discharge on a first dirty water tank of a base station; and executing a program for performing drying treatment on the cleaning member of the cleaning device. The self-cleaning control method for a cleaning system in the embodiments of the present application has the advantages of high self-cleaning efficiency, diversified functions, a high maintenance-free degree, etc.

Description

Self-cleaning control method for cleaning system, cleaning system and computer-readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the rights of the Chinese patent application No. 202311440447.6 filed with the State Intellectual Property Office of China on October 31, 2023, entitled “Self-cleaning control method for a cleaning system and a cleaning system”, the Chinese patent application No. 202311440434.9 filed with the State Intellectual Property Office of China on October 31, 2023, entitled “Self-cleaning control method for a cleaning system and a cleaning system”, the Chinese patent application No. 202311440456.5 filed with the State Intellectual Property Office of China on October 31, 2023, entitled “Self-cleaning control method for a cleaning system and a cleaning system”, and the Chinese patent application No. 202311440456.5 filed with the State Intellectual Property Office of China on October 31, 2023, entitled “Self-cleaning control method for a cleaning system”. 2311440012.1, Chinese patent application entitled “Self-cleaning control method, device, cleaning system and storage medium for cleaning system”, Chinese patent application number 202410488014.6 filed with the State Intellectual Property Office of China on April 22, 2024, Chinese patent application number 202311269981.5 filed with the State Intellectual Property Office of China on September 27, 2023, and Chinese patent application number 202311269993.8 filed with the State Intellectual Property Office of China on September 27, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of cleaning appliances, and in particular to a self-cleaning control method for a cleaning system, a self-cleaning control device, a cleaning system, and a computer-readable storage medium. Background Art

[0004] The cleaning system in the related art requires manual maintenance of the cleaning equipment after the cleaning operation. During this process, the cleaning parts and sewage tank need to be cleaned, and the cleaned cleaning parts need to be air-dried, resulting in low cleaning efficiency and poor user experience.

[0005] Public content

[0006] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to provide a self-cleaning control method for a cleaning system, which has the advantages of high self-cleaning efficiency, diverse functions, and high maintenance-free degree.

[0007] According to an embodiment of the first aspect of the present application, a self-cleaning control method for a cleaning system is proposed, wherein the cleaning system includes a cleaning device and a base station. The self-cleaning control method includes: in response to a self-cleaning instruction, controlling the cleaning system to enter a self-cleaning mode, wherein the self-cleaning mode includes: executing a program for self-cleaning the cleaning parts of the cleaning device; executing a program for self-cleaning the first sewage tank of the base station; and executing a program for drying the cleaning parts of the cleaning device.

[0008] According to the self-cleaning control method for a cleaning system according to the first embodiment of the present application, by first executing a program to clean the cleaning components of the cleaning device, then executing a program to drain and clean the first sewage tank, and finally executing a program to dry the cleaning components of the cleaning device, the self-cleaning control method automatically cleans the cleaning components of the cleaning device, promptly drains the sewage, and dries the cleaning components. After the user completes the cleaning device's work on the floor, the cleaning device is promptly cleaned. In these continuous cleaning steps, the cleaning components of the cleaning device are cleaned and the sewage in the first sewage tank is promptly drained, allowing the first sewage tank to continuously store the sewage after cleaning the cleaning components, thereby ensuring self-cleaning efficiency. Furthermore, after cleaning the cleaning components, the cleaning components are promptly dried to keep the cleaning device dry and prevent stains from moisture. Thus, the self-cleaning control method for a cleaning system according to the first embodiment of the present application integrates the functions of cleaning, draining, and drying by executing different programs. This provides a wide range of functions, and the program execution between each step is relatively compact. This allows for efficient self-cleaning of the cleaning device without human intervention, resulting in a high degree of automation and maintenance-free operation.

[0009] According to some embodiments of the present application, executing a self-cleaning program for the cleaning parts of the cleaning device includes: executing a self-cleaning program for cleaning the cleaning parts of the cleaning device, and executing a steam cleaning program for cleaning the cleaning parts of the cleaning device.

[0010] According to some embodiments of the present application, a self-cleaning procedure for cleaning the cleaning parts of the cleaning equipment is performed, including the following steps: controlling the cleaning parts to rotate in a first direction, and controlling a driving pump that supplies water to the cleaning parts to run for a first period of time to spray water to the cleaning parts for a first period of time; and controlling the first sewage exhaust fan of the base station to run for a second period of time to recycle the sewage generated by the self-cleaning of the cleaning parts into the first sewage tank of the base station.

[0011] According to some embodiments of the present application, before controlling the first sewage exhaust fan of the base station to run for a second period of time, executing a self-cleaning program to clean the cleaning parts of the cleaning equipment also includes: stopping spraying water to the cleaning parts or reducing the amount of water spraying.

[0012] According to some embodiments of the present application, executing a self-cleaning procedure for cleaning the cleaning parts of the cleaning equipment also includes: controlling the cleaning parts to switch to a second direction of rotation and controlling the first sewage exhaust fan to continue running for a third time period, wherein the third time period is less than the second time period, and the second direction is opposite to the first direction.

[0013] According to some embodiments of the present application, executing a self-cleaning procedure for cleaning the cleaning parts of the cleaning equipment also includes the following steps: controlling the first sewage suction fan to stop working and controlling the cleaning parts to rotate in a first direction, and controlling the driving pump that supplies water to the cleaning parts to run for a fourth period of time to spray water to the cleaning parts for a fourth period of time; stopping spraying water to the cleaning parts or reducing the amount of water sprayed and controlling the second sewage suction fan of the cleaning equipment to run for a fifth period of time to store the clean sewage of the cleaning parts into the second sewage tank of the cleaning equipment.

[0014] According to some embodiments of the present application, executing a self-cleaning program for cleaning the cleaning parts of the cleaning equipment also includes the following steps: controlling the cleaning parts to switch to a second direction of rotation and keeping the second sewage suction fan running for a sixth period of time; controlling the second sewage suction fan to stop working and stopping the rotation of the cleaning parts.

[0015] According to some embodiments of the present application, a clean water tank and a steam generating device are provided in the base station, and a steam cleaning program for cleaning the cleaning parts of the cleaning equipment is executed, including the following steps: controlling the cleaning parts of the cleaning equipment to rotate in a first direction, and controlling the steam generating device to operate for a seventh period of time to perform high-temperature cleaning of the cleaning parts by steam; controlling the first sewage exhaust fan to operate for an eighth period of time to recycle the sewage generated by the high-temperature cleaning of the cleaning parts to the first sewage tank of the base station.

[0016] According to some embodiments of the present application, executing a steam cleaning procedure for cleaning the cleaning parts of the cleaning equipment also includes: controlling the cleaning parts to rotate in a second direction and controlling the first sewage suction fan to continue running for a ninth period of time, the second direction being opposite to the first direction; controlling the cleaning parts to switch to the first direction of rotation and controlling the first sewage suction fan to continue running for a tenth period of time, wherein the tenth period of time is greater than the ninth period of time; controlling the first sewage suction fan to stop working and controlling the cleaning parts to turn off.

[0017] According to some embodiments of the present application, the first sewage tank of the base station is connected to a sewage discharge channel, and a switch component for controlling sewage discharge is provided on the sewage discharge channel. The base station also includes a spraying device for spraying liquid into the first sewage tank, and a self-cleaning procedure for the first sewage tank of the base station is executed. The self-cleaning procedure for the first sewage tank includes the following steps: controlling the switch component to open to discharge the sewage in the first sewage tank; in response to the switch component switching from a closed state to an open state, controlling the spraying device to turn on and continuously run for ten hours to flush the first sewage tank for the first time.

[0018] According to some embodiments of the present application, executing the procedure for self-cleaning the first sewage tank of the base station also includes the following steps: controlling the switch component to close, and controlling the spray device to continue to open and last for an eleventh period of time to flush the first sewage tank for a second time; controlling the spray device to close, and controlling the switch component to switch from a closed state to an open state to discharge the sewage in the first sewage tank.

[0019] According to some embodiments of the present application, the base station is provided with a drying device for drying the cleaning parts, and a procedure for drying the cleaning parts of the cleaning equipment is executed, including the following steps: controlling the operation of the drying device; and controlling the cleaning parts to rotate at a speed lower than that during cleaning until a preset drying time is reached.

[0020] According to some embodiments of the present application, controlling the cleaning member to rotate at a rotation speed lower than that during cleaning includes: controlling the cleaning member to periodically switch the rotation direction.

[0021] According to some embodiments of the present application, the base station is provided with a drying device for drying the cleaning parts, and a procedure for drying the cleaning parts of the cleaning equipment is executed, including the following steps: controlling the operation of the drying device; and controlling the cleaning parts to alternately perform a first direction rotation action and a second direction rotation action until a preset drying time is reached; wherein, controlling the cleaning parts to perform a first direction rotation action includes: periodically controlling the cleaning parts to stand for a twelfth time and controlling the cleaning parts to rotate in the first direction for a thirteenth time, until the number of repetitions reaches a first preset number of times, wherein the twelfth time is greater than the thirteenth time.

[0022] According to some embodiments of the present application, controlling the cleaning member to perform a second direction rotation action includes: periodically controlling the cleaning member to stand still for a fourteenth time period and controlling the cleaning member to rotate in the second direction for a fifteenth time period, until the number of repetitions reaches a second preset number of times, wherein the fourteenth time period is greater than the fifteenth time period.

[0023] According to some embodiments of the present application, before executing the self-cleaning program for the cleaning parts of the cleaning device, the self-cleaning control method also includes: detecting whether the cleaning device is docked at the base station; the controller of the cleaning device issues a self-cleaning instruction in response to the triggering action of the self-cleaning button.

[0024] According to some embodiments of the present application, the fourth duration is smaller than the first duration, and the fifth duration is larger than the third duration.

[0025] According to some embodiments of the present application, the cleaning equipment includes a diaphragm pump for supplying water to the cleaning part, and spraying water to the cleaning part for a first period of time includes: controlling the diaphragm pump to supply water to the cleaning part at a first water speed and continuing the first period of time, wherein the value of the first water speed R satisfies: 190ml / min≤R≤210ml / min, and the value T1 of the first period of time satisfies: 85s≤T1≤95s.

[0026] According to some embodiments of the present application, the value T2 of the second duration satisfies: 8s≤T2≤12s, and the value T3 of the third duration satisfies: 4s≤T3≤6s.

[0027] According to some embodiments of the present application, the value T4 of the fourth duration satisfies: 25s≤T4≤35s, and the value T5 of the fifth duration satisfies: 8s≤T5≤12s.

[0028] According to some embodiments of the present application, the value T6 of the sixth time duration satisfies: 4s≤T6≤6s.

[0029] According to some embodiments of the present application, a procedure for self-cleaning the cleaning parts of the cleaning equipment is executed, including the following steps: controlling the cleaning parts to rotate in a first direction and spraying water to the cleaning parts; controlling the cleaning parts to rotate in a second direction; stopping spraying water to the cleaning parts or reducing the amount of water spraying, and controlling the first sewage exhaust fan of the base station to operate so as to recycle the sewage generated by the rotation cleaning of the cleaning parts into the first sewage tank of the base station.

[0030] According to some embodiments of the present application, the procedure for executing self-cleaning of the cleaning parts of the cleaning equipment also includes: stopping the operation of the first sewage exhaust fan of the base station; controlling the rotation of the cleaning parts and spraying water on the cleaning parts; stopping spraying water on the cleaning parts, and controlling the operation of the second sewage exhaust fan of the cleaning equipment to recycle the sewage generated by the second rotation cleaning of the cleaning parts into the second sewage tank of the cleaning equipment.

[0031] According to some embodiments of the present application, the base station includes a first sewage suction fan and a first sewage tank, the cleaning equipment includes a cleaning part, a second sewage tank and a second sewage suction fan, and a procedure for self-cleaning the cleaning part of the cleaning equipment is executed, including: spraying water to the cleaning part and controlling the cleaning part to rotate; after a first preset time, controlling the first sewage suction fan to work so as to extract the sewage generated by self-cleaning of the cleaning part and the sewage in the second sewage tank to the first sewage tank; stopping the operation of the first sewage suction fan, spraying water to the cleaning part again and controlling the cleaning part to rotate again; after a second preset time, controlling the second sewage suction fan to work so as to extract the sewage generated by self-cleaning of the cleaning part again to the second sewage tank of the cleaning equipment.

[0032] According to some embodiments of the present application, before controlling the first sewage suction fan to operate, the method includes: stopping spraying water to the cleaning element or reducing the amount of water sprayed to the cleaning element.

[0033] According to some embodiments of the present application, before the second sewage suction fan starts working, the step includes: stopping spraying water to the cleaning element.

[0034] According to some embodiments of the present application, spraying water onto the cleaning part or spraying water onto the cleaning part again includes: controlling a diaphragm pump that supplies water to the cleaning part to supply water to the cleaning part at a preset water level, and the preset water level D satisfies: 100ml / min≤D≤5000ml / min.

[0035] According to some embodiments of the present application, the base station also includes a steam generating device, and the self-cleaning control method also includes: after the sewage generated by the cleaning part is pumped into the second sewage tank of the cleaning equipment, controlling the cleaning part to rotate, and controlling the steam generating device to operate to perform high-temperature cleaning on the cleaning part; after a third preset time, controlling the steam generating device to stop running, and controlling the first sewage exhaust fan to operate to pump the sewage generated by the high-temperature cleaning of the cleaning part into the first sewage tank of the base station.

[0036] According to some embodiments of the present application, the cleaning element is kept rotating during the control of the operation of the first sewage suction fan.

[0037] According to some embodiments of the present application, the action of rotating the cleaning member includes: controlling the cleaning member to alternately switch the rotation direction.

[0038] According to some embodiments of the present application, after the second sewage suction fan operates for a preset time, the second sewage suction fan is turned off and the rotation of the cleaning element is stopped.

[0039] According to some embodiments of the present application, the base station also includes a drying device for drying the cleaning element, and the self-cleaning control method also includes: controlling the operation of the drying device in response to a drying instruction; and controlling the cleaning element to rotate at a low speed until a preset drying time is reached.

[0040] According to some embodiments of the present application, before controlling the cleaning system to enter the self-cleaning mode, the method includes: after the cleaning device docks on the base station, obtaining the self-cleaning working mode of the cleaning system; and controlling the cleaning system to execute the self-cleaning procedure in the self-cleaning manner indicated by the self-cleaning working mode.

[0041] According to some embodiments of the present application, the self-cleaning working mode includes an automatic cleaning mode, and the automatic cleaning mode indicates automatic execution of a self-cleaning program; and controlling the cleaning system to execute the self-cleaning program includes: automatically controlling the cleaning system to execute the self-cleaning program.

[0042] According to some embodiments of the present application, the self-cleaning working mode includes a manual cleaning mode, and the manual cleaning mode indicates that manual control is required to start the self-cleaning program; controlling the cleaning system to execute the self-cleaning program includes: when a trigger signal emitted by a self-cleaning button on the cleaning system is received, controlling the cleaning system to execute the self-cleaning program.

[0043] According to some embodiments of the present application, the method further includes: receiving a mode setting instruction, the mode setting instruction including the self-cleaning working mode; saving the self-cleaning working mode, the self-cleaning working mode being used to subsequently control the cleaning system to execute the self-cleaning program.

[0044] According to some embodiments of the present application, receiving the mode setting instruction includes: receiving the mode setting instruction in response to a triggering operation on a mode switching button on the cleaning system.

[0045] According to some embodiments of the present application, the method further includes: playing a voice reminder message, wherein the voice reminder message is used to remind the user to execute the self-cleaning program in the self-cleaning working mode.

[0046] According to some embodiments of the present application, the cleaning system includes a spray component, a recovery box, a switch component, and a suction device, the spray component is used to spray the recovery box, the suction device is connected to the recovery box, the switch component is arranged at or adjacent to the recovery box, and the self-cleaning mode also includes a program for executing fault recovery of the switch component, wherein the program for executing fault recovery of the switch component includes: in response to the abnormal operation information of the switch component, controlling the spray component to spray the recovery box; controlling the suction device to suck the recovery box; obtaining a first in-place state of the switch component; and stopping fault recovery when the first in-place state meets a first preset condition.

[0047] According to some embodiments of the present application, in response to the abnormal operation information of the switch component, controlling the spray component to spray the recovery box includes: in response to opening or closing the switch component, obtaining a second in-place state of the switch component; and when the second in-place state meets a second preset condition, controlling the spray component to spray the recovery box.

[0048] According to some embodiments of the present application, when the second in-place state satisfies a second preset condition, controlling the spray assembly to spray the recycling box includes: when the second in-place state satisfies the second preset condition, controlling the switch component to be opened for a first preset time; when it is judged that the opening time of the switch component exceeds the first preset time, or the switch component is not in place after the first preset time, controlling to stop opening the switch component; and controlling the spray assembly to spray the recycling box.

[0049] According to some embodiments of the present application, obtaining the first in-place state of the switch component includes: controlling the switch component to rotate until it is in place; obtaining the first in-place time of the switch component; accordingly, when the first in-place state satisfies a first preset condition, stopping fault recovery includes: controlling the execution of sewage discharge work when it is judged that the first in-place time is less than or equal to a second preset time; and issuing a prompt message of the switch component operation failure when it is judged that the first in-place time is greater than the second preset time.

[0050] According to some embodiments of the present application, the step of controlling the spray assembly to spray the recovery box and the step of controlling the suction device to suck the recovery box are cross-cut and executed cyclically.

[0051] According to some embodiments of the present application, controlling the spray component to spray the recycling box includes: controlling the spray component to spray the recycling box and maintaining it for a third preset time length; correspondingly, controlling the suction device to suck the recycling box includes: controlling the suction device to suck the recycling box and maintaining it for a fourth preset time length before turning off.

[0052] According to some embodiments of the present application, the method further includes: in response to a request for self-cleaning, controlling the switch component to rotate until it is in place; obtaining a second time duration for the switch component to be in place; performing self-cleaning when the second time duration for the switch component to be in place is less than or equal to a fifth preset time duration; and determining that the switch component is operating abnormally when the second time duration for the switch component to be in place is greater than the fifth preset time duration.

[0053] According to some embodiments of the present application, the switch element is a sewage valve.

[0054] According to another aspect of the present application, a cleaning system is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the self-cleaning control method of the cleaning system described in any embodiment of the first aspect of the present application.

[0055] According to another aspect of the present application, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the self-cleaning control method of the cleaning system described in any one of the above embodiments.

[0056] According to another embodiment of the present application, a cleaning system is proposed, including a cleaning device and a base station, wherein the cleaning device includes a second processor and a memory connected to the second processor; the base station includes a first processor and a memory connected to the first processor; the first processor and the second processor are communicatively connected, and the memory of the cleaning device and / or the memory of the base station stores a computer program that can be executed by the second processor and / or the first processor, and when the first processor and / or the second processor executes the computer program, the self-cleaning control method of the cleaning system described above according to the embodiment of the first aspect of the present application is implemented.

[0057] According to an embodiment of the second aspect of the present application, a cleaning system is proposed, including: a cleaning device and a base station; the base station includes a base, a first sewage tank, a spraying device, a first sewage exhaust fan, a drying device and a first controller, and the first controller is connected to the spraying device, the first sewage exhaust fan and the drying device; the cleaning device includes a second sewage tank, a cleaning component, a second sewage exhaust fan and a second controller; when performing self-cleaning, the cleaning device docks at the base, and the cleaning device communicates with the base station to implement the self-cleaning control method of the cleaning system described in the above embodiment of the first aspect of the present application.

[0058] The cleaning system according to the above two embodiments of the present application, by applying the self-cleaning control method of the cleaning system according to the above embodiments of the present application, has the advantages of high self-cleaning efficiency, diverse functions, and no need for additional user operation.

[0059] According to an embodiment of the third aspect of the present application, a self-cleaning control method for a cleaning system is proposed. The cleaning system includes a cleaning device and a base station. The cleaning device includes a cleaning member. The self-cleaning control method includes: controlling the cleaning member to rotate in a first direction and spray water onto the cleaning member for a first duration; stopping the spraying of water onto the cleaning member, and controlling the first sewage extraction fan of the base station to operate for a second duration to recycle sewage generated by self-cleaning of the cleaning member into a first sewage tank of the base station. The self-cleaning control method for a cleaning system according to the embodiment of the third aspect of the present application has the advantages of high self-cleaning efficiency, diverse functions, and a high degree of maintenance-free.

[0060] According to the fourth aspect embodiment of the present application, a cleaning system is proposed, including: a cleaning device and a base station; the base station includes a base, a first sewage tank, a first sewage exhaust fan and a first controller, and the first controller is communicatively connected to the first sewage exhaust fan; the cleaning device includes a second sewage tank, a cleaning component, a second sewage exhaust fan and a second controller; when performing self-cleaning, the cleaning device docks at the base, and the cleaning device communicates with the base station to implement the self-cleaning control method of the cleaning system according to the above-mentioned third aspect embodiment of the present application.

[0061] According to another aspect of the present application, an embodiment of a self-cleaning control method for a cleaning system is proposed, wherein the cleaning system includes a cleaning device and a base station, the cleaning device includes a cleaning member, and the self-cleaning control method includes: controlling the cleaning member to rotate in a first direction and spraying water on the cleaning member; controlling the cleaning member to rotate in a second direction; stopping spraying water on the cleaning member or reducing the amount of water sprayed, and controlling the first sewage exhaust fan of the base station to operate so as to recycle the sewage generated by the rotation and cleaning of the cleaning member into the first sewage tank of the base station.

[0062] According to a fifth aspect of the invention, an embodiment provides a self-cleaning control method for a cleaning system, the cleaning system comprising a cleaning device and a base station, the base station comprising a first sewage exhaust fan and a first sewage tank, the cleaning device comprising a cleaning member, a second sewage tank, and a second sewage exhaust fan, the self-cleaning control method comprising: spraying water onto the cleaning member and controlling the cleaning member to rotate; after a first preset time, controlling the first sewage exhaust fan to operate so as to extract the sewage generated by the self-cleaning of the cleaning member and the sewage stored in the second sewage tank to the first sewage tank of the base station; stopping the operation of the first sewage exhaust fan, spraying water onto the cleaning member again and controlling the cleaning member to rotate again; after a second preset time, controlling the second sewage exhaust fan to operate so as to extract the sewage generated by the self-cleaning of the cleaning member again to the second sewage tank of the cleaning device. The self-cleaning control method for a cleaning system according to an embodiment of the present application has the advantages of high cleaning efficiency, good cleaning effect, and high degree of maintenance-free.

[0063] According to an embodiment of the sixth aspect of the present application, a cleaning system is proposed, comprising: a cleaning device and a base station; the base station comprises a base, a first sewage tank, a first sewage exhaust fan, a steam generating device, a drying device and a first controller, and the first controller is connected to the first sewage exhaust fan, the steam generating device and the drying device; the cleaning device comprises a cleaning part, a second sewage tank, a second sewage exhaust fan and a second controller; when performing self-cleaning, the cleaning device docks at the base, and the cleaning device communicates with the base station to implement the self-cleaning control method of the cleaning system according to the embodiment of the above-mentioned fifth aspect of the present application.

[0064] According to the seventh aspect of the present application, a self-cleaning control method for a cleaning system is proposed. The cleaning system includes a base station and a cleaning device. The method includes: after the cleaning device docks on the base station, obtaining the self-cleaning working mode of the cleaning system; and controlling the cleaning system to execute a self-cleaning program in a self-cleaning manner indicated by the self-cleaning working mode. According to the self-cleaning control method for a cleaning system in an embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute a self-cleaning program based on the self-cleaning working mode, that is, different self-cleaning working modes have different control methods for executing the self-cleaning program of the cleaning system, making the self-cleaning control process more intelligent. At the same time, the cleaning system has multiple self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0065] According to the eighth aspect of the present application, an embodiment of a self-cleaning control device for a cleaning system is proposed, wherein the cleaning system includes a base station and a cleaning device, and the device includes: an acquisition module for acquiring the self-cleaning working mode of the cleaning system after the cleaning device docks on the base station; and a control module for controlling the cleaning system to execute a self-cleaning program in a self-cleaning manner indicated by the self-cleaning working mode. According to the self-cleaning control device for a cleaning system of an embodiment of the present application, by acquiring the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute a self-cleaning program based on the self-cleaning working mode, that is, different self-cleaning working modes have different control methods for executing the self-cleaning program of the cleaning system, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0066] The ninth aspect of the present application proposes a cleaning system, which includes: a cleaning device, a base station, and a control device, wherein: the cleaning device is connected to the base station; the control device stores a self-cleaning control program, and the control device executes the self-cleaning control program to implement the self-cleaning control method of the cleaning system described in the seventh aspect of the present application. According to the cleaning system of the embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode, that is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the intelligence of the self-cleaning control process is higher; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0067] Another embodiment of the present application provides a computer-readable storage medium, on which a self-cleaning control program of a cleaning system is stored. When the self-cleaning control program of the cleaning system is executed by a control device, a self-cleaning control method of the cleaning system as described in any embodiment of the first aspect above is implemented.

[0068] According to the tenth aspect embodiment of the present application, a fault recovery method for a sewage valve is provided, which is applied to a cleaning system. The cleaning system includes a spray component, a recovery box, a sewage valve, and a suction device. The spray component is used to spray the recovery box, the suction device is connected to the recovery box, and the sewage valve is arranged on or adjacent to the recovery box. The fault recovery method for the sewage valve includes: in response to abnormal operation information of the sewage valve, controlling the spray component to spray the recovery box; controlling the suction device to suck the recovery box; obtaining a first in-place state of the sewage valve; and stopping fault recovery when the first in-place state meets a first preset condition.

[0069] According to another aspect of the present application, an embodiment provides a fault recovery device for a sewage valve, which is used for a cleaning system. The cleaning system includes a spray component, a recovery box, a sewage valve, and a suction device. The spray component is used to spray the recovery box, the suction device is connected to the recovery box, and the sewage valve is arranged on or adjacent to the recovery box. The fault recovery device for the sewage valve includes: a spray trigger module, which is used to control the spray component to spray the recovery box in response to abnormal operation information of the sewage valve; a suction control module, which is used to control the suction device to suck the recovery box; a first detection module, which is used to obtain a first in-place state of the sewage valve; and a processing system, which is used to stop fault recovery when the first in-place state meets a first preset condition.

[0070] According to another aspect of the present application, an embodiment provides a cleaning system, the cleaning system comprising:

[0071] at least one processor; and,

[0072] a memory communicatively connected to the at least one processor; wherein,

[0073] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned fault recovery method for the sewage valve.

[0074] According to another aspect of the present application, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the fault recovery method of the sewage valve is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0076] FIG1 is a flow chart of a self-cleaning control method for a cleaning system according to an embodiment of the present application;

[0077] FIG2 is a flowchart of a procedure for cleaning a cleaning member of a cleaning device according to an embodiment of the present application;

[0078] 3 is a flow chart of a self-cleaning program for cleaning a cleaning member of a cleaning device according to an embodiment of the present application;

[0079] 4 is a flow chart of a steam cleaning program for cleaning cleaning elements of a cleaning device according to an embodiment of the present application;

[0080] 5 is a flowchart of a procedure for performing sewage cleaning on a first sewage tank of a base station according to an embodiment of the present application;

[0081] 6 is a flowchart of a procedure for performing a drying process on a cleaning member of a cleaning device according to an embodiment of the present application;

[0082] 7 is another flowchart of a procedure for performing a drying process on a cleaning member of a cleaning device according to an embodiment of the present application;

[0083] FIG8 is a flow chart of a self-cleaning control method for a cleaning system according to an embodiment of the present application;

[0084] 9 is a flow chart of a self-cleaning control method for a cleaning system according to another embodiment of the present application;

[0085] FIG10 is a flow chart of a self-cleaning control method of a cleaning system according to an embodiment of the present application;

[0086] 11 is a flow chart of a self-cleaning control method for a cleaning system according to another embodiment of the present application;

[0087] 12 is a flow chart of controlling the roller brush to alternately switch the rotation direction according to the self-cleaning control method of an embodiment of the present application;

[0088] 13 is a flow chart of a self-cleaning control method for a cleaning system according to an embodiment of the present application;

[0089] 14 is a flow chart of a self-cleaning control method for a cleaning system according to another embodiment of the present application;

[0090] FIG15 is a structural block diagram of a self-cleaning control device of a cleaning system according to an embodiment of the present application;

[0091] FIG16 is a structural block diagram of a cleaning system according to an embodiment of the present application.

[0092] FIG17 is a schematic structural diagram of a cleaning device of a cleaning system according to an embodiment of the present application;

[0093] FIG18 is a schematic structural diagram of a base station of a cleaning system according to an embodiment of the present application.

[0094] FIG19 is a flow chart of a fault recovery method for a sewage valve according to an embodiment of the present application;

[0095] FIG20 is a flow chart of a method for recovering a sewage valve fault according to an embodiment of the present application;

[0096] FIG21 is a flow chart of a fault recovery method for a sewage valve provided in one embodiment of the present application;

[0097] FIG22 is a flow chart of a method for recovering a sewage valve fault according to an embodiment of the present application;

[0098] FIG23 is a schematic diagram of a fault recovery device for a sewage valve provided in the present application in an embodiment of the present application;

[0099] FIG24 is a circuit diagram of an embodiment of a control component provided by the present application;

[0100] FIG25 is a schematic diagram of the cleaning system of the present application in an embodiment of the present application. DETAILED DESCRIPTION

[0101] The following describes in detail embodiments of the present application, and the embodiments described with reference to the accompanying drawings are exemplary.

[0102] The cleaning system includes a cleaning device and a base station. For example, the cleaning device can be a floor scrubber. The floor scrubber's buttons can be used to switch between different modes. For example, if the user presses the self-clean button, the floor scrubber enters self-clean mode and executes the corresponding program.

[0103] As shown in FIG1 to FIG25 , the self-cleaning control method of the cleaning system according to the embodiment of the present application includes: S1 to S3, which are specifically as follows:

[0104] S1. In response to a self-cleaning instruction, executing a procedure for cleaning a cleaning member of a cleaning device.

[0105] Among them, the self-cleaning instructions have at least the following forms:

[0106] 1) The user manually presses the self-cleaning button to start the self-cleaning instruction;

[0107] 2) Identify the connection between the cleaning equipment and the base station and automatically start the self-cleaning command;

[0108] 3) After the cleaning device is connected to the base station for a fixed period of time, the self-cleaning command is automatically started;

[0109] 4) Detect the degree of dirtiness of the cleaning parts of the cleaning equipment and start the self-cleaning instruction;

[0110] 5) The cleaning equipment is informed that it has completed the cleaning work and automatically starts the self-cleaning instruction.

[0111] The above is merely an example of an exemplary embodiment. The instruction cannot be simply understood as pressing a button and meeting the triggering conditions.

[0112] Specifically, the cleaning part of the cleaning equipment can be a roller brush, and cleaning water is stored in the base station. During the cleaning process of the cleaning part of the cleaning equipment, water is controlled to be sprayed onto the cleaning part to remove stains in the cleaning part (roller brush), thereby achieving the purpose of self-cleaning of the cleaning part.

[0113] S2. Execute a procedure for draining and cleaning the first sewage tank of the base station.

[0114] The cleaning equipment discharges sewage into the first sewage tank after water spray cleaning. The first sewage tank briefly stores the cleaned sewage and then discharges it. The first sewage tank can continue to store subsequent sewage, thereby continuously cleaning the cleaning parts of the cleaning equipment.

[0115] S3, executing a procedure for drying the cleaning parts of the cleaning equipment.

[0116] By drying the cleaning parts of the cleaning equipment, the cleaning parts can be kept dry to avoid stains from being stained by moisture. For example, the cleaning parts of the cleaning equipment, the structure for cleaning the waste and the structure for drying the cleaning parts are all formed in the base station.

[0117] According to the self-cleaning control method for a cleaning system according to an embodiment of the present application, by first executing a cleaning program for the cleaning components of the cleaning device, then executing a program for draining and cleaning the first sewage tank, and finally executing a program for drying the cleaning components of the cleaning device, the self-cleaning control method automatically cleans the cleaning components of the cleaning device, promptly drains the sewage, and dries the cleaning components. After the user completes the cleaning device's work on the floor, the cleaning device is promptly cleaned. In these continuous cleaning steps, the cleaning components of the cleaning device are cleaned and the sewage in the first sewage tank is promptly drained, allowing the first sewage tank to continuously store the sewage after cleaning the cleaning components, thereby ensuring self-cleaning efficiency. Furthermore, after cleaning the cleaning components, the cleaning components are promptly dried to keep the cleaning device dry and prevent stains from moisture. Thus, the self-cleaning control method for a cleaning system according to an embodiment of the present application integrates the functions of cleaning, draining, and drying by executing different programs. This provides a wide range of functions, and the execution of the programs between each step is relatively compact. This allows for efficient self-cleaning of the cleaning device without human intervention, resulting in a high degree of automation and maintenance-free operation.

[0118] Therefore, the cleaning system according to the embodiment of the present application has the advantages of high self-cleaning efficiency, diverse functions, and high degree of maintenance-free.

[0119] In some specific embodiments of the present application, as shown in FIG2 , executing a procedure for cleaning a cleaning member of a cleaning device includes:

[0120] S1-1, executing a self-cleaning program for cleaning the cleaning parts of the cleaning equipment; and

[0121] S1-2. Executing a steam cleaning procedure for cleaning the cleaning parts of the cleaning equipment.

[0122] Among them, executing the self-cleaning program is mainly to perform preliminary cleaning of the cleaning parts of the cleaning equipment, such as placing the cleaning parts in a clean water pool, or spraying the cleaning parts with clean water, so that the stains carried by the cleaning parts can be washed and taken away by the clean water, thereby quickly achieving preliminary cleaning of the cleaning parts.

[0123] The steam cleaning process primarily sterilizes the cleaning components of the cleaning equipment. After the self-cleaning process, stubborn bacteria often remain on the components. In these cases, the steam cleaning process is necessary. For example, the steam can be high-temperature steam. A heating element is installed in the base station, which heats the cleaning water to generate steam, which is then used to sterilize the components. For example, the steam can be a sterilizing liquid. Its small molecular structure allows it to fully contact bacteria on the components, thus removing stubborn bacteria. By sequentially executing the self-cleaning and steam cleaning processes, cleaning is more efficient and thorough.

[0124] Furthermore, as shown in FIG3 , executing a self-cleaning procedure for cleaning the cleaning member of the cleaning device includes:

[0125] S1-1-1. Control the roller brush of the cleaning device to rotate in a first direction, and control the driving pump that supplies water to the roller brush to operate for a first time period.

[0126] For example, the first duration is 80s to 100s, the driving pump can be a diaphragm pump, the roller brush of the cleaning equipment is placed in the tray of the base station, and the driving pump continuously sprays flowing water onto the roller brush. At the same time, the roller brush also rotates in the first direction. When the driving pump runs for the first duration, the roller brush also rotates for the first duration. The water sprayed by the driving pump can cover all positions of the roller brush, so that all positions around the roller brush can be cleaned.

[0127] S1-1-2. Control the first sewage exhaust fan of the base station to run for a second duration, for example, the second duration is 5s to 15s, so as to recycle the sewage generated by the cleaning equipment into the first sewage tank of the base station.

[0128] The first sewage exhaust fan provides negative pressure to absorb the stains in the roller brush, and drives the pump to collect the sewage after the roller brush is cleaned, and transmits it to the first sewage tank using negative pressure. The sewage is recovered in the first sewage tank and discharged uniformly.

[0129] The first sewage extraction fan is used to recycle the sewage generated by the cleaning equipment into the first sewage tank because after the main unit cleans the floor, a large amount of water is already retained inside the cleaning equipment, temporarily preventing the cleaning equipment from directly performing self-cleaning. The first sewage extraction fan of the base station is used to recycle the sewage generated by the cleaning equipment, thereby clearing the water inside the cleaning equipment and solving the problem of the main unit's sewage tank being full, thereby allowing the cleaning equipment to subsequently perform self-cleaning. Therefore, the first sewage extraction fan of the base station is used to directly extract the sewage, along with the sewage already in the cleaning equipment and the sewage generated by the roller brush during self-cleaning on the base station tray, and recycle it into the first sewage tank of the base station, thereby improving self-cleaning efficiency.

[0130] In some specific embodiments of the present application, as shown in FIG3 , executing a self-cleaning procedure for cleaning a cleaning member of a cleaning device further includes:

[0131] S1-1-3, control the roller brush to switch to the second direction of rotation and control the first sewage exhaust fan to continue running for the third time.

[0132] For example, the third duration is 4 to 6 seconds, the first direction is clockwise, and the second direction is counterclockwise. Since the bristles of the roller brush rotate clockwise and counterclockwise, the roller brush cleans in the clockwise direction when it rotates in the first direction, and in the counterclockwise direction when it rotates in the second direction. The cleaning is performed clockwise and counterclockwise, respectively. Furthermore, when the first sewage extraction fan is controlled to continue operating for the third duration, sewage can be promptly extracted when the roller brush rotates in the second direction, thereby ensuring to the greatest extent possible that no stains remain on the roller brush and ensuring a cleaning effect.

[0133] S1-1-4, control the first sewage suction fan to stop working and control the roller brush to rotate in the first direction, and control the driving pump that supplies water to the roller brush to run for a fourth time period, for example, the fourth time period is 25s to 35s.

[0134] When the first sewage exhaust fan stops working, the roller brush can be cleaned for the second time. The roller brush rotates in the first direction (such as clockwise) again. While the roller brush rotates, the pump is driven to continue spraying cleaning water to the roller brush for the fourth time to further clean the roller brush, thereby further cleaning the impact of the sewage on the roller brush during the first cleaning.

[0135] S1-1-5. Control the second sewage exhaust fan of the cleaning equipment to run for a fifth duration, for example, the fifth duration is 5s to 15s, so as to store the clean sewage from the roller brush into the second sewage tank of the cleaning equipment.

[0136] Because the driving pump has already drained the water from the first sewage tank during the first cleaning, the second sewage tank of the cleaning equipment can be used to accommodate the sewage generated by the roller brush self-cleaning during the second cleaning. The second sewage extraction fan operates for a fifth time, depositing the sewage into the second sewage tank of the cleaning equipment. As a result, both the first sewage tank of the base station and the second sewage tank of the cleaning equipment can store sewage generated by self-cleaning, resulting in a larger water storage capacity.

[0137] S1-1-6, control the roller brush to switch to the second direction of rotation and keep the second sewage exhaust fan running for the sixth time period, for example, the sixth time period is 4s to 6s.

[0138] The roller brush rotates again in the opposite direction, and the second exhaust fan operates for a sixth time, further cleaning the second direction of the roller brush. This results in a secondary cleaning of the roller brush in both the clockwise and counterclockwise directions. The second exhaust fan continues to operate for a sixth time, depositing the wastewater generated by the roller brush's second rotation direction into the cleaning device's second water tank, ensuring wastewater storage. Thus, during the initial cleaning of the roller brush, the first exhaust fan discharges wastewater into the first wastewater tank, while during the second cleaning, the second exhaust fan discharges wastewater into the cleaning device's second wastewater tank, enhancing the self-cleaning efficiency of the cleaning device.

[0139] S1-1-7, control the second sewage extraction fan to stop working and turn off the roller brush to complete the self-cleaning procedure.

[0140] Furthermore, as shown in FIG4 , a clean water tank and a steam generating device for heating water in the clean water tank to generate steam are provided in the base station, and a steam cleaning procedure for cleaning the cleaning parts of the cleaning equipment is executed, including:

[0141] S1-2-1. Control the roller brush of the cleaning equipment to rotate in a first direction, and control the steam generating device to operate for a seventh duration, for example, the seventh duration is 25s to 35s, so as to sterilize the roller brush at high temperature through steam.

[0142] For example, the steam generator can be a boiler that stores clean water. After the self-cleaning process is completed, the steam generator heats the clean water to generate steam, which sterilizes the roller brush at high temperature. On the one hand, the small molecule steam can further clean the damp roller brush, and the water vapor can carry fine stains away from the roller brush surface. On the other hand, the high temperature generated by the steam generator sterilizes and prevents bacterial growth.

[0143] S1-2-2. Control the first sewage exhaust fan to operate for an eighth duration, for example, 5 seconds to 15 seconds, to recycle water generated by high-temperature sterilization of the roller brush into the first sewage tank of the base station.

[0144] The first sewage extraction fan is used in conjunction with the steam generation device for steam cleaning. The steam carries bacteria and is removed by the first sewage extraction fan. At the same time, the water produced by high-temperature sterilization is stored in the first sewage tank of the base station. This keeps the roller brush dry and clean.

[0145] Furthermore, as shown in FIG4 , executing the steam cleaning procedure for cleaning the cleaning parts of the cleaning device further includes:

[0146] S1-2-3, control the roller brush to switch to the second direction of rotation and control the first sewage exhaust fan to continue to run for the ninth time period, for example, the ninth time period is 4s to 6s.

[0147] The roller brush rotates in the opposite direction and continues to be sterilized at high temperature by the steam generating device. Both the clockwise and counterclockwise directions of the roller brush can be sterilized at high temperature. The first sewage exhaust fan continues to run for the ninth time, and the steam carrying bacteria and the water generated by the second direction of the roller brush can be recovered into the first sewage tank of the base station.

[0148] S1-2-4. Control the roller brush to switch back to the first direction and control the first sewage extraction fan to continue operating for a tenth duration, for example, 25 to 35 seconds, where the tenth duration is greater than the ninth duration. This step is intended to dry the roller brush while the first sewage extraction fan continues to transport bacteria and water collected during the drying process to the first sewage tank of the base station.

[0149] S1-2-5. Control the first sewage extraction fan to stop working and control the roller brush to close to complete the steam cleaning procedure.

[0150] In some specific embodiments of the present application, the sewage tank of the base station is connected to a sewage discharge channel, and a switch for controlling sewage discharge is provided on the sewage discharge channel. The base station also includes a spraying device for spraying liquid into the first sewage tank. The procedure for draining and cleaning the first sewage tank of the base station is executed, as shown in FIG5 , including:

[0151] S2-1. Control the switch to open to discharge the sewage in the first sewage tank.

[0152] When the switch is closed, the water in the first sewage tank of the base station remains in the first sewage tank and cannot be discharged. By controlling the switch to open, the sewage in the first sewage tank is discharged into the sewer connected to the base station. After the discharge, the first sewage tank remains empty again so that it can continue to store sewage in the future.

[0153] S2-2. In response to the switch member being switched from the closed state to the open state, the spray device is controlled to be turned on and to continue running for a tenth time period to perform a first flushing of the first sewage tank.

[0154] When the switch is switched to the open position, the first sewage tank is drained and the spray device performs a first flush of the first sewage tank. This first flush does not need to wait until the sewage in the first sewage tank is completely drained. Typically, during the process of switching the switch from the closed position to the open position, the amount of water discharged from the first sewage tank has already met the requirements for the first flush. Flushing the first sewage tank ensures a high level of cleanliness inside the first sewage tank, preventing further bacterial growth and odor generation.

[0155] Furthermore, as shown in FIG5 , executing the procedure of draining and cleaning the first sewage tank of the base station further includes:

[0156] S2-3, controlling the switch to close, and controlling the spraying device to continue to open for an eleventh time period, for example, the eleventh time period is 15s to 25s, to flush the first sewage tank for the second time.

[0157] During the second flushing, the sewage in the first sewage tank has been completely discharged. By flushing the first sewage tank for the second time, the cleanliness of the interior of the first sewage tank is further improved, and the tank will no longer be affected by the remaining sewage.

[0158] S2-4, controlling the spray device to turn off, and controlling the switch to switch from the off state to the on state, to discharge the sewage in the first sewage tank. After completing the second flushing, the flushed sewage in the first sewage tank is discharged, completing the sewage cleaning procedure of the first sewage tank.

[0159] In some specific embodiments of the present application, the base station is provided with a drying device for drying the roller brush. As shown in FIG6 , the procedure for drying the cleaning parts of the cleaning device includes:

[0160] S3-1, control the operation of the drying device;

[0161] S3-2, controlling the roller brush to rotate at a drying voltage lower than the working voltage until the preset drying time is reached.

[0162] The drying device evaporates the residual moisture on the roller brush to keep it dry and clean, and controls the roller brush to rotate at a drying voltage lower than the working voltage. The power consumption during the rotation of the roller brush is low, and each position of the roller brush along the circumference can be dried to ensure the drying efficiency, so as to meet the requirements for reuse of the cleaning equipment as soon as possible.

[0163] Furthermore, controlling the roller brush to rotate at a drying voltage lower than the working voltage includes: controlling the roller brush to rotate at the drying voltage, wherein the roller brush is controlled to periodically switch the rotation direction.

[0164] Since the bristles of the roller brush rotate clockwise and counterclockwise, the bristles of the roller brush can be dried by periodically switching the rotation direction, ensuring that there are no dead angles in drying and improving the drying efficiency.

[0165] In some specific embodiments of the present application, as shown in FIG7 , the base station is provided with a drying device for drying the roller brush, and the program for drying the cleaning parts of the cleaning device is executed, including:

[0166] S3-1. Control the operation of the drying device.

[0167] S3-2-1. Control the roller brush to alternately perform the first direction rotation step and the second direction rotation step until the preset drying time is reached.

[0168] Among them, the step of controlling the roller brush to rotate in the first direction includes periodically controlling the roller brush to stand still for a twelfth time period and controlling the roller brush to rotate in the first direction for a thirteenth time period, for example, the twelfth time period is 50s to 70s, and the thirteenth time period is 15s to 25s, until the number of repetitions reaches a first preset number of times, for example, the first preset number of times is 15 times to 25 times, wherein the twelfth time period is greater than the thirteenth time period.

[0169] It can be understood that the purpose of keeping the roller brush stationary for most of the time and periodically keeping the roller brush stationary is that the roller brush can be locally dried in a targeted manner when it is not rotating. Each time the roller brush rotates in the first direction, it will deviate by a smaller angle, so that the roller brush will then be stationary in different positions, and the drying efficiency is higher.

[0170] Further, as shown in FIG7 , the step of controlling the roller brush to rotate in the second direction includes:

[0171] S3-2-2, control the roller brush to be stationary for the fourteenth time period and control the roller brush to rotate in the second direction for the fifteenth time period, wherein the fourteenth time period is greater than the fifteenth time period. For example, the fourteenth time period is 50s to 70s, and the fifteenth time period is 15s to 25s. Repeat the control of stationary and rotating in the second direction until the number of repetitions reaches the second preset number of times, for example, the second preset number of times is 15 to 25 times. Similarly, the roller brush is kept stationary for most of the time. The purpose of periodically stationary roller brush is to: when the roller brush is not rotating, the roller brush can be locally dried in a targeted manner. Each time the roller brush rotates in the second direction, it will also deviate by a smaller angle, so that the roller brush will be stationary at different positions next time, and the drying efficiency is higher.

[0172] The roller brush is dried efficiently by executing the first direction rotation step and the second direction rotation step. Each time the roller brush rotates alternately, it rotates at least 360° in total, thereby ensuring that the roller brush is dried throughout the entire circle.

[0173] In some specific embodiments of the present application, before executing the procedure of cleaning the cleaning member of the cleaning device, the self-cleaning control method further includes:

[0174] The cleaning equipment is detected to have docked at the base station.

[0175] In response to the trigger instruction of the self-cleaning button, a self-cleaning instruction is issued and the cleaning system is controlled to enter the cleaning mode, wherein the cleaning mode includes a standard cleaning mode and a deep cleaning mode, and the duration of each program in the deep cleaning mode is greater than the duration of each program in the standard cleaning mode.

[0176] When the cleaning device docks at the base station, the system automatically enters cleaning mode in response to a trigger command from the self-cleaning button. The system controls the duration of each program in both standard and deep cleaning modes. Specifically, each program includes cleaning the cleaning device's cleaning components, draining and cleaning the base station's first sewage tank, and drying the cleaning device's cleaning components, allowing for different self-cleaning modes in different usage scenarios.

[0177] According to an embodiment of the present application, the base station 20 includes a first processor and a memory communicatively connected to the first processor.

[0178] The memory stores a computer program that can be executed by the first processor, and when the first processor executes the computer program, the self-cleaning control method of the cleaning system of the above embodiment of the present application is implemented.

[0179] According to the base station 20 of the embodiment of the present application, the self-cleaning control method of the cleaning system according to any of the above embodiments of the present application is executed through the memory, which has the advantages of high self-cleaning efficiency, diverse functions, and high degree of maintenance-free.

[0180] Referring to Figures 17-18, a cleaning system according to an embodiment of the present application includes: a cleaning device 10 and a base station 20. The base station 20 includes a base 230, a first sewage tank 210, a spray device (not shown), a first sewage extraction fan (not shown), a drying device (not shown), and a first controller (not shown). The first controller is connected to the spray device, the first sewage extraction fan, and the drying device. The cleaning device 10 includes a second sewage tank 120, a roller brush 110, a second sewage extraction fan, and a second controller.

[0181] During self-cleaning, the cleaning device 10 is docked on the base 230 , and the cleaning device 10 communicates with the base station 20 to implement the self-cleaning control method of the cleaning system of the above embodiment of the present application.

[0182] The base station 20 includes a first sewage tank 210, a spray device, a first sewage extraction fan, a drying device, and a first controller, providing a more comprehensive self-cleaning device for the cleaning device 10. The base station 20 communicates with the cleaning device 10, executing the programs of each of the aforementioned devices to achieve the self-cleaning function. The base 230 is suitable for accommodating water for cleaning the cleaning device 10. Therefore, the cleaning system according to the embodiment of the present application, by utilizing the self-cleaning control method of the cleaning system according to the above-mentioned embodiment of the present application, has the advantages of high self-cleaning efficiency, diverse functions, and a high degree of maintenance-free.

[0183] In some specific embodiments of the present application, the base station 20 further includes a clean water tank 220 , the water inlet of the clean water tank 220 is suitable for connection to a clean water source, and the water outlet of the clean water tank 220 is connected to a spray device.

[0184] By connecting the clean water tank 220 to the spray device, a space for storing clean water can be formed inside the base station 20. The clean water source in the clean water tank 220 is used to supply water to the spray device, and the clean water source flushes the first sewage tank 210 through the spray device. The base station 20 itself stores clean water through the clean water tank 220, and there is no need for an external water source. The modularity is higher and the functions are more diverse.

[0185] In the cleaning system of the related art, the cleaning equipment needs to be cleaned after the cleaning operation. During this process, the cleaning parts of the cleaning equipment that are in a dirty state need to be removed and cleaned with the help of other cleaning equipment. However, the use of other cleaning equipment will cause further pollution, and the convenience of cleaning the cleaning equipment itself is poor. In addition, the degree of automation of the cleaning system is low, and manual operation is often required. The cleaning efficiency of the cleaning equipment is low, and the cleaning equipment is often still contaminated with stains, bacteria and other contaminants. The cleaning effect is difficult to achieve the expected result, and the cleaning equipment cannot be quickly put back into subsequent cleaning operations. The present application provides the following embodiments to solve this problem.

[0186] In some specific embodiments of the present application, as shown in FIG8-FIG9 , in a self-cleaning control method of a cleaning system, for example, in executing a self-cleaning program for cleaning a cleaning member of the cleaning device, the method includes:

[0187] Step S10: controlling the cleaning member to rotate in a first direction and spraying water on the cleaning member for a first time period, so as to spray water on the cleaning member for the first time period.

[0188] During the rotation of the cleaning member, the water sprayed onto the cleaning member can cover all areas of the outer circumference of the cleaning member, so that all parts of the cleaning member can be cleaned. For example, the cleaning water after spraying the cleaning member can be collected in a tray of the base station for subsequent discharge from the cleaning system. When the water spraying time reaches the first time period, the cleaning member is preliminarily cleaned.

[0189] Step S20: Control the first sewage extraction fan of the base station to operate for a second time period to recycle sewage generated by the cleaning equipment into the first sewage tank of the base station. Optionally, before controlling the first sewage extraction fan of the base station to operate for the second time period, stop spraying water to the cleaning element or reduce the amount of water sprayed.

[0190] The cleaning equipment discharges sewage into the first sewage tank after water spray cleaning. The first sewage tank briefly stores the cleaned sewage and then discharges it. The first sewage tank can continue to store subsequent sewage, thereby continuously cleaning the cleaning parts of the cleaning equipment.

[0191] According to the self-cleaning control method of the cleaning system of this embodiment of the present application, by first controlling the cleaning element to rotate in a first direction and spraying water onto the cleaning element for a first duration, the cleaning water is able to clean various areas around the cleaning element. The cleaned sewage is then recovered by a first sewage exhaust fan and returned to a first sewage tank of the base station. The first sewage exhaust fan can generate negative pressure, which can not only absorb dirt and moisture from the cleaning element, but also recover the cleaned sewage into the first sewage tank. The recovered sewage is discharged uniformly from the first sewage tank. The first sewage exhaust fan promptly removes moisture, keeping the cleaning element of the cleaning device dry and preventing further stains due to moisture. The sewage is recovered in the sewage tank without occupying the area for cleaning the cleaning element. The cleaning element can still be cleaned by the cleaning water later, while the sewage is extracted by the first sewage exhaust fan. Thus, the cleaning element is not affected by the sewage after cleaning, ensuring the efficient cleaning efficiency of the cleaning element. The functions of the cleaning element spraying water and the first sewage exhaust fan extracting sewage are relatively diverse. The entire cleaning and sewage exhaust process does not require human intervention, and has the advantages of high automation and high maintenance-free. Therefore, the self-cleaning control method of the cleaning system according to this embodiment of the present application has the advantages of high self-cleaning efficiency, diverse functions, and high degree of maintenance-free.

[0192] In some specific embodiments of the present application, as shown in FIG9 , in a self-cleaning control method of a cleaning system, for example, in executing a self-cleaning program for cleaning a cleaning member of the cleaning device, the method further includes:

[0193] Step S30: Control the cleaning element to switch to a second direction of rotation and control the first sewage exhaust fan to continue to operate for a third time period, wherein the third time period is less than the second time period.

[0194] For example, the first direction is opposite to the second direction. For example, the first direction is clockwise and the second direction is counterclockwise. Since the bristles of the cleaning member rotate clockwise and counterclockwise, when the cleaning member rotates in the first direction, it cleans the cleaning member in its clockwise cleaning direction. When the cleaning member rotates in the second direction, it cleans the cleaning member in its counterclockwise cleaning direction. Furthermore, when the first sewage extraction fan is controlled to continue operating for the third duration, sewage can be promptly extracted when the cleaning member rotates in the second direction, thereby ensuring to the greatest extent possible that no stains remain on the cleaning member and ensuring a cleaning effect.

[0195] The first sewage extraction fan is used to recycle the sewage generated by the cleaning equipment into the first sewage tank because after the host finishes cleaning the floor, a large amount of water is already stored inside the cleaning equipment, temporarily preventing the cleaning equipment from being directly used for self-cleaning. The first sewage extraction fan of the base station is used to recycle the sewage generated by the cleaning equipment, thereby clearing the water inside the cleaning equipment and solving the problem of the cleaning equipment being full of water. This allows the cleaning equipment to store sewage to meet the needs of subsequent self-cleaning of the cleaning equipment. Therefore, the first sewage extraction fan of the base station is used directly to extract the sewage, together with the sewage already in the cleaning equipment and the sewage generated by the self-cleaning of the cleaning parts on the base station tray, and is recycled into the first sewage tank of the base station, thereby improving the self-cleaning efficiency.

[0196] Furthermore, the cleaning device includes a diaphragm pump for supplying water to the cleaning member, and the diaphragm pump sprays water to the cleaning member for a first duration, including: controlling the diaphragm pump to supply water to the cleaning member at a first water rate and for a first duration, wherein the value of the first water rate R satisfies: 190ml / min≤R≤210ml / min, and the value of the first duration T1 satisfies: 85s≤T1≤95s. Preferably, the first water rate R is a high level of 200ml, and the first duration is 90s. At this time, the diaphragm pump sprays a large amount of clean water to the cleaning member for a sufficiently long time, and the cleaning member is continuously cleaned by the sprayed clean water, meeting the cleaning water demand of the cleaning member. The first water rate is adapted to the volume of the first sewage tank, ensuring a sufficient amount of clean water while preventing the problem of excessive water supply.

[0197] In some specific embodiments of the present application, the value of the second time length T2 satisfies 8s≤T2≤12s, and the value of the third time length T3 satisfies 4s≤T3≤6s. Preferably, the second time length T2 is 10s. The third time length T3 is 5s. At this time, the second time length T2 of the operation of the first sewage exhaust fan of the base station is long enough to fully recycle the sewage generated when the cleaning part rotates in the first direction into the first sewage tank. And the first sewage exhaust fan of the base station runs for a long enough time length T3 to recycle the sewage generated when the cleaning part rotates in the second direction into the first sewage tank, thereby extracting the sewage from the cleaning part in time to prevent the cleaning part from getting wet and getting stained again.

[0198] In some specific embodiments of the present application, as shown in FIG9 , the self-cleaning control method, for example, executing a self-cleaning program for cleaning the cleaning member of the cleaning device, further includes:

[0199] Step S40: Control the first sewage extraction fan to stop working and control the cleaning element to rotate in the first direction and spray water on the cleaning element for a fourth time period. For example, the fourth time period is shorter than the first time period.

[0200] When the first sewage suction fan stops working, the cleaning element can be cleaned for the second time. The cleaning element rotates in the first direction (such as clockwise) again. While the cleaning element rotates, the diaphragm pump continues to spray cleaning water to the cleaning element for a fourth time to further clean the cleaning element, thereby further cleaning the residual sewage from the first cleaning.

[0201] Step S50: Stop spraying water to the cleaning element or reduce the amount of water sprayed, and control the second sewage exhaust fan of the cleaning device to operate for a fifth duration to store the clean sewage from the cleaning element into the second sewage tank of the cleaning device. For example, the fifth duration is greater than the third duration.

[0202] Because the diaphragm pump has already drained the water from the first sewage tank during the first cleaning, the second sewage tank of the cleaning equipment can be used to accommodate the sewage generated by the cleaning components during self-cleaning. The second sewage extraction fan operates for a fifth period, depositing the sewage into the second sewage tank of the cleaning equipment. This allows both the first sewage tank of the base station and the second sewage tank of the cleaning equipment to store sewage generated by self-cleaning, resulting in a large water storage capacity, enabling continuous water spray cleaning and sewage discharge, and achieving high cleaning efficiency.

[0203] Because the volume of the second sewage tank of the cleaning device is smaller than the volume of the first sewage tank of the base station, the fourth duration of water spraying on the cleaning element is shorter than the first duration, which can accommodate the volume of the first sewage tank and prevent the second sewage tank from overflowing. Furthermore, since the cleaning element has already been cleaned by the time water spraying reaches the first duration, the fourth duration of water spraying on the cleaning element is shorter and can meet the cleaning requirements of the cleaning element.

[0204] Furthermore, the value of the fourth time length T4 satisfies 25s≤T4≤35s, and the value of the fifth time length T5 satisfies 8s≤T5≤12s. Preferably, the fourth time length T4 is 30s, and the fifth time length T5 is 10s. When water is sprayed on the cleaning member rotating in the first direction for the fourth time length T4, the stains remaining on the cleaning member during the first cleaning can be further cleaned. Since the cleaning member has been sprayed with water for the first time length T1, the second time of spraying water on the cleaning member only requires a shorter fourth time length T4 to wash away the stains remaining on the cleaning member during the first spraying. The second sewage exhaust fan runs for the fifth time length T5, which can completely discharge the sewage at the cleaning member. Compared with the third time length of the first sewage exhaust fan running, the sewage is extracted more thoroughly, so that the cleaning member remains dry and prevents it from being stained again.

[0205] In some specific embodiments of the present application, as shown in FIG9 , the self-cleaning control method, for example, executing a self-cleaning program for cleaning the cleaning member of the cleaning device, further includes:

[0206] Step S60, controlling the cleaning element to switch to the second direction of rotation and keeping the second sewage exhaust fan running for the sixth time, and after the second sewage exhaust fan runs for the sixth time, controlling the second sewage exhaust fan to stop working to control the cleaning element to stop rotating.

[0207] By controlling the cleaning member to rotate in the opposite direction again, the cleaning member is cleaned in the counterclockwise cleaning direction of the cleaning member when the cleaning member rotates in the second direction, and the second sewage extraction fan is controlled to continue to run for the sixth time, so that the sewage can be extracted in time when the cleaning member rotates in the second direction, it can be ensured to the greatest extent that no stains will remain on the cleaning member, and the cleaning member is cleaned in both the forward and reverse directions to ensure the cleaning effect.

[0208] Furthermore, the sixth time duration T6 satisfies the following: 4s ≤ T6 ≤ 6s. By rotating the second direction and maintaining the second suction fan in operation for the sixth time duration T6, the cleaning element can be spun dry in the second direction, and the suction fan can draw the sewage away from the cleaning element. This allows sufficient time for the cleaning element to draw the sewage away, ensuring that no stains remain on the cleaning element.

[0209] In some specific embodiments of the present application, as shown in FIG9 , the base station further includes a drying device for drying the cleaning member, and the self-cleaning control method further includes:

[0210] Step S70 , in response to the self-cleaning process of the cleaning element being completed, controlling the cleaning element to rotate at a voltage lower than the working voltage and controlling the drying device to start and operate for a seventh period of time to dry the cleaning element.

[0211] Specifically, the cleaning element is operated at a low speed at a voltage of 5V, which is lower than the operating voltage (12V), for a seventh period of time, and the rotation direction of the cleaning element may be periodically changed, for example, once every 5 minutes. However, the cleaning element rotates almost continuously during the seventh period of time.

[0212] In some embodiments, when the cleaning member drying program is started, the cleaning member is first allowed to stand for 1 minute, and then the cleaning member rotates forward for 200ms (the cleaning member rotates about 20° in 200ms). The cleaning member is then allowed to stand for another minute, and then the cleaning member rotates forward for another 200ms. After the above-mentioned forward rotation is completed 20 times, that is, the cleaning member rotates at least 360°, the drying device can dry the cleaning member circumferentially by running the cleaning member for the seventh time after the water spray cleaning, which can further ensure that the cleaning member is dry, prevent the cleaning member from being wet and contaminated by stains, and prevent the cleaning member from breeding bacteria. In addition, the cleaning member rotates at a voltage lower than the operating voltage, the power consumption of the drying process is low, and each area of ​​the cleaning member circumferentially has sufficient drying time to ensure drying efficiency.

[0213] A cleaning system according to an embodiment of the present application includes a cleaning device 10 and a base station 20. As shown in Figures 17 and 18, the base station 20 includes a base 230, a first sewage tank 210, a first sewage extraction fan (not shown), a drying device (not shown), and a first controller (not shown), the first controller being connected to the first sewage extraction fan and the drying device.

[0214] The cleaning device 10 includes a second sewage tank 120, a cleaning member 110, a second sewage exhaust fan, and a second controller. During self-cleaning, the cleaning device 10 is docked on the base 230, and the cleaning device 10 communicates with the base station 20 to implement the self-cleaning control method of the cleaning system according to any of the above embodiments of the present application. In addition, the cleaning device also includes a clean water tank 220, which is arranged side by side with the first sewage tank 210 to give the cleaning device 10 a better integrated structure. The clean water tank 220 is connected to a diaphragm pump and a steam generator, and the diaphragm pump is used to spray the water in the clean water tank 220, and the steam generator can be used to heat the water in the clean water tank 220 to generate steam.

[0215] During the self-cleaning control method of the cleaning device 10, the cleaning device 10 docks on the base 230 of the base station 20 and communicates with the base station 20. The base station 20 controls the operation of the sewage extraction fan, steam generating device, drying device, etc. through the first controller according to the status and needs of the cleaning device 10, thereby realizing the self-cleaning control method. Among them, the cleaning part 110 is used to clean the floor and stirs it through the action of a rotating brush; the second controller controls the various operations of the cleaning device 10. The base 230 provides support and stability for the device and provides a docking and communication location for the cleaning device 10; the sewage tank 210 can store sewage generated during the cleaning process, and the sewage extraction fan prevents sewage by extracting the sewage from the sewage tank 210; the steam generating device provides steam in a high-temperature and high-humidity environment for sterilization and cleaning; the drying device accelerates the drying process of the cleaning device 10 after cleaning. The first controller controls the operation and coordination of various functions in the base station 20.

[0216] In addition, the cleaning systems in the related art need to clean the cleaning equipment after the cleaning operation. During this process, the roller brush of the cleaning equipment in a dirty state needs to be removed and cleaned with the help of other cleaning equipment. However, the use of other cleaning equipment will cause further pollution, and the convenience of cleaning the cleaning equipment itself is poor. In addition, the degree of automation of the cleaning system is low, and manual operation is often required. The cleaning efficiency of the cleaning equipment is low, and the cleaning equipment is often still contaminated with stains, bacteria and other contaminants. The cleaning effect is difficult to achieve the expected, and the cleaning equipment cannot be quickly put back into subsequent cleaning operations. The following provides some exemplary embodiments to overcome this problem.

[0217] According to some embodiments of the present application, a cleaning system includes a cleaning device and a base station, the base station includes a first sewage exhaust fan, and the cleaning device includes a roller brush and a second sewage exhaust fan. As shown in Figures 10 to 12, a self-cleaning control method, for example, executing a procedure for self-cleaning a cleaning member of the cleaning device, includes:

[0218] Step S100: spray water onto a cleaning member (eg, a roller brush) and control the roller brush to rotate.

[0219] During the rotation of the roller brush, the water sprayed onto the roller brush can cover all areas of the outer circumference of the roller brush, thereby cleaning all parts of the roller brush. For example, the cleaning water after spraying the roller brush can be collected in a tray of the base station for subsequent discharge from the cleaning system. When the water spraying time reaches the first time, the roller brush is preliminarily cleaned.

[0220] Step S200: After a first preset time, control the first sewage extraction fan to operate to extract sewage generated by the cleaning equipment into a first sewage tank of the base station.

[0221] The cleaning equipment discharges the sewage into the first sewage tank after spraying water for cleaning. The first sewage tank briefly stores the cleaned sewage and then discharges it, so that the sewage will not accumulate at the roller brush, thereby not affecting the subsequent cleaning of the roller brush.

[0222] Step S300, spraying water onto the roller brush again and controlling the roller brush to rotate again;

[0223] At this time, the first sewage exhaust fan stops working, and water is sprayed on the roller brush again to complete the second cleaning of the roller brush. The roller brush rotates again, on the one hand, to shake off the sewage remaining from the first water spraying, and on the other hand, to use the clean water from the second water spraying to further clean the roller brush, thereby further ensuring the cleanliness of the roller brush.

[0224] In step S400, after a second preset time, the second sewage extraction fan is controlled to operate to extract the sewage generated by the roller brush cleaning into the second sewage tank of the cleaning equipment. Thus, the sewage generated when water is sprayed on the roller brush again is extracted by the second fan into the second sewage tank, and the sewage is removed in a timely manner, thereby ensuring that the roller brush is not immersed in water for a long time.

[0225] It can be understood that in steps S1 and S2, the cleaning equipment has just completed the cleaning work of the environment, and sewage remains in the second sewage tank in the cleaning equipment. The first sewage exhaust fan is used to extract the sewage from the cleaning roller brush and the sewage in the second sewage tank together, thereby emptying the water in the second sewage tank. When the roller brush is sprayed with water for the second time, the sewage formed by the second water spraying can be collected by the second sewage tank.

[0226] According to the self-cleaning control method of the cleaning system of this embodiment of the present application, the roller brush is cleaned by spraying water twice in succession. The first water spray initially cleans the stains on the roller brush surface, and the second water spray further cleans the roller brush and rinses away the residual sewage from the first water spray, thereby achieving a good cleaning effect. After the first water spray cleaning, the first sewage extraction fan is used to pump the sewage generated by the cleaning equipment into the first sewage tank. This not only removes the sewage generated by the first water spray cleaning of the roller brush, but also removes the sewage generated by the cleaning equipment during the environmental cleaning process. In this way, the sewage generated by the cleaning equipment is efficiently pumped away, reducing the stains attached to the roller brush surface while emptying the water in the second sewage tank, allowing the second sewage tank to collect sewage after the second water spray. During the second water spray cleaning of the roller brush, the stains on the surface of the roller brush and the residual sewage are further rinsed, and the sewage is pumped into the second sewage tank by the second sewage extraction fan, so that the roller brush will not be affected by the sewage after cleaning, ensuring the high cleaning efficiency of the roller brush. The first sewage tank and the second sewage tank can store sewage together. The present method has a relatively rich function of roller brush water spraying and sewage extraction, and the entire water spray cleaning and sewage extraction process does not require human intervention, with the advantages of high degree of automation and high degree of maintenance-free. Therefore, the self-cleaning control method of the cleaning system according to this embodiment of the present application has the advantages of high self-cleaning efficiency, diverse functions, and high degree of maintenance-free.

[0227] In some specific embodiments of the present application, controlling the operation of the first sewage extraction fan includes controlling the operation of the first sewage extraction fan for a first duration, and the value T1 of the first duration satisfies: 8s≤T1≤12s. Preferably, the first duration T1 is 10s. At this time, the first duration T1 of the operation of the first sewage extraction fan of the base station is long enough to fully recycle the sewage generated by the roller brush into the first sewage tank. The first sewage extraction fan extracts the sewage from the roller brush in a timely manner, maintains the cleanliness of the roller brush surface, and prevents the roller brush from becoming wet and contaminated again.

[0228] Furthermore, controlling the operation of the second sewage extraction fan includes controlling the second sewage extraction fan to run for a second time period, and the value T2 of the second time period satisfies: 8s≤T2≤12s. Preferably, the second time period T2 is 10s. At this time, the second time period T2 of the operation of the first sewage extraction fan of the base station is long enough to fully recycle the sewage generated by the roller brush during the second water spray cleaning into the second sewage tank. The second sewage extraction fan will promptly extract the sewage after the roller brush is cleaned and the sewage remaining from the first cleaning attached to the roller brush from the roller brush, maintain the cleanliness of the roller brush surface, and prevent the roller brush from being damp and contaminated again.

[0229] In some specific embodiments of the present application, spraying water onto the roller brush or spraying water onto the roller brush again includes:

[0230] The diaphragm pump that controls the water supply to the roller brush supplies water to the roller brush at a preset water level and continues for a third period of time. The preset water level D satisfies: 190ml / min≤D≤210ml / min. At this time, the diaphragm pump sprays a large amount of clean water to the roller brush and continues for a sufficiently long time. The roller brush is continuously cleaned by the sprayed clean water, which meets the clean water demand of the roller brush and can be drawn away in time by the first sewage exhaust fan. The first water speed adapts to the volume of the first sewage tank, ensuring sufficient clean water while preventing the problem of excessive or insufficient water supply.

[0231] Furthermore, the third duration value T3 satisfies the following: 80s ≤ T3 ≤ 100s. At this point, the second duration T2 of the base station's second sewage extraction fan operation is long enough to fully recover the sewage generated by the second water spraying onto the roller brush into the second sewage tank. This allows the sewage generated by the second water spraying to be promptly extracted from the roller brush, preventing the roller brush from becoming damp and contaminated again.

[0232] In some specific embodiments of the present application, as shown in FIG11 , the base station further includes a steam generating device, and the self-cleaning control method, for example, a procedure for executing self-cleaning of the cleaning member of the cleaning device, further includes:

[0233] Step S500 , after the wastewater generated by the roller brush cleaning is pumped into the second wastewater tank of the cleaning equipment, the roller brush is controlled to rotate, and the steam generating device is controlled to operate to sterilize the roller brush at high temperature.

[0234] For example, the steam generating device in the base station usually uses an electric heating element to pass current through a resistance wire to generate heat. When the current passes through the resistance wire, it will generate resistance that hinders the flow of current, thereby generating resistance that hinders the flow of current. Such an electric heating element is usually located at the bottom or side of the steam generating device and is connected to the clean water tank, heating the water in the clean water tank to boiling temperature to generate steam. The first opening time of the steam generating device is controlled to avoid energy waste caused by being turned on for too long. The roller brush is sterilized at high temperature by steam, so that the roller brush can be cleaned more thoroughly, odor is reduced, the floor is cleaner, and the cleaning effect is better. By controlling the rotation of the roller brush, the outer peripheral surface of the roller brush can be sterilized at high temperature everywhere.

[0235] Step S600: After the third preset time, the steam generating device is controlled to stop running, and the first sewage extraction fan is controlled to run to extract the sewage converted by steam into the first sewage tank of the base station.

[0236] Because high humidity levels during steam sterilization generate wastewater laden with bacteria, the first sewage extraction fan pumps the steam-converted wastewater into the base station's first sewage tank. This pump also removes any bacteria attached to the roller brush, keeping the roller brush cleaner. Furthermore, the first sewage extraction fan reduces the wetness of the roller brush during wastewater extraction, preventing it from becoming contaminated with bacteria again.

[0237] Furthermore, as shown in FIG12 , controlling the operation of the first sewage extraction fan includes:

[0238] Step S6-1: Control the first sewage suction fan to operate for a fourth time period, and control the roller brush to alternately switch the rotation direction during the fourth time period.

[0239] For example, after rotating the roller brush clockwise for a period of time, the direction of rotation is changed and the roller brush is rotated counterclockwise for a period of time. Because the bristles of the roller brush rotate clockwise and counterclockwise, bacteria may be attached to the roller brush during the high-temperature sterilization process of steam conversion. By switching the rotation direction of the roller brush alternately, the high-temperature sterilization effect can be achieved in both clockwise and counterclockwise directions. When the roller brush rotates in the second direction, the high-temperature sterilization and cleaning of the roller brush is carried out in the counterclockwise cleaning direction of the roller brush, thereby extracting more sewage and bacteria attached to the roller brush.

[0240] Furthermore, as shown in FIG12 , the fourth time duration is 45 seconds. Controlling the roller brush to alternately switch the rotation direction within the fourth time duration includes:

[0241] Step S6-1-1, controlling the roller brush to rotate in the first direction for 10 seconds;

[0242] Step S6-1-2, controlling the roller brush to switch from the first direction to the second direction and rotate in the second direction for 5 seconds;

[0243] Step S6-1-3, control the roller brush to switch from the second direction to the first direction and rotate in the first direction for 30 seconds.

[0244] In step S6-1-1, the first sewage extraction fan and the steam generator are used to clean the brush. As the brush rotates in the first direction for 10 seconds, the steam carries bacteria and is removed by the first sewage extraction fan. Simultaneously, the water produced by high-temperature sterilization is stored in the first sewage tank of the base station. This keeps the brush dry and clean.

[0245] In step S6-1-2, the roller brush rotates in the opposite direction and continues to be sterilized at high temperature by the heating device. The steam airflow flows clockwise and counterclockwise along the surface of the roller brush to fully sterilize it at high temperature. The first sewage exhaust fan continues to run for 5 seconds, and the steam carrying bacteria and the sewage generated by the second direction of the roller brush can be recovered into the first sewage tank of the base station.

[0246] In step S6-1-3, the purpose of this step is to spin dry the roller brush, and at the same time the first sewage exhaust fan continues to transport the bacteria and water in the process of spinning the roller brush to the first sewage tank of the base station.

[0247] In some specific embodiments of the present application, as shown in FIG11 , the base station further includes a drying device for drying the roller brush. The self-cleaning control method, for example, executing a program for drying the cleaning member of the cleaning device, further includes:

[0248] S700: In response to the drying instruction, the drying device is controlled to operate, and the roller brush is controlled to rotate at a drying voltage lower than the operating voltage until a preset drying time is reached.

[0249] Specifically, the roller brush runs at a low speed of 5V, which is lower than the operating voltage (12V), for 80 minutes. The direction of rotation of the roller brush can be changed periodically, for example, every 5 minutes. However, the roller brush rotates almost continuously during the 80 minutes.

[0250] The drying device evaporates the residual moisture on the roller brush to keep it dry and clean, and controls the roller brush to rotate at a drying voltage lower than the working voltage. The power consumption during the rotation of the roller brush is low, and each position of the roller brush along the circumference can be dried to ensure the drying efficiency, so as to meet the requirements for reuse of the cleaning equipment as soon as possible.

[0251] Furthermore, controlling the roller brush to rotate at a drying voltage lower than the working voltage includes:

[0252] The roller brush is controlled to rotate at a drying voltage, wherein the roller brush is controlled to periodically switch a rotation direction, or the roller brush is controlled to alternately stop and rotate according to a preset rule.

[0253] When the roller brush is controlled to rotate at a drying voltage, the roller brush first stands still for 1 minute, and then the roller brush rotates forward for 200ms (the roller brush rotates about 20° in 200ms). The roller brush then stands still for another minute, and then the roller brush rotates forward for 200ms again. When the above-mentioned forward rotation is completed 20 times, that is, the roller brush rotates at least 360°, the roller brush is reversed according to the above-mentioned cycle. That is, after standing still for 1 minute, the roller brush rotates in the opposite direction for 200ms. The roller brush then stands still for another minute, and then the roller brush rotates in the opposite direction for 200ms. When the above-mentioned reverse rotation is completed 20 times, the roller brush rotates forward according to the above-mentioned cycle again. This ensures that the roller brush does not rotate most of the time when it is drying, and the local area is dried in a targeted manner with high efficiency. In addition, the roller brush will periodically rotate a small angle to ultimately ensure that the entire circle of the roller brush is dried.

[0254] As shown in FIG. 17 and FIG. 18 , a cleaning system according to some specific embodiments of the present application includes a cleaning device 10 and a base station 20 .

[0255] The base station 20 includes a base 230, a first sewage tank 210, a first sewage exhaust fan (not shown in the figure), a steam generating device (not shown in the figure), a drying device (not shown in the figure) and a first controller (not shown in the figure), and the first controller is connected to the first sewage exhaust fan, the steam generating device and the drying device.

[0256] The cleaning device 10 includes a roller brush 110, a second sewage tank 120, a second sewage exhaust fan (not shown in the figure) and a second controller (not shown in the figure). When performing self-cleaning, the cleaning device 10 is docked on the base 230, and the cleaning device 10 communicates with the base station 20 to implement any of the above-mentioned self-cleaning control methods for the cleaning system. In addition, the steam generating device includes a clean water tank 220, and the water inlet of the clean water tank 220 is suitable for connection to a clean water source. The steam generating device is used to heat the water in the clean water tank 220 to generate steam. The clean water tank 220 and the sewage tank 210 are arranged side by side, so that the cleaning device 10 has a better integrated structure. The water outlet of the clean water tank 220 is connected to the spraying device to spray water on the roller brush 110. The base station 20 itself stores the clean water source through the clean water tank 220, and there is no need for an external water source. The modularization is higher and the functions are more diverse. Therefore, the cleaning system according to the embodiment of the present application, by applying the self-cleaning control method of the cleaning system according to the above embodiment of the present application, has the advantages of high self-cleaning efficiency, diverse functions, and high degree of maintenance-free.

[0257] With technological advancements, users are increasingly demanding automation in cleaning equipment, and cleaning systems that combine cleaning equipment with a base station are becoming increasingly popular. However, in related technologies, after the cleaning equipment is returned to the base station, the user typically needs to press a self-cleaning button on the cleaning system to initiate the self-cleaning process. However, since the self-cleaning operation can only be triggered manually by the user, the self-cleaning control lacks intelligence and can easily degrade the user experience. The following provides some exemplary embodiments to overcome this problem.

[0258] According to some embodiments of the present application, the cleaning system includes a cleaning device, a base station and a control device. A mode switching button and a self-cleaning button are provided on the cleaning device and / or the base station. The mode switching button and the self-cleaning button can be physical buttons or virtual buttons. Among them, the cleaning device can be a floor scrubber, a sweeping robot, a window cleaning robot, a sweeping and mopping robot, etc. The control device includes a processor, which can be set independently of the cleaning device and the base station, or can be set in the cleaning device and / or the base station. In other words, the control device can be a controller in the cleaning device or the base station, or it can be a controller that cooperates with the cleaning device and the base station, or it can be a terminal independent of the cleaning device and the base station, which terminal can be but is not limited to a mobile phone, a tablet computer, a portable wearable device, etc.

[0259] Based on the above-mentioned cleaning system, as shown in Figure 13, the self-cleaning control method of the cleaning system of some embodiments of the present application is illustrated by taking the control device applied to the cleaning system as an example. Before the control of the cleaning system entering the self-cleaning mode, it includes at least steps S1000-S2000.

[0260] Step S1000: After the cleaning device docks on the base station, the self-cleaning working mode of the cleaning system is obtained.

[0261] The relative position of the cleaning device and the base station includes that the cleaning device is docked on the base of the base station, or that the cleaning device is not docked on the base of the base station.

[0262] In an embodiment, the control device can detect the operating status of the cleaning device and the base station, thereby determining the relative position of the cleaning device and the base station based on the operating status of the cleaning device and the base station. If the relative position is determined to be that the cleaning device is docked on the base of the base station, a pre-set self-cleaning operating mode of the cleaning system is obtained, so as to control the cleaning system to execute a self-cleaning procedure according to the self-cleaning operating mode. If the relative position is determined to be that the cleaning device is not docked on the base of the base station, the cleaning system is controlled not to execute the self-cleaning procedure.

[0263] In step S2000 , the cleaning system is controlled to execute a self-cleaning procedure in a self-cleaning manner indicated by the self-cleaning working mode.

[0264] In an embodiment, different self-cleaning operating modes indicate different self-cleaning methods. After acquiring the self-cleaning operating mode of the cleaning system, the control device controls the cleaning system to execute a self-cleaning program in the self-cleaning method indicated by the acquired self-cleaning operating mode.

[0265] According to the self-cleaning control method of the cleaning system of this embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode, that is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0266] In one embodiment, the self-cleaning program may include multiple self-cleaning subroutines in a pre-set order. These multiple self-cleaning subroutines may include, but are not limited to, a cleaning component cleaning program, a steam cleaning program, a sewage discharge program, a sewage tank flushing program, and a drying program. The self-cleaning method indicated by the self-cleaning operating mode may include executing a portion of the self-cleaning subroutines, which may include any one or more of the aforementioned multiple self-cleaning subroutines. During the self-cleaning process, the control device only executes the portion of the self-cleaning subroutines corresponding to the acquired self-cleaning operating mode.

[0267] In one embodiment, the self-cleaning operating mode includes an automatic cleaning mode. The automatic cleaning mode indicates that the self-cleaning method is to automatically initiate a self-cleaning process. After the control device confirms that the cleaning device has docked at the base station, it automatically controls the cleaning system to execute the self-cleaning process. By automatically controlling the cleaning system to execute the self-cleaning process, manual operation by the user is eliminated, thereby facilitating user convenience.

[0268] In one embodiment, the self-cleaning working mode includes a manual cleaning mode. Then, after the control device confirms that the cleaning equipment has docked at the base station, the user needs to manually operate to make the cleaning system execute the self-cleaning program. More specifically, the user can trigger the self-cleaning button on the cleaning system to make the self-cleaning button send a trigger signal. When the control device receives the trigger signal sent by the self-cleaning button, it controls the cleaning system to execute the self-cleaning program. Of course, the user can also issue a self-cleaning instruction through an application program that is compatible with the cleaning system, and the self-cleaning instruction carries the self-cleaning working mode. When the control device receives the self-cleaning instruction, it controls the cleaning system to execute the self-cleaning program according to the self-cleaning working mode carried in the self-cleaning instruction. The manual cleaning mode can avoid malfunctions of the cleaning system due to misoperation, thereby ensuring the reliability and safety of the self-cleaning control.

[0269] In some embodiments, the process of setting the self-cleaning working mode is described. The method further includes: receiving a mode setting instruction, the mode setting instruction including the self-cleaning working mode; and saving the self-cleaning working mode, the self-cleaning working mode being used to subsequently control the cleaning system to execute a self-cleaning program.

[0270] In an embodiment, a mode setting instruction can be issued via a mode switching button provided on the cleaning system, or via an application compatible with the cleaning system. The mode setting instruction carries the aforementioned self-cleaning operating mode. Upon receiving the mode setting instruction, the control device saves the self-cleaning operating mode carried in the mode setting instruction so as to subsequently control the cleaning system to execute a self-cleaning procedure according to the self-cleaning operating mode, thereby meeting the user's different cleaning needs.

[0271] In some embodiments, the self-cleaning working mode is a manual cleaning mode or an automatic cleaning mode. The mode setting instruction is issued through the mode switching button on the cleaning system. In a specific implementation, when a pressing operation of the mode switching button is detected, the self-cleaning working mode is saved as the first cleaning mode. When a pressing operation of the mode switching button is detected again, the self-cleaning working mode is saved as the second cleaning mode. Among them, if the first cleaning mode is a manual cleaning mode, the second cleaning mode is an automatic cleaning mode; or, if the first cleaning mode is an automatic cleaning mode, the second cleaning mode is a manual cleaning mode. By setting the mode switching button, the user can implement the setting of the self-cleaning working mode in a one-button switching manner, which greatly improves the user's convenience.

[0272] In some embodiments, the method further includes: playing a voice reminder message, where the voice reminder message is used to remind the user to execute a self-cleaning program in the self-cleaning working mode.

[0273] In an embodiment, when the self-cleaning operating mode is the automatic cleaning mode, after the control device controls the cleaning system to operate in the automatic cleaning mode, a first voice reminder message is issued that the cleaning system is operating in the automatic cleaning mode, for example, a voice reminder message that the cleaning system has automatically operated. By issuing the first voice reminder message, the user can be reminded that the cleaning system is currently in the self-cleaning operating mode, thereby improving the user's experience. It is understood that the first voice reminder message can also be set to a buzzer sound, etc., to attract the user's attention.

[0274] In an embodiment, when the self-cleaning working mode is the manual cleaning mode, after the control device controls the cleaning system to work in the manual cleaning mode, it issues a second voice reminder message that the cleaning system is working in the manual cleaning mode, such as a voice reminder message that the cleaning system has been working manually. By issuing the second voice reminder message, the user can be reminded of the current self-cleaning working mode of the cleaning system, thereby improving the user's experience. It can be understood that the second voice reminder message can also be set to a buzzer sound, etc., to attract the user's attention.

[0275] In some embodiments, the cleaning system is provided with a display assembly, wherein the display assembly can be provided on the cleaning device or the base station, or can be provided on both the cleaning device and the base station. The control device can display a reminder message on the display assembly, such as a reminder message indicating that the cleaning is in progress and that the user should not touch the device. By providing a reminder message that combines voice and text, timely reminders of the self-cleaning status can be provided, thereby preventing damage to the cleaning system caused by user misoperation.

[0276] FIG14 shows an exemplary embodiment of a self-cleaning control method for a cleaning system. Taking the cleaning system as a floor scrubber system as an example, the cleaning system of this embodiment is described in conjunction with FIG17 and FIG18. As shown in FIG17 and FIG18, the cleaning system includes a cleaning device 10 (for example, a floor scrubber 31), a base station 20, and a control device (not shown in the figure). Among them, the cleaning device 10 (for example, a floor scrubber 31) and the base station 20 communicate. A self-cleaning button 311 is provided on the cleaning device 10 (for example, a floor scrubber 31). The base station 20 includes a base 230 and a mode switching button 321.

[0277] When the user has finished using the cleaning device 10 (e.g., the floor scrubber 31) and performs self-cleaning control, the user can dock the cleaning device 10 (e.g., the floor scrubber 31) on the base of the base station 20. The cleaning device 10 (e.g., the floor scrubber 31) communicates with the base station 20 to facilitate self-cleaning, charging, and water addition operations on the cleaning device 10 (e.g., the floor scrubber 31), thereby enabling the cleaning system to automatically load and unload water, eliminating maintenance for the user.

[0278] Continuing with FIG. 14 , the self-cleaning control method of the cleaning system of some embodiments of the present application includes at least steps S11 to S22 before executing the procedure of self-cleaning the cleaning parts of the cleaning device.

[0279] Step S11 : in response to a triggering operation on a mode switching button on the cleaning system, receiving a mode setting instruction, wherein the mode setting instruction includes a self-cleaning working mode.

[0280] Step S12, determining whether the floor scrubber is docked on the base, if so, executing step S13; otherwise, executing step S17.

[0281] Step S13: When the self-cleaning working mode is the automatic cleaning mode, the cleaning system is automatically controlled to execute a self-cleaning program.

[0282] Step S14: Play a first voice reminder message indicating that the cleaning system is working in the automatic cleaning mode.

[0283] Step S15, when the self-cleaning working mode is the manual cleaning mode, when a trigger signal from a self-cleaning button on the cleaning system is received, the cleaning system is controlled to execute a self-cleaning program.

[0284] Step S16: Play a second voice reminder message indicating that the cleaning system is working in manual cleaning mode.

[0285] Step S17: Control the cleaning system to not execute the self-cleaning procedure.

[0286] According to the self-cleaning control method of the cleaning system of this embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode, that is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0287] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0288] Based on the same inventive concept, with reference to FIG15 , an embodiment of the present application further provides a self-cleaning control device for implementing the self-cleaning control method of the cleaning system of this embodiment. The solution provided by this device is similar to the solution described in the above method, so the specific limitations of one or more embodiments of the self-cleaning control device provided below can be found in the above-mentioned limitations of the self-cleaning control method and will not be repeated here.

[0289] The following describes the self-cleaning control device 4 of the cleaning system of this embodiment of the present application with reference to FIG. 15 .

[0290] As shown in Figure 15, the self-cleaning control device 4 of the cleaning system of this embodiment of the present application includes: an acquisition module 41 and a control module 42, wherein: the acquisition module 41 is used to obtain the self-cleaning working mode of the cleaning system after the cleaning equipment docks at the base station; the control module 42 is used to control the cleaning system to execute the self-cleaning program in the self-cleaning manner indicated by the self-cleaning working mode.

[0291] According to the self-cleaning control device 4 of the cleaning system of this embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode, that is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0292] In some embodiments, the self-cleaning working mode includes an automatic cleaning mode, which indicates that a self-cleaning program is automatically executed; the control module 42 is used to automatically control the cleaning system to execute the self-cleaning program.

[0293] In some embodiments, the self-cleaning working mode includes a manual cleaning mode, which indicates that the self-cleaning program needs to be started manually; the control module 42 is used to control the cleaning system to execute the self-cleaning program when a trigger signal is received from the self-cleaning button on the cleaning system.

[0294] In some embodiments, the device 4 also includes: a receiving module (not shown in the figure) for receiving a mode setting instruction, the mode setting instruction includes a self-cleaning working mode; a saving module (not shown in the figure) for saving the self-cleaning working mode, the self-cleaning working mode is used for subsequent control of the cleaning system to execute the self-cleaning program.

[0295] In some embodiments, the receiving module is configured to receive a mode setting instruction in response to a triggering operation on a mode switching button on the cleaning system.

[0296] In some embodiments, the device 5 further includes: a playing module (not shown in the figure), which is used to play a voice reminder message, and the voice reminder message is used to remind the user to execute the self-cleaning program in the self-cleaning working mode.

[0297] According to the self-cleaning control device 4 of the cleaning system in the embodiment of the present application, the self-cleaning working mode of the cleaning system is obtained, and the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode. That is, the control method of the cleaning system to execute the self-cleaning program is different for different self-cleaning working modes, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0298] The cleaning system 500 according to an embodiment of the present application will be described below with reference to FIG. 16 .

[0299] Figure 16 is a block diagram of a cleaning system 500 according to one embodiment of the present application. As shown in Figure 16, the cleaning system 500 according to one embodiment of the present application includes a cleaning device 501, a base station 502, and a control device 503. The cleaning device 501, base station 502, and control device 503 are connected in pairs. The control device 503 is configured to execute a self-cleaning control program to implement the self-cleaning control method of the cleaning system described in any of the above embodiments.

[0300] According to the cleaning system 500 of the embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode. That is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0301] In some embodiments, the base station 502 further includes: a mode switching button 5021 for setting a self-cleaning working mode of the cleaning system.

[0302] According to the cleaning system 500 of the embodiment of the present application, by obtaining the self-cleaning working mode of the cleaning system, the cleaning system is controlled to execute the self-cleaning program based on the self-cleaning working mode. That is, the self-cleaning working mode is different, and the control method of the cleaning system to execute the self-cleaning program is also different, so that the self-cleaning control process is more intelligent; at the same time, the cleaning system has a variety of self-cleaning working modes, which can meet the different cleaning needs of users and ensure the reliability and safety of self-cleaning control.

[0303] In addition, with the development of science and technology and the improvement of people's living standards, cleaning equipment such as floor scrubbers have freed people from the tedious cleaning work, which can not only keep the home, office and other environments clean, but also allow people to enjoy more free time, and are favored by people. Taking a floor scrubber as an example, the base station of the floor scrubber can replenish water, pump out sewage and charge the floor scrubber. After the floor scrubber is docked with the base station, the base station can start the sewage pumping program to suck the sewage in the floor scrubber recovery box into the recovery box. A switch (such as a sewage valve) can be provided at the bottom of the recovery box. When the sewage discharge conditions are met (such as the recovery box is full of liquid, real-time sewage discharge, etc.), the processor controls the sewage valve to open, so that the sewage in the recovery box is automatically discharged into the sewer through the sewage valve. However, in the prior art, the sewage valve may malfunction and fail to operate normally (such as being stuck by solid garbage in the sewage, mechanical structure failure, etc.), and the sewage in the recovery box cannot be discharged in time, affecting the normal use of the base station. The above content is only used to assist in understanding the technical solution of this application and does not mean that the above content is admitted to be prior art. Some exemplary embodiments are provided below to overcome this problem. The following description will be made using a sewage valve as an example of a switch component, but it should be understood that the following description is also applicable to other types of switch components.

[0304] According to some embodiments of the present application, the self-cleaning control method of the cleaning system, including the fault recovery method of the switch component (such as the sewage valve), can be applied to the cleaning system (such as the floor scrubber, the floor sweeper), and the cleaning system may include a cleaning base station and a cleaning host.

[0305] For ease of explanation, the following uses the fault recovery method of a sewage valve as an example for application to a floor scrubber. Of course, the fault recovery method can also be applied to other types of cleaning systems (such as sweepers, vacuum cleaners, etc.), and the principle is the same as that applied to floor scrubbers.

[0306] The cleaning system includes a spray assembly, a recovery box, a drain valve, and a suction device. The recovery box includes a base station recovery box and a host recovery box. In the following embodiments, the recovery box is described as a base station recovery box. The spray assembly is located at or near the recovery box and is used to spray the recovery box. The suction device is connected to the recovery box and is used to evacuate the recovery box. The drain valve can be located at or near the bottom of the recovery box, or it can be located in the middle or upper part of the recovery box, depending on the specific drainage requirements. The drain valve rotates forward and reverse to control the opening and closing of the recovery box, for example, moving from a closed position to an open position, or from an open position to a closed position. The air inlet end of the suction device is connected to the exhaust port of the recovery box. The suction device can extract the gas in the recovery box, making the gas pressure in the recovery box lower than the gas pressure in the recovery box of the floor scrubber, so that the sewage in the recovery box of the floor scrubber will flow into the recovery box under the action of the pressure difference.

[0307] More specifically, after the scrubber is docked with the base station, the base station can activate the sewage pumping process to suck the sewage from the scrubber's recovery tank into the recovery tank. A sewage valve can be installed at the bottom of the recovery tank. When the sewage discharge conditions are met (such as the recovery tank is full, sewage is discharged in real time, etc.), the controller controls the sewage valve to open, allowing the sewage in the recovery tank to be automatically discharged into the sewer through the sewage valve.

[0308] In addition, the sewage valve is controlled by the valve control module, which can control the forward and reverse rotation of the sewage valve. The forward rotation of the sewage valve can be clockwise or counterclockwise, which is determined by the structure of the sewage valve.

[0309] The following describes the implementation details of the fault recovery method for the sewage valve of the first embodiment of the present application. The following content is only provided for ease of understanding and is not necessary for implementing this solution.

[0310] The specific process of this embodiment is shown in FIG19 , including:

[0311] Step S10000: In response to abnormal operation information of the sewage valve, controlling the spray component to spray the recovery box;

[0312] It should be understood that the executing body of this embodiment of the present application is a cleaning system, which can be, but is not limited to, a cleaning host, or a cleaning base station. More specifically, it can be a control device set in the cleaning host or the cleaning base station.

[0313] The abnormal operation of the sewage valve can be abnormal information when the sewage valve is moved from open to closed, or abnormal information when the sewage valve is moved from closed to open, and there is no specific limitation here. For example, when the sewage valve is in the open state, it takes 3 seconds to move it from the open position to the closed position under normal circumstances. However, when an abnormality occurs, the sewage valve takes more than 3 seconds to move from the open position to the closed position, or even fails to reach the closed position, which is considered to be an abnormal operation of the sewage valve. Similarly, when the sewage valve is in the closed state, it takes 3 seconds to move it from the closed position to the open position under normal circumstances. However, when an abnormality occurs, the sewage valve takes more than 3 seconds to move from the closed position to the open position, or even fails to reach the open position, which is considered to be an abnormal operation of the sewage valve.

[0314] There are many reasons for abnormal operation of the sewage valve, such as blockage, which affects the smooth switching of the sewage valve state, or mechanical damage to the sewage valve. A sewage valve blockage is usually caused by garbage residue. In this case, the spray component can be controlled to spray the recycling bin. In the case of mechanical damage to the sewage valve, the user can be notified in time for treatment.

[0315] The recycling bin may be sprayed in a continuous or intermittent manner, and there is no limitation thereto.

[0316] Step S20000, controlling the suction device to suction the recovery box;

[0317] It should be understood that when the suction device sucks the recovery box, negative pressure is formed in the recovery box. When the sewage valve fails due to blockage, the blockage at the sewage valve will move under the action of the pressure difference and the blockage will be relieved.

[0318] It should be noted that step S20000 can be executed after step S10000, or it can be executed synchronously with step S100 in which the spray component is controlled to spray the recycling box, or S20000 and step S10000 in which the spray component is controlled to spray the recycling box can be executed in a cross-cycle, and no specific restrictions are made here.

[0319] Step S30000, obtaining a first in-position state of the sewage valve;

[0320] It should be noted that the first in-position state of the drain valve can be detected by a limit switch. When the drain valve rotates in the forward direction (usually clockwise), the limit switch can detect whether the drain valve moves from the closed position to the open position; when the drain valve rotates in the reverse direction, the limit switch can detect whether the drain valve moves from the open position to the closed position. The first in-position state can be the open position, the closed position, or a position between the open and closed positions.

[0321] Step S40000: When the first in-place state satisfies a first preset condition, stop fault recovery.

[0322] It should be noted that the setting of the first preset condition can be determined according to the specific structure of the sewage valve. Take the example that when the sewage valve rotates in the reverse direction, the sewage valve is closed, that is, the sewage valve is moved from the open position to the closed position; when the sewage valve rotates in the forward direction, the sewage valve is opened, that is, the sewage valve is moved from the closed position to the open position. The first preset condition can be that when the sewage valve rotates in the forward direction, it is judged whether the first in-position state of the sewage valve is in the open position. If the judgment result is no, it indicates that the fault has not been restored; if the judgment result is yes, it indicates that the fault has been restored. The first preset condition can also be that when the sewage valve rotates in the reverse direction, it is judged whether the first in-position state of the sewage valve is in the closed position. If the judgment result is no, it indicates that the fault has not been restored; if the judgment result is yes, it indicates that the fault has been restored.

[0323] When the fault has not been restored, steps S10000 and S20000 can be executed in a loop until the fault is restored. In addition, considering that the operation abnormality is caused by the mechanical structure fault of the sewage valve, the number of times steps S10000 and S20000 are executed in a loop does not exceed a preset number, and the preset number can be set according to the specific situation. In this way, after the preset number of times steps S10000 and S20000 are executed in a loop, it is considered that the operation abnormality of the sewage valve is caused by the mechanical structure fault, and a sewage valve fault prompt can be issued to the user, for example, by displaying the sewage valve operation fault on the screen, or by voice prompting, such as emitting a "beep" sound.

[0324] Specifically, step S10000 and step S20000 can run continuously for a period of time (for example, 2 minutes); step S10000 and step S20000 can also be cross-cut and executed in a loop, for example, controlling the spray component to spray the recycling box and maintain it for a third preset time, controlling the suction device to suck the recycling box, and keeping it for a fourth preset time before turning it off, then controlling the spray component to spray the recycling box again and maintaining it for the third preset time, controlling the suction device to suck the recycling box, and keeping it for the fourth preset time before turning it off, and so on, and the cycle is executed multiple times.

[0325] In this embodiment, the spray assembly is controlled to spray the recovery box for 1 minute, the suction device is turned on for 2 seconds and turned off for 0.5 seconds, and this cycle is performed 5 times before being turned off.

[0326] The sewage valve fault recovery method provided in the present application controls a spray assembly to spray a recycling box in response to abnormal operation information of the sewage valve; controls a suction device to suck the recycling box; obtains a first in-position state of the sewage valve; and stops fault recovery when the first in-position state satisfies a first preset condition. This allows the sewage valve to self-rescue and self-check, especially when the sewage valve is stuck by garbage residue, thereby ensuring the normal use of the cleaning system.

[0327] Furthermore, by realizing the self-rescue and self-inspection of the sewage valve, the fault of the sewage valve can be checked and solved; in addition, it can also promptly and effectively remind the user after the self-rescue fails, so that the user can arrange maintenance in time;

[0328] Furthermore, when a sewage valve failure is detected, the valve self-rescue is performed first, which improves the automation level and sewage discharge success rate of the base station and helps to improve the user experience; after the self-rescue fails, a reminder message is issued to facilitate users to know the abnormal situation of the sewage valve in time.

[0329] As shown in FIG20 , the second embodiment of the sewage valve fault recovery method provided by the present application is based on the first embodiment, and step S10000 includes:

[0330] Step S110, in response to opening or closing the sewage valve, obtaining a second in-position state of the sewage valve;

[0331] It should be noted that the abnormal operation information of the sewage valve can be detected in real time. For example, as soon as an instruction to open or close the sewage valve is received, the operation status of the sewage valve is detected.

[0332] The second in-position state of the drain valve can also be detected by a limit switch. When the drain valve is opened, the limit switch can be used to detect whether the drain valve moves from the closed position to the open position; when the drain valve is closed, the limit switch can be used to detect whether the drain valve moves from the open position to the closed position. The second in-position state can be the open position, the closed position, or a position between the open and closed positions.

[0333] More specifically, in response to opening or closing the sewage valve for a period of time, a second in-position state of the sewage valve is acquired.

[0334] Step S120 : When the second in-place state satisfies a second preset condition, the spray assembly is controlled to spray the recovery box.

[0335] It should be noted that the second preset condition can be set according to the initial state of the sewage valve. For example, when the sewage valve is opened, the second preset condition can be to determine whether the second in-position state of the sewage valve is not in the open position. When the second in-position state satisfies the second preset condition (i.e., the sewage valve is not in the open position), it indicates that the sewage valve has failed, and the spray component is controlled to spray the recovery box. For another example, when the sewage valve is closed, the second preset condition can be to determine whether the second in-position state of the sewage valve is not in the closed position. When the second in-position state satisfies the second preset condition (i.e., the sewage valve is not in the closed position), it indicates that the sewage valve has failed, and the spray component is controlled to spray the recovery box.

[0336] Specifically, step S120 includes:

[0337] Step S121, when the second in-position state satisfies a second preset condition, controlling the sewage valve to be opened for a first preset time period;

[0338] Specifically, the first preset duration can be set according to specific needs, for example, it can be 2 seconds.

[0339] Step S122, if it is determined that the drain valve is open for more than a first preset time, or the drain valve is not in place after the first preset time, controlling to stop opening the drain valve;

[0340] It should be noted that if the drain valve is open for longer than a first preset time or is still not fully opened after the first preset time, the drain valve is considered faulty. For example, if the time reaches 2 seconds, the drain valve is considered faulty. If the drain valve is still not fully opened after the first preset time, that is, if the drain valve does not reach the open position after the first preset time, the drain valve is considered faulty.

[0341] Step S123: Control the spray assembly to spray the recovery box.

[0342] It should be noted that when a fault is confirmed, the spray assembly is activated to spray the recycling bin, using water to flush out the garbage blockage. At the same time, the base station's sewage suction motor can be activated to create negative pressure in the recycling bin. The sewage suction motor can run synchronously with the spray assembly for a certain period of time, such as 2 minutes, and can also be shut down before or after the spray assembly.

[0343] As shown in FIG21 , the third embodiment of the sewage valve fault recovery method provided by the present application is based on the first embodiment, and step S30000 includes:

[0344] Step S310, controlling the drain valve to rotate until it is in place;

[0345] More specifically, step S310 includes controlling the drain valve to rotate in a first direction until it is in place; after the drain valve rotates in the first direction until it is in place, controlling the drain valve to rotate in the opposite direction of the first direction until it is in place.

[0346] The first direction can be forward or reverse, and can be to open or close the drain valve. Accordingly, rotating in the first direction until in place can also be moved from the closed position to the open position, or from the open position to the closed position.

[0347] It should be noted that whether the sewage valve is in place can be determined based on the limit switch, that is, the position signal is detected by the limit switch.

[0348] Step S320, obtaining the first in-position time of the sewage valve;

[0349] It should be understood that the first time to reach the position is the time it takes for the sewage valve to rotate into position. For example, when the sewage valve rotates forward, the first time to reach the position is the time it takes for the sewage valve to rotate forward; when the sewage valve rotates reversely, the first time to reach the position is the time it takes for the sewage valve to rotate reversely into position.

[0350] Accordingly, step S40000 includes:

[0351] Step S410: If it is determined that the first arrival time is less than or equal to the second preset time, control the execution of the sewage discharge operation;

[0352] It should be noted that the second preset time period can be user-defined or factory-set, such as a threshold value set based on common experience, such as 5 seconds. If the first in-position time period is less than or equal to the second preset time period, it is considered that the sewage valve can be normally in position and can operate normally.

[0353] Step S420: When it is determined that the first in-place time is longer than the second preset time, a prompt message indicating that the sewage valve is malfunctioning is issued.

[0354] It should be understood that when the first in-place time is determined to be greater than the second preset time, the drain valve has already executed self-rescue. If the requirement is still not met after executing the self-rescue, the drain valve failure is considered to be a mechanical failure. The drain valve failure prompt information can be provided through voice or screen, or other means, such as a beep.

[0355] As shown in FIG22 , the fourth embodiment of the sewage valve fault recovery method provided by the present application further includes the following steps:

[0356] Step S510, in response to a self-cleaning request, controlling the drain valve to rotate until it is in place;

[0357] It should be understood that step S510 includes controlling the drain valve to rotate in a first direction until it is in place; after the drain valve is rotated in the first direction until it is in place, controlling the drain valve to rotate in the opposite direction of the first direction until it is in place.

[0358] The first direction can be forward or reverse, and can be to open or close the drain valve. Accordingly, rotating in the first direction until in place can also be moved from the closed position to the open position, or from the open position to the closed position.

[0359] It should be noted that whether the sewage valve is in place can be determined based on the limit switch, that is, the position signal is detected by the limit switch.

[0360] Step S520, obtaining the second in-place time of the sewage valve;

[0361] It should be understood that the second in-position time is the time it takes for the drain valve to rotate into position. For example, when the drain valve rotates forward, the second in-position time is the time it takes for the drain valve to rotate forward into position; when the drain valve rotates reversely, the second in-position time is the time it takes for the drain valve to rotate reversely into position. In other embodiments, the second in-position time can also be determined based on the time it takes for the drain valve to rotate into position in the forward direction and the time it takes for the drain valve to rotate into position in the reverse direction, for example, taking the longer of the two as the second in-position time. For example, if the drain valve rotates into position in the forward direction for 4 seconds and rotates into position in the reverse direction for 5 seconds, the second in-position time of the drain valve is considered to be 5 seconds.

[0362] Step S530: When the second arrival time is less than or equal to the fifth preset time, perform self-cleaning.

[0363] It should be noted that the fifth preset time period can be user-defined or factory-set, such as a threshold value set based on common experience, such as 5 seconds. When the second in-position time period is less than or equal to the fifth preset time period, the drain valve is considered to be in position and self-cleaning is allowed. For example, if the second in-position time period is 4 seconds and the fifth preset time period is 5 seconds, self-cleaning is performed.

[0364] Step S540: When the second in-position time is longer than the fifth preset time, it is determined that the sewage valve is operating abnormally.

[0365] It should be understood that when the second in-place time is determined to be greater than the fifth preset time, the drain valve is considered to be faulty. The fifth preset time can be user-defined or factory-set, such as a threshold value set based on conventional experience, or can be set according to specific needs.

[0366] To achieve the above-mentioned objectives, the present application further provides a fault recovery device for a sewage valve, which is used in a cleaning system. The cleaning system includes a spray assembly, a recovery box, a sewage valve, and a suction device. The spray assembly is used to spray the recovery box. The suction device is connected to the recovery box and is used to extract air from the recovery box. The sewage valve is located in or adjacent to the recovery box. As shown in FIG23 , the fault recovery device for the sewage valve includes a spray trigger module 610, a suction control module 620, a first detection module 630, and a processing system 640.

[0367] The spray trigger module 610 is used to control the spray assembly to spray the recovery box in response to abnormal operation information of the sewage valve;

[0368] The abnormal operation of the sewage valve can be abnormal information when the sewage valve is moved from open to closed, or abnormal information when the sewage valve is moved from closed to open, and there is no specific limitation here. For example, when the sewage valve is in the open state, it takes 3 seconds to move it from the open position to the closed position under normal circumstances. However, when an abnormality occurs, the sewage valve takes more than 3 seconds to move from the open position to the closed position, or even fails to reach the closed position, which is considered to be an abnormal operation of the sewage valve. Similarly, when the sewage valve is in the closed state, it takes 3 seconds to move it from the closed position to the open position under normal circumstances. However, when an abnormality occurs, the sewage valve takes more than 3 seconds to move from the closed position to the open position, or even fails to reach the open position, which is considered to be an abnormal operation of the sewage valve.

[0369] There are many reasons for abnormal operation of the sewage valve, such as blockage, which affects the smooth switching of the sewage valve state, or mechanical damage to the sewage valve. A sewage valve blockage is usually caused by garbage residue. In this case, the spray component can be controlled to spray the recycling bin. In the case of mechanical damage to the sewage valve, the user can be notified in time for treatment.

[0370] The recycling bin may be sprayed in a continuous or intermittent manner, and there is no limitation thereto.

[0371] The suction control module 620 is used to control the suction device to suck the recovery box;

[0372] It should be understood that when the suction device sucks the recovery box, negative pressure is formed in the recovery box. When the sewage valve fails due to blockage, the blockage at the sewage valve will move under the action of the pressure difference and the blockage will be relieved.

[0373] The first detection module 630 is used to obtain a first in-position state of the sewage valve;

[0374] It should be noted that the first in-position state of the drain valve can be detected by a limit switch. When the drain valve rotates in the forward direction (usually clockwise), the limit switch can detect whether the drain valve moves from the closed position to the open position; when the drain valve rotates in the reverse direction, the limit switch can detect whether the drain valve moves from the open position to the closed position. The first in-position state can be the open position, the closed position, or a position between the open and closed positions.

[0375] The processing system 640 is configured to stop fault recovery when the first in-place state satisfies a first preset condition.

[0376] Among them, the processing system 640 may include several processors. It should be noted that the setting of the first preset condition may be determined according to the specific structure of the sewage valve. Take the sewage valve as an example, when the sewage valve rotates in the reverse direction, the sewage valve is closed, that is, the sewage valve is moved from the open position to the closed position; when the sewage valve rotates in the forward direction, the sewage valve is opened, that is, the sewage valve is moved from the closed position to the open position. The first preset condition may be that when the sewage valve rotates in the forward direction, it is judged whether the first in-position state of the sewage valve is in the open position. If the judgment result is no, it indicates that the fault has not been restored; if the judgment result is yes, it indicates that the fault has been restored. The first preset condition may also be that when the sewage valve rotates in the reverse direction, it is judged whether the first in-position state of the sewage valve is in the closed position. If the judgment result is no, it indicates that the fault has not been restored; if the judgment result is yes, it indicates that the fault has been restored.

[0377] After controlling the spray component to spray the recycling box and maintain it for the third preset time, control the suction device to suck the recycling box and keep it for the fourth preset time before closing, control the spray component to spray the recycling box and maintain it for the third preset time, control the suction device to suck the recycling box and keep it for the fourth preset time before closing, and so on, the cycle is executed multiple times.

[0378] In this embodiment, the spray assembly is controlled to spray the recovery box for 1 minute, the suction device is turned on for 2 seconds and turned off for 0.5 seconds, and this cycle is performed 5 times before being turned off.

[0379] The embodiment of the present application controls the spray assembly to spray the recycling box in response to abnormal operation information of the sewage valve; controls the suction device to suck the recycling box; obtains a first in-position state of the sewage valve; and stops fault recovery when the first in-position state meets a first preset condition. In this way, the sewage valve can be self-rescued and self-checked. In particular, when the sewage valve is stuck by garbage residue, the sewage valve can be restored to operation through self-rescue, thereby solving the problem in the prior art that the sewage valve may fail to operate normally, and the sewage in the recycling box cannot be discharged in time, affecting the normal use of the base station.

[0380] Furthermore, by realizing the self-rescue and self-inspection of the sewage valve, the situation where the sewage valve is stuck by garbage residue can be checked and solved; and for mechanical failures such as non-sewage valve blockage, the user can be promptly and effectively reminded, so that the user can arrange for repairs in time;

[0381] Furthermore, when a sewage valve failure is detected, the valve self-rescue is performed first, which improves the automation level and sewage discharge success rate of the base station and helps to improve the user experience; after the self-rescue fails, a reminder message is issued to facilitate users to know the abnormal situation of the sewage valve in time.

[0382] Furthermore, the drain valve fault recovery device further includes a valve control module, which is configured to control the drain valve to rotate until it is in position; and further configured to control the drain valve to rotate in the opposite direction of the first direction until it is in position after the drain valve is rotated in the first direction to reach its position. In other embodiments, the cleaning system may also include the valve control module.

[0383] The valve control module includes a control component and a brushed motor. (See Figure 24 .) The control component includes a MOS transistor U6, a first resistor R3, a second resistor R4, a connector J11, a first fuse F8, an inductor FB10, a polarized capacitor C20, a first capacitor C26, a second capacitor C87, an A / D converter, a third resistor R5, a third capacitor C6, and a surface resistor Rs3.

[0384] The INA pin of the MOS tube U6 is electrically connected to the first input / output port Motor_A of the processing system through the first resistor R3, and the INB pin of the MOS tube U6 is electrically connected to the second input / output port Motor_B of the processing system through the second resistor R4; the connector J11 has two pins, namely the first pin and the second pin, the first pin of the connector J11 is electrically connected to the OUTA pin of the MOS tube U6, and the second pin of the connector J11 is electrically connected to the OUTB pin of the MOS tube U6. The connector J11 is used to connect a brushed motor; the two ends of the first capacitor C26 are respectively connected between the first pin of the connector J11 and the MOS tube. The OUTA pin of the MOS transistor U6 is connected to the common connection terminal, and the first pin of the connector J11 is connected to the OUTA pin of the MOS transistor U6. The AGND pin of the MOS transistor U6 is grounded, and the VM pin of the MOS transistor U6 is electrically connected to the 12V power supply terminal via the first fuse F8 and the inductor FB10. The positive electrode of the polarized capacitor C20 and the first end of the second capacitor C26 are both connected to the common connection terminal between the inductor FB10 and the 12V power supply terminal, and the positive electrode of the polarized capacitor C20 and the second end of the second capacitor C26 are both grounded. The PGND pin of the MOS transistor U6 is connected to the A / D converter component M_AD via the third resistor R5. The first end of the surface resistor Rs3 is connected to the common connection terminal between the PGND pin of the MOS transistor U6 and the third resistor R5, and the second end of the surface resistor Rs3 is grounded. The first end of the third capacitor C6 is connected to the common connection terminal between the third resistor R5 and the A / D converter component M_AD, and the second end of the third capacitor C6 is grounded. The brushed motor is used to drive the sewage valve.

[0385] The brush motor is connected to the sewage valve drive. When the brush motor rotates clockwise, the sewage valve rotates clockwise. When the brush motor rotates counterclockwise, the sewage valve rotates counterclockwise.

[0386] Specifically, the MOS transistor U6 is controlled by outputting a high-low level combination through the processing system's first input / output port, Motor_A, and second input / output port, Motor_B. When Motor_A is high and Motor_B is low, the brushed motor rotates clockwise, and the drain valve rotates clockwise. When Motor_A is low and Motor_B is high, the brushed motor rotates counterclockwise, and the drain valve rotates counterclockwise.

[0387] In order to achieve the above-mentioned purpose, the present application also provides a cleaning system, which includes a cleaning host and a cleaning base station, wherein, as shown in Figure 25, a control device is provided in the cleaning host or the cleaning base station, and the control device includes at least one processor 701 and a memory 702 communicatively connected to the at least one processor 701; wherein the memory 702 stores instructions that can be executed by at least one processor 701, and the instructions are executed by at least one processor 701 so that at least one processor 701 can execute the above-mentioned sewage valve fault recovery method.

[0388] The memory 702 and processor 701 are connected using a bus. The bus may include any number of interconnected buses and bridges, connecting various circuits of one or more processors 701 and memory 702. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor 701 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor 701.

[0389] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 702 can be used to store data used by the processor 701 when performing operations.

[0390] In order to achieve the above-mentioned purpose, the present application provides a computer-readable storage medium storing a computer program, which implements the above-mentioned fault recovery method of the sewage valve when the computer program is executed by a processor.

[0391] The computer-readable storage medium of the embodiment of the present application stores a self-cleaning control program of the cleaning system. When the self-cleaning control program of the cleaning system is executed by the processor of the control device, a self-cleaning control method of the cleaning system as in any of the above embodiments is implemented.

[0392] In one embodiment, a computer program product is provided, comprising a self-cleaning control program. When the self-cleaning control program is executed by a control device, the self-cleaning control method of the cleaning system described in any one of the above embodiments is implemented.

[0393] Those skilled in the art will understand that all or part of the steps in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps in the various embodiments of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0394] Obviously, the embodiments described above are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, ordinary technicians in this field can make other different forms of changes or modifications without making any creative work, which should fall within the scope of protection of this application.

[0395] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0396] The above description is merely a specific embodiment of the present application. It should be understood that the above embodiments are illustrative and should not be construed as limiting the present application. The scope of protection of the present application is not limited thereto. Any equivalent structural transformation or replacement made using the contents of the present application specification and drawings, or direct or indirect application in other related technical fields, within the scope of the present application, is included in the scope of patent protection of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection of the claims.

Claims

1. A self-cleaning control method for a cleaning system, characterized in that: The cleaning system includes a cleaning device and a base station, and the self-cleaning control method includes: In response to the self-cleaning instruction, the cleaning system is controlled to enter a self-cleaning mode, wherein the self-cleaning mode includes: executing a procedure for self-cleaning the cleaning element of the cleaning device; executing a procedure for self-cleaning the first sewage tank of the base station; and A procedure for drying the cleaning parts of the cleaning device is performed.

2. The self-cleaning control method of the cleaning system according to claim 1, characterized in that: The procedure of performing self-cleaning on the cleaning member of the cleaning device comprises: performing a self-cleaning procedure for cleaning the cleaning elements of the cleaning device, and A steam cleaning program is performed to clean the cleaning elements of the cleaning device.

3. The self-cleaning control method of the cleaning system according to claim 2, characterized in that: Executing a self-cleaning procedure for cleaning the cleaning member of the cleaning device comprises the following steps: controlling the cleaning member to rotate in a first direction, and controlling a driving pump supplying water to the cleaning member to operate for a first time period to spray water to the cleaning member for a first time period; and The first sewage exhaust fan of the base station is controlled to operate for a second time period so as to recycle sewage generated by self-cleaning of the cleaning element into a first sewage tank of the base station.

4. The self-cleaning control method of the cleaning system according to claim 3, characterized in that: Before controlling the first sewage exhaust fan of the base station to run for a second time period, executing a self-cleaning procedure for cleaning the cleaning member of the cleaning device further includes: Stop spraying water to the cleaning member or reduce the amount of water sprayed.

5. The self-cleaning control method of the cleaning system according to claim 3 or 4, characterized in that: The self-cleaning procedure for cleaning the cleaning member of the cleaning device further comprises: The cleaning element is controlled to switch to rotate in a second direction and the first sewage exhaust fan is controlled to continue to operate for a third time period, wherein the third time period is less than the second time period, and the second direction is opposite to the first direction.

6. The self-cleaning control method of the cleaning system according to claim 5, characterized in that: The self-cleaning procedure for cleaning the cleaning parts of the cleaning device further comprises the following steps: Controlling the first sewage suction fan to stop working and controlling the cleaning element to rotate in a first direction, and controlling a driving pump supplying water to the cleaning element to operate for a fourth time period to spray water to the cleaning element for a fourth time period; Stop spraying water to the cleaning element or reduce the amount of water sprayed and control the second sewage exhaust fan of the cleaning equipment to operate for a fifth time period to store the cleaning sewage of the cleaning element into the second sewage tank of the cleaning equipment.

7. The self-cleaning control method of the cleaning system according to claim 6, characterized in that: The self-cleaning procedure for cleaning the cleaning parts of the cleaning device further comprises the following steps: Controlling the cleaning element to switch to rotate in a second direction and keeping the second sewage exhaust fan running for a sixth time period; The second sewage extraction fan is controlled to stop working and the rotation of the cleaning element is stopped.

8. The self-cleaning control method of a cleaning system according to any one of claims 2 to 7, characterized in that: The base station is provided with a clean water tank and a steam generating device, and performs a steam cleaning procedure for cleaning the cleaning parts of the cleaning device, including the following steps: Controlling the cleaning element of the cleaning device to rotate in a first direction, and controlling the steam generating device to operate for a seventh time period, so as to perform high-temperature cleaning on the cleaning element by steam; The first sewage extraction fan is controlled to operate for an eighth period of time to recycle sewage generated by high-temperature cleaning of the cleaning element into a first sewage tank of the base station.

9. The self-cleaning control method of the cleaning system according to claim 8, characterized in that: Executing a steam cleaning procedure for cleaning the cleaning parts of the cleaning device also includes: Controlling the cleaning element to rotate in a second direction and controlling the first sewage exhaust fan to continue to operate for a ninth period of time, wherein the second direction is opposite to the first direction; Controlling the cleaning element to switch to the first direction of rotation and controlling the first sewage exhaust fan to continue to operate for a tenth time period, wherein the tenth time period is greater than the ninth time period; The first sewage extraction fan is controlled to stop working and the cleaning component is controlled to close.

10. The self-cleaning control method of a cleaning system according to any one of claims 1 to 9, characterized in that: The first sewage tank of the base station is connected to a sewage discharge channel, and a switch for controlling sewage discharge is provided on the sewage discharge channel. The base station also includes a spray device for spraying liquid into the first sewage tank, and a procedure for self-cleaning the first sewage tank of the base station is executed. The procedure for self-cleaning the first sewage tank includes the following steps: Controlling the switch to open so as to discharge the sewage in the first sewage tank; In response to the switch member being switched from the closed state to the open state, the spray device is controlled to be turned on and continuously operated for a tenth time period to perform a first flushing of the first sewage tank.

11. The self-cleaning control method of the cleaning system according to claim 10, characterized in that: The procedure of performing self-cleaning on the first sewage tank of the base station further includes the following steps: Controlling the switch to close, and controlling the spray device to continue to open for an eleventh time period, so as to flush the first sewage tank for a second time; The spray device is controlled to be closed, and the switch is controlled to switch from a closed state to an open state to discharge the sewage in the first sewage tank.

12. The self-cleaning control method of a cleaning system according to any one of claims 1 to 11, characterized in that: The base station is provided with a drying device for drying the cleaning piece, and a procedure for drying the cleaning piece of the cleaning device is executed, comprising the following steps: controlling the operation of the drying device; and The cleaning element is controlled to rotate at a speed lower than that during cleaning until a preset drying time is reached.

13. The self-cleaning control method of the cleaning system according to claim 12, characterized in that: Controlling the cleaning member to rotate at a speed lower than the speed during cleaning, comprising: The cleaning member is controlled to periodically switch the rotation direction.

14. The self-cleaning control method of a cleaning system according to any one of claims 1 to 13, characterized in that: The base station is provided with a drying device for drying the cleaning piece, and a procedure for drying the cleaning piece of the cleaning device is executed, comprising the following steps: controlling the operation of the drying device; and Controlling the cleaning element to alternately perform a first direction rotation action and a second direction rotation action until a preset drying time is reached; Among them, controlling the cleaning member to perform a first direction rotation action includes: periodically controlling the cleaning member to stand still for a twelfth time period and controlling the cleaning member to rotate in the first direction for a thirteenth time period, until the number of repetitions reaches a first preset number of times, wherein the twelfth time period is greater than the thirteenth time period.

15. The self-cleaning control method of the cleaning system according to claim 14, characterized in that: Controlling the cleaning member to rotate in the second direction includes: periodically controlling the cleaning member to stand still for a fourteenth time period and controlling the cleaning member to rotate in the second direction for a fifteenth time period until the number of repetitions reaches a second preset number of times, wherein the fourteenth time period is greater than the fifteenth time period.

16. The self-cleaning control method of a cleaning system according to any one of claims 1 to 15, characterized in that: Before executing the procedure of self-cleaning the cleaning member of the cleaning device, the self-cleaning control method further comprises: Detecting whether the cleaning device is docked at the base station; The controller of the cleaning device issues a self-cleaning instruction in response to the triggering action of the self-cleaning button.

17. The self-cleaning control method of a cleaning system according to claim 6 or 7, characterized in that: The fourth duration is shorter than the first duration, and the fifth duration is longer than the third duration.

18. The self-cleaning control method of a cleaning system according to any one of claims 3 to 7, characterized in that: The cleaning device includes a diaphragm pump for supplying water to the cleaning member, and spraying water to the cleaning member for a first time period includes: The diaphragm pump is controlled to supply water to the cleaning element at a first water speed and for the first duration, wherein the value of the first water speed R satisfies: 190ml / min≤R≤210ml / min, and the value of the first duration T1 satisfies: 85s≤T1≤95s.

19. The self-cleaning control method of a cleaning system according to any one of claims 5 to 7, characterized in that: The value T2 of the second time length satisfies: 8s≤T2≤12s, and the value T3 of the third time length satisfies: 4s≤T3≤6s.

20. The self-cleaning control method of a cleaning system according to any one of claims 6 to 8, characterized in that: The value T4 of the fourth time length satisfies: 25s≤T4≤35s, and the value T5 of the fifth time length satisfies: 8s≤T5≤12s.

21. The self-cleaning control method of a cleaning system according to claim 7, characterized in that: The value T6 of the sixth time duration satisfies: 4s≤T6≤6s.

22. The self-cleaning control method of a cleaning system according to claim 1, characterized in that: The procedure of performing self-cleaning on the cleaning member of the cleaning device comprises the following steps: controlling the cleaning member to rotate in a first direction and spraying water on the cleaning member; controlling the cleaning member to rotate in a second direction; Stop spraying water to the cleaning element or reduce the amount of water sprayed, and control the first sewage exhaust fan of the base station to operate so as to recycle the sewage generated by the rotation and cleaning of the cleaning element into the first sewage tank of the base station.

23. The self-cleaning control method according to claim 22, characterized in that: The procedure of performing self-cleaning on the cleaning member of the cleaning device also includes: Stopping the operation of the first sewage exhaust fan of the base station; controlling the cleaning member to rotate and spraying water on the cleaning member; Stop spraying water to the cleaning element, and control the second sewage exhaust fan of the cleaning equipment to operate so as to recycle the sewage generated by the second rotation washing of the cleaning element into the second sewage tank of the cleaning equipment.

24. The self-cleaning control method of a cleaning system according to claim 1, characterized in that: The base station includes a first sewage exhaust fan and a first sewage tank, the cleaning device includes a cleaning component, a second sewage tank and a second sewage exhaust fan, and a procedure for self-cleaning the cleaning component of the cleaning device is performed, including: Spraying water onto the cleaning member and controlling the cleaning member to rotate; After a first preset time, controlling the first sewage extraction fan to operate so as to extract sewage generated by self-cleaning of the cleaning element and sewage in the second sewage tank into the first sewage tank; Stop the operation of the first sewage extraction fan, spray water to the cleaning element again and control the cleaning element to rotate again; After the second preset time, the second sewage extraction fan is controlled to operate so as to extract sewage generated by the cleaning element again through self-cleaning into the second sewage tank of the cleaning device.

25. The self-cleaning control method of the cleaning system according to claim 24, characterized in that: Before controlling the first sewage exhaust fan to work, the method includes: Stop spraying water to the cleaning member or reduce the amount of water sprayed to the cleaning member.

26. The self-cleaning control method of a cleaning system according to claim 24 or 25, characterized in that: Before the second sewage exhaust fan starts working, the method includes: Stop spraying water to the cleaning member.

27. The self-cleaning control method of a cleaning system according to any one of claims 24 to 26, characterized in that: Spraying water onto the cleaning member or spraying water onto the cleaning member again comprises: The diaphragm pump for supplying water to the cleaning member is controlled to supply water to the cleaning member at a preset water level, and the preset water level D satisfies: 100 ml / min≤D≤5000 ml / min.

28. The self-cleaning control method of a cleaning system according to any one of claims 24 to 27, characterized in that: The base station also includes a steam generating device for executing a procedure for self-cleaning the cleaning parts of the cleaning device, and further includes: After the sewage generated by the cleaning element is pumped into the second sewage tank of the cleaning device, the cleaning element is controlled to rotate, and the steam generating device is controlled to operate to perform high-temperature cleaning on the cleaning element; After a third preset time, the steam generating device is controlled to stop running, and the first sewage extraction fan is controlled to run, so as to extract sewage generated by high-temperature cleaning of the cleaning element into the first sewage tank of the base station.

29. The self-cleaning control method of the cleaning system according to claim 28, characterized in that: The cleaning element is kept rotating during the period of controlling the first sewage suction fan to operate.

30. The self-cleaning control method of a cleaning system according to any one of claims 24 to 29, characterized in that: The action of the cleaning member rotating comprises: The cleaning member is controlled to alternately switch the rotation direction.

31. The self-cleaning control method of a cleaning system according to any one of claims 24 to 30, characterized in that: After the second sewage suction fan has been operating for a preset time, the second sewage suction fan is turned off and the rotation of the cleaning element is stopped.

32. The self-cleaning control method of a cleaning system according to any one of claims 24 to 31, characterized in that: The base station further includes a drying device for drying the cleaning member, and the procedure for performing a drying process on the cleaning member of the cleaning device includes: In response to a drying instruction, controlling the drying device to operate; The cleaning element is controlled to rotate at a low speed until a preset drying time is reached.

33. The self-cleaning control method of a cleaning system according to claim 1, characterized in that: Before controlling the cleaning system to enter the self-cleaning mode, the method includes: After the cleaning device is docked on the base station, obtaining a self-cleaning working mode of the cleaning system; The cleaning system is controlled to execute a self-cleaning procedure in the self-cleaning manner indicated by the self-cleaning working mode.

34. The self-cleaning control method of the cleaning system according to claim 33, characterized in that: The self-cleaning working mode includes an automatic cleaning mode, and the automatic cleaning mode indicates that a self-cleaning program is automatically executed; and the controlling the cleaning system to execute the self-cleaning program includes: The cleaning system is automatically controlled to execute the self-cleaning program.

35. The self-cleaning control method of the cleaning system according to claim 33 or 34, characterized in that: The self-cleaning working mode includes a manual cleaning mode, and the manual cleaning mode indicates that manual control is required to start the self-cleaning program; the controlling the cleaning system to execute the self-cleaning program includes: When a trigger signal from a self-cleaning button on the cleaning system is received, the cleaning system is controlled to execute the self-cleaning program.

36. The self-cleaning control method of a cleaning system according to any one of claims 33 to 35, characterized in that: The method further comprises: receiving a mode setting instruction, wherein the mode setting instruction includes the self-cleaning working mode; The self-cleaning working mode is saved, and the self-cleaning working mode is used to subsequently control the cleaning system to execute the self-cleaning program.

37. The self-cleaning control method of the cleaning system according to claim 36, characterized in that: The receiving mode setting instruction includes: In response to a triggering operation on a mode switching button on the cleaning system, the mode setting instruction is received.

38. The self-cleaning control method of a cleaning system according to any one of claims 33 to 37, characterized in that: The method further comprises: A voice reminder message is played, wherein the voice reminder message is used to remind the user to execute the self-cleaning program in the self-cleaning working mode.

39. The self-cleaning control method of a cleaning system according to claim 1, characterized in that: The cleaning system comprises a spray assembly, a recovery box, a switch component, and a suction device, wherein the spray assembly is used to spray the recovery box, the suction device is connected to the recovery box, and the switch component is arranged at or adjacent to the recovery box, wherein the self-cleaning mode further comprises a procedure for executing a fault recovery of the switch component, wherein the procedure for executing a fault recovery of the switch component comprises: In response to the abnormal operation information of the switch component, controlling the spray component to spray the recovery box; Controlling the suction device to suction the recovery box; Acquiring a first in-position state of the switch element; When the first in-place state satisfies a first preset condition, fault recovery is stopped.

40. The self-cleaning control method of a cleaning system according to claim 39, characterized in that: The step of controlling the spray assembly to spray the recovery box in response to the abnormal operation information of the switch component comprises: In response to opening or closing the switch element, acquiring a second in-position state of the switch element; When the second in-place state satisfies a second preset condition, the spray assembly is controlled to spray the recovery box.

41. The self-cleaning control method of the cleaning system according to claim 40, characterized in that: When the second in-place state satisfies a second preset condition, controlling the spray assembly to spray the recovery box comprises: When the second in-position state satisfies a second preset condition, controlling the switch element to be turned on for a first preset time period; When it is determined that the opening time of the switch element exceeds the first preset time length, or the switch element is not in place after the first preset time length, controlling to stop opening the switch element; The spray assembly is controlled to spray the recovery box.

42. The self-cleaning control method of a cleaning system according to any one of claims 39 to 41, characterized in that: The obtaining of the first in-position state of the switch element comprises: Controlling the switch to rotate until it is in place; Obtaining a first in-position time of the switch element; Correspondingly, when the first in-place state satisfies a first preset condition, stopping fault recovery includes: When it is determined that the first arrival time is less than or equal to the second preset time, controlling the execution of the sewage discharge operation; When it is determined that the first in-place time is longer than the second preset time, a prompt message of the switch component operating failure is issued.

43. The self-cleaning control method of a cleaning system according to any one of claims 39 to 42, characterized in that: The step of controlling the spray assembly to spray the recovery box and the step of controlling the suction device to suck the recovery box are cross-cut and cyclically executed.

44. The self-cleaning control method of the cleaning system according to claim 43, characterized in that: The controlling the spraying assembly to spray the recovery box comprises: Controlling the spraying assembly to spray the recovery box and maintaining the spraying for a third preset time period; Correspondingly, controlling the suction device to suck the recovery box includes: The suction device is controlled to perform suction on the recovery box, and the suction device is kept for a fourth preset time period before being closed.

45. The self-cleaning control method of a cleaning system according to any one of claims 39 to 44, characterized in that: The method further comprises: In response to a request for self-cleaning, controlling the switch member to rotate until it is in place; Obtaining a second in-position time of the switch element; When the second in-place time is less than or equal to the fifth preset time, performing a self-cleaning operation; When the second arrival time is longer than a fifth preset time, it is determined that the switch element is operating abnormally.

46. ​​The self-cleaning control method of a cleaning system according to any one of claims 39 to 45, characterized in that: The switch element is a sewage valve.

47. A cleaning system, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the self-cleaning control method of the cleaning system as described in any one of claims 1-46.

48. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the self-cleaning control method of the cleaning system as described in any one of claims 1-46 is implemented.

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