Self-cleaning method for cleaning tray, and automatic cleaning apparatus, storage medium and electronic device

Abstract

A self-cleaning method for a cleaning tray, and an automatic cleaning apparatus, a storage medium and an electronic device. The self-cleaning method for a cleaning tray (1) comprises: controlling a water intake device (2) to inject a cleaning fluid (6) into the cleaning tray (1) (S101); and driving a cleaning element (3) to generate relative displacement with the cleaning tray (1), such that the cleaning element (3) drives the cleaning fluid (6) to flow to flush the cleaning tray (1) (S102). By means of controlling the water intake device (2) to inject the cleaning fluid (6) into the cleaning tray (1), the cleaning tray (1) can be cleaned in a base station, thereby omitting the operations of dismounting, transferring and remounting of the cleaning tray (1). The cleaning element (3) is driven to generate relative displacement with the cleaning tray (1), such that the cleaning element (3) can drive the cleaning fluid (6) to flow to flush the cleaning tray (1), thereby achieving the automatic cleaning of the cleaning tray (1), omitting manual operations, saving time and labor, and improving usage experience.

Description

Cleaning disk self-cleaning method, automatic cleaning device, storage medium and electronic device

[0001] This application claims priority to a Chinese patent application filed with the Patent Office of China on February 6, 2024, with application number 202410168224.7, entitled “Self-cleaning method for cleaning disk, automatic cleaning device, storage medium and electronic device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application belongs to the technical field of automatic cleaning equipment, and specifically relates to a self-cleaning method for a cleaning disk, an automatic cleaning equipment, a storage medium, and an electronic device. Background Art

[0003] With the iterative updates and development of technology, self-propelled cleaning devices have become part of everyday life and are gradually becoming ubiquitous. Among current self-propelled cleaning devices, mopping machines and sweeping and mopping machines are popular because they also have mopping functions. Furthermore, after completing a cleaning task or cleaning for a specified period of time, self-propelled cleaning devices can dock at a base station to clean their cleaning components.

[0004] The cleaning elements are cleaned within the base station's cleaning tray, which leaves stains on the surface. The tray typically needs to be cleaned every one to two weeks. In related technology, the tray can be removed from the base station and then manually taken to a water source for cleaning. After cleaning, the tray must be reinstalled on the base station. This time-consuming and labor-intensive cleaning process results in a poor user experience. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present application is to provide a self-cleaning method for a cleaning tray, an automatic cleaning device, a storage medium and an electronic device, which can reduce manual operations and improve the user experience.

[0006] In order to solve the above problems, the present application provides a self-cleaning method for a cleaning disk, comprising:

[0007] Controlling the water inlet device to inject cleaning fluid into the cleaning tray;

[0008] The cleaning element is driven to generate relative displacement with the cleaning disc, so that the cleaning element drives the cleaning fluid to flow and flush the cleaning disc.

[0009] In a second aspect of the present application, an automatic cleaning device is provided, comprising:

[0010] Washing tray;

[0011] a water inlet device for injecting cleaning fluid into the cleaning disc when the automatic cleaning device is in a self-cleaning mode of the cleaning disc;

[0012] Cleaning components;

[0013] The driver is used to drive the cleaning element and the cleaning disc to generate relative displacement, so that the cleaning element drives the cleaning fluid to flow and flush the cleaning disc.

[0014] According to a third aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program for implementing the above-mentioned self-cleaning method for a cleaning dish.

[0015] According to a fourth aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above method when executing the computer program.

[0016] By utilizing the above technical solution, the present application controls the water inlet device to inject cleaning fluid into the cleaning tray, thereby enabling the cleaning tray to be cleaned within the base station, eliminating the need for disassembly, transportation, and installation of the cleaning tray. By driving the cleaning element to produce relative displacement with the cleaning tray, the cleaning element can drive the cleaning fluid to flow, thereby flushing the cleaning tray, thereby achieving automatic cleaning of the cleaning tray, eliminating manual operation, saving time and effort, and improving the user experience.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] FIG1 is a flowchart illustrating the first step of a self-cleaning method for a cleaning disk according to an embodiment of the present application;

[0020] FIG2 is a flowchart illustrating the second step of the self-cleaning method for a cleaning disk according to an embodiment of the present application;

[0021] FIG3 is a flowchart illustrating a third step of the self-cleaning method for a cleaning disk according to an embodiment of the present application;

[0022] FIG4 is a first structural diagram of an automatic cleaning device according to an embodiment of the present application;

[0023] FIG5 is a second structural diagram of the automatic cleaning device according to an embodiment of the present application;

[0024] FIG6 is a schematic structural diagram of a cleaning disk of an automatic cleaning device according to an embodiment of the present application;

[0025] FIG7 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0026] FIG8 is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0028] In this embodiment, a self-cleaning method for a cleaning disk is provided, as shown in FIG1 , the method comprising:

[0029] Step 101: Control the water inlet device to inject cleaning fluid into the cleaning tray.

[0030] The present invention provides a self-cleaning method for a cleaning tray, which is used for self-cleaning the cleaning tray of an automated cleaning device, such as a robot vacuum. The cleaning tray is typically located within the base station of the automated cleaning device and is used to clean cleaning components, such as a mop. During mop cleaning, cleaning water is stored within the cleaning tray, allowing the mop to be soaked and cleaned within the tray. During cleaning, dust and other debris from the mop enter the cleaning water. After cleaning, the cleaning water is pumped out, but some debris may remain in the cleaning tray. After a period of use, this can cause stains on the surface of the cleaning tray. In the related art, manual cleaning of the cleaning tray is required, resulting in a poor user experience. Therefore, in the self-cleaning method for a cleaning tray provided in this embodiment, a water inlet device is controlled to inject a cleaning fluid into the cleaning tray during cleaning, providing clean water and / or detergent for the cleaning operation. The cleaning tray can be cleaned within the base station, eliminating the need to disassemble and install the cleaning tray, simplifying the cleaning process, and improving the user experience.

[0031] In this step, the water inlet device can be a clean water tank in the base station and a clean water pump connected to the clean water tank. The clean water pump draws cleaning fluid from the clean water tank and injects it into the cleaning tray. The water inlet device can also be other external water injection devices, such as a water tank and water pump independent of the base station, which can also inject cleaning fluid into the cleaning tray.

[0032] Furthermore, the injected cleaning fluid may be clean water, a detergent, or a mixture of clean water and detergent.

[0033] Specifically, in this embodiment, the water inlet device is described as a clean water tank and a clean water pump in a base station.

[0034] Step 102 : driving the cleaning element and the cleaning disc to generate relative displacement, so that the cleaning element drives the cleaning fluid to flow and flush the cleaning disc.

[0035] The self-cleaning method for the cleaning disc provided in the embodiment of the present application drives the cleaning element to produce relative displacement with the cleaning disc, so that the cleaning element or the cleaning disc can drive the cleaning fluid to flow in the cleaning disc, thereby flushing the surface of the cleaning disc, and the stains on the cleaning disc can be flushed off to achieve the cleaning effect, realize automatic cleaning, eliminate manual operation, save time and effort, and improve the user experience.

[0036] In this step, as a feasible embodiment, the cleaning element can be driven to move, that is, driven to move relative to the cleaning disc, so that the cleaning element can drive the cleaning fluid in the cleaning disc to flow, thereby flushing the cleaning disc. Specifically, taking the cleaning element as a mop, the automatic cleaning device typically has a drive motor for driving the mop to rotate. When cleaning the cleaning disc, the drive motor can drive the mop to rotate within the cleaning disc, and the rotation of the mop can drive the cleaning fluid to flow within the cleaning disc.

[0037] As another feasible embodiment, the cleaning disc can be driven to move, that is, the cleaning disc can be driven to move relative to the cleaning element, so that the cleaning fluid can flow within the cleaning disc and flush the cleaning disc. Specifically, a driving component such as a reciprocating mechanism can be provided to drive the cleaning disc to swing, thereby driving the cleaning fluid to flow within the cleaning disc through the swinging of the cleaning disc.

[0038] In this embodiment, by injecting cleaning fluid into the cleaning disc, the cleaning disc can be cleaned within the base station, eliminating the need for disassembly, transportation, and installation of the cleaning disc. By driving the cleaning element relative to the cleaning disc, the cleaning element drives the cleaning fluid to flow, thereby flushing the cleaning disc, achieving automatic cleaning of the cleaning disc, eliminating manual operation, saving time and effort, and improving the user experience.

[0039] In another embodiment, while the cleaning fluid is injected into the cleaning disc, the cleaning element is driven to generate relative displacement with respect to the cleaning disc.

[0040] In yet another embodiment, the cleaning element is first driven to generate relative displacement with the cleaning disc, and then the cleaning fluid is injected into the cleaning disc.

[0041] The cleaning pan is provided with a liquid level detection device for detecting the liquid level of the cleaning fluid within the cleaning pan. In this embodiment, a preset liquid level is set by the liquid level detection device. As the cleaning fluid is injected into the cleaning pan, the liquid level within the cleaning pan continuously rises, and the liquid level detection device can detect whether the liquid level of the cleaning fluid has reached the preset liquid level.

[0042] Among them, the preset liquid level can be set by a liquid level detection device. Since the volume of the cleaning disk is a fixed value, by adjusting the preset liquid level to an appropriate position, the amount of cleaning fluid stored in the cleaning disk when the liquid level of the cleaning fluid reaches the preset liquid level can be known, that is, the preset inventory is known.

[0043] As a feasible embodiment, the liquid level detection device can be a float level detection mechanism. Specifically, the liquid level detection device includes a float and a Hall effect sensor. The float moves up and down with changes in the liquid level of the cleaning fluid. The float is equipped with a magnet. When the cleaning fluid reaches a preset level, the Hall effect sensor can detect the position of the float, thereby determining that the cleaning fluid has reached the preset level.

[0044] As shown in FIG2 , step 101 is controlling the water inlet device to inject cleaning fluid into the cleaning tray, including:

[0045] Step 201: If the liquid level detection device detects that the cleaning fluid has reached a preset liquid level within a preset time, the water inlet device is controlled to continue injecting the liquid using a first injection strategy. If the liquid level detection device does not detect that the cleaning fluid has reached the preset liquid level within the preset time, the water inlet device is controlled to continue injecting the liquid using a second injection strategy.

[0046] In this step, by setting two liquid injection strategies, more targeted liquid injection can be performed based on whether the liquid level detection device detects that the cleaning fluid has reached the preset liquid level. Specifically, if the liquid level detection device detects that the cleaning fluid has reached the preset liquid level within the preset time, the liquid supply can be calculated to be more accurate, ensuring that the cleaning disc is properly cleaned. If the liquid level detection device does not detect that the cleaning fluid has reached the preset liquid level within the preset time, this may be a malfunction of the liquid level detection device. In this case, by formulating a second liquid injection strategy, the cleaning disc can still be cleaned.

[0047] The amount of cleaning fluid required for the self-cleaning operation may be such that the cleaning fluid just immerses the cleaning element.

[0048] Furthermore, the preset time can be flexibly set according to the volume of the cleaning tray, the flow rate of the cleaning fluid, etc.

[0049] Specifically, a timer is started when the cleaning fluid begins to be injected into the cleaning tray. If the cleaning fluid reaches a preset level before the timer reaches a preset time, injection continues using the first injection strategy. If the cleaning fluid does not reach the preset level after the timer reaches the preset time, injection continues using the second injection strategy. In this embodiment, the preset time can be set to 30 seconds.

[0050] In step 201, when the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within a preset time, the step of controlling the water inlet device to continue injecting liquid using the first injection strategy includes:

[0051] Step 2011: Obtain a first injection duration from when the water inlet device is started to when the cleaning fluid reaches the preset liquid level.

[0052] Step 2012: Determine a second injection duration based on the first injection duration.

[0053] Step 2013: Continue injecting the cleaning fluid into the cleaning dish based on the second injection duration.

[0054] In steps 2011 to 2013, by obtaining the first injection duration, determining the second injection duration based on the first injection duration, and then continuing to supply liquid according to the second injection duration, the injection amount of the cleaning fluid required in the self-cleaning operation can be accurately met.

[0055] Furthermore, the first injection duration can be obtained by a timer. The second injection duration is calculated based on the first injection duration.

[0056] As a feasible implementation manner, step 2012, determining a second injection duration based on the first injection duration, includes:

[0057] Step 20121: Obtain an injection flow rate based on a known preset inventory and the first injection duration, wherein the known preset inventory is the inventory of the cleaning fluid on the cleaning disk when the cleaning fluid reaches the preset liquid level.

[0058] Step 20122: Determine the second injection duration based on the injection flow rate.

[0059] In step 20121 and step 20122, the injection flow rate can be calculated based on the known preset inventory and the first injection duration. The injection flow rate is the flow rate of the cleaning fluid injected into the cleaning disk. The second injection duration is determined by the injection flow rate, which can achieve accurate injection of the cleaning fluid and ensure that the injection amount of the cleaning fluid required in the self-cleaning operation is met.

[0060] The position of the preset liquid level is known, and the amount of the cleaning fluid on the cleaning disk corresponding to the preset liquid level can be obtained by measurement or calculation, and thus the value of the known preset amount can be obtained.

[0061] Specifically, in a feasible embodiment, the preset stock volume is 80 ml for example, that is, when the cleaning fluid on the cleaning disk reaches 80 ml, the liquid level detection device can detect that the cleaning fluid reaches the preset liquid level.

[0062] Step 20122, determining the second injection duration based on the injection flow rate, includes:

[0063] In step 201221, if the injection flow rate is within the preset flow rate range, the second injection duration is calculated based on the injection flow rate and the pre-stored continuous injection volume. The sum of the continuous injection volume and the known preset volume is the required injection volume of cleaning fluid for self-cleaning. In one embodiment, the required injection volume of cleaning fluid for self-cleaning can be 200 ml. This means that when the cleaning fluid on the cleaning disc reaches 200 ml, the cleaning fluid just submerges the cleaning element.

[0064] In this step, if the injection flow rate is within the preset flow rate range, it can be determined that the injection flow rate meets expectations, the water pump is not faulty, and the water pipe used to fill the cleaning pan is not blocked. Injecting cleaning fluid at this injection flow rate can meet the amount of cleaning fluid required for self-cleaning of the cleaning pan. The second injection duration can then be calculated based on the injection flow rate and the pre-stored continuous injection amount, and the cleaning fluid can continue to be injected into the cleaning pan at the second injection duration and injection flow rate.

[0065] Specifically, since the known preset stock and the injection amount of the fluid required for self-cleaning are known, the absolute value of the difference between the injection amount and the known preset stock is the continuous injection amount. The continuous injection amount divided by the injection flow rate is the second injection duration.

[0066] In a feasible embodiment, the continuous injection volume may be 120 ml, and the preset flow rate range may be 270 ml / min to 330 ml / min.

[0067] In step 201222, if the injection flow rate is not within the preset flow rate range, the injection flow rate is changed to the injection flow rate setting value corresponding to the preset flow rate range, and the second injection duration is calculated based on the injection flow rate setting value and the pre-stored continuous injection volume. The sum of the continuous injection volume and the known preset volume is the injection volume of the cleaning fluid required for self-cleaning.

[0068] In this step, if the injection flow rate is not within the preset flow rate range, it can be determined that the injection flow rate is not as expected, and there may be a problem with the water pump, the water pipe used to inject water into the cleaning pan may be clogged, the water tank may be leaking into the cleaning pan, liquid may be present in the cleaning pan before the cleaning fluid is injected, or the cleaning pan may be leaking, etc. Injecting cleaning fluid at this injection flow rate does not meet the required injection volume of cleaning fluid for self-cleaning of the cleaning pan. However, in order to continue the cleaning operation of the cleaning pan, changing the injection flow rate to the injection flow rate setting value corresponding to the preset flow rate range and calculating the second injection time based on the injection flow rate and the pre-stored continuous injection amount can also ensure that the cleaning pan is cleaned.

[0069] The injection flow rate setting value corresponding to the preset flow rate interval may be a middle value of the preset flow rate interval.

[0070] Specifically, in this embodiment, the preset flow rate range may be 270 ml / min to 330 ml / min, and the injection flow rate setting value may be 300 ml / min.

[0071] Specifically, since the known preset inventory and the injection amount of the cleaning fluid required for self-cleaning are known, the absolute value of the difference between the injection amount and the known preset inventory is the continuous injection amount. The continuous injection amount divided by the changed injection flow rate is the second injection duration.

[0072] Step 201223: If the injection flow rate is not within the preset flow rate range, an alarm message is issued.

[0073] In this step, since the injection flow is not within the preset flow range, the reason why the injection flow is not within the preset flow range may be that there is a device failure. Therefore, issuing an alarm message can prompt the user to inspect and repair the equipment so that the injection flow can be restored to the preset flow range when the cleaning disc is self-cleaned again, thereby ensuring a good self-cleaning effect.

[0074] Furthermore, the alarm information may be a sound alarm information, a light alarm light information, etc. on the base station or the self-propelled cleaning device, or an alarm information sent to a terminal bound to the automatic cleaning device.

[0075] As another feasible implementation, step 2012, determining a second injection duration based on the first injection duration, includes:

[0076] In step 20123, when the cleaning fluid reaches the preset level, a second injection duration is determined based on the ratio of the known preset level to the pre-stored continuous injection volume and the first injection duration. The known preset level is the amount of cleaning fluid on the cleaning disk when the cleaning fluid reaches the preset level. The sum of the continuous injection volume and the known preset level is the amount of cleaning fluid required for self-cleaning.

[0077] In this step, since the known preset stock and the continued injection amount are known, the ratio of the known preset stock to the continued injection amount can be calculated, and since the ratio of the known preset stock to the continued injection amount and the ratio of the first injection duration to the second injection duration are equal, the second injection duration can be directly calculated according to the proportional relationship, which can achieve accurate injection of the cleaning fluid and ensure that the injection amount of the cleaning fluid required in the self-cleaning operation is met.

[0078] In step 201, if the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time, controlling the water inlet device to continue injecting liquid using the second injection strategy includes:

[0079] Step 2014: Continue injecting the cleaning fluid into the cleaning tray based on the pre-stored third injection duration.

[0080] In the step, if the liquid level detection device does not detect that the cleaning fluid has reached the preset liquid level within the preset time, it can be considered that the liquid level detection device has failed. At this time, in order to continue the cleaning operation of the cleaning disk, the cleaning fluid is continued to be injected into the cleaning disk based on the pre-stored third injection time, so that the cleaning disk can also be cleaned.

[0081] Furthermore, in this embodiment, the third injection duration may be 30 seconds.

[0082] Furthermore, after continuing to inject the cleaning fluid into the cleaning tray for 30 seconds, the injection of the cleaning fluid is stopped.

[0083] Step 102, driving the cleaning element and the cleaning disc to generate relative displacement, includes:

[0084] Step 1021 : When injecting cleaning fluid into the cleaning disk, drive the cleaning element and the cleaning disk to generate relative displacement.

[0085] In this step, when the cleaning fluid is injected into the cleaning disc, the flow of the cleaning fluid in the cleaning disc is unstable. At this time, the cleaning element and the cleaning disc are synchronously driven to produce relative displacement, which can further disrupt the flow of the cleaning fluid in the cleaning disc and drive the flow of the cleaning fluid in multiple directions, which is conducive to the cleaning fluid flushing the cleaning disc, making it easier to flush the dirt on the cleaning disc, thereby ensuring a good cleaning effect.

[0086] As a feasible implementation, when the cleaning fluid starts to be injected into the cleaning disc, the cleaning element and the cleaning disc are synchronously driven to generate relative displacement.

[0087] As another feasible implementation, cleaning fluid can be first injected into the cleaning disk. After some cleaning fluid is stored in the cleaning disk, the cleaning element and the cleaning disk are driven to produce relative displacement, so that the cleaning fluid can be driven to flow when the cleaning element and the cleaning disk produce relative displacement.

[0088] As another feasible embodiment, the cleaning element and the cleaning disc can be driven to produce relative displacement, and then the cleaning fluid can be injected into the cleaning disc. When the cleaning fluid is initially injected and the flow of the cleaning fluid is unstable, the cleaning element can collide with the cleaning fluid, so that the cleaning fluid is more widely distributed in the cleaning disc.

[0089] Step 1022: After the cleaning fluid is injected into the cleaning disk, the cleaning element is driven to continuously generate relative displacement with the cleaning disk within a preset motion duration.

[0090] In this step, after the cleaning fluid is injected into the cleaning disc, the cleaning fluid immerses the cleaning element. At this time, the cleaning element can stir a large amount of cleaning fluid to flow, so that the cleaning fluid flushes the cleaning disc, which can ensure a good cleaning effect.

[0091] Among them, the preset exercise duration can be flexibly set according to actual conditions. In this embodiment, the preset exercise duration can be set to 30 seconds.

[0092] As a feasible embodiment, the cleaning tray is adapted for a self-moving cleaning device, and the cleaning element is disposed on the self-moving cleaning device. In other words, the cleaning element is part of the self-moving cleaning device. For example, in the case of a robot vacuum cleaner, the cleaning element may be a mop on the robot vacuum cleaner, which is moved by the robot vacuum cleaner to clean the floor.

[0093] The movement of the cleaning element within the cleaning disc is identical to the movement of the cleaning element during cleaning operations. For example, if the cleaning element is a mop on a robot vacuum, the mop can be driven to rotate during cleaning operations and to rotate while moving within the cleaning disc. This allows the same drive component to both drive the mop for cleaning and to stir the cleaning fluid, eliminating the need for additional drive components and thus avoiding increased costs.

[0094] Specifically, step 102, driving the cleaning element to generate relative displacement with the cleaning disc, includes: step 1023, driving the cleaning element to rotate in the cleaning disc.

[0095] In this step, by driving the cleaning element to rotate in the cleaning disc, the cleaning fluid can be driven to rotate in the cleaning disc, thereby having a good flushing effect on the cleaning disc.

[0096] Furthermore, when there are two cleaning elements, the two cleaning elements are driven to rotate in opposite directions to further improve the flushing effect on the cleaning disc.

[0097] As another feasible embodiment, the cleaning element is connected to the cleaning disc, that is, the cleaning element is a part of the cleaning disc.

[0098] Wherein, step 102, driving the cleaning element to generate relative displacement with the cleaning disc, includes: step 1024, driving the cleaning element to move within the cleaning disc.

[0099] Specifically, the cleaning element can be a brush that is rotatably connected to the cleaning disc. The brush is connected to a driving device, such as a motor, so that the motor can drive the brush to swing, thereby driving the cleaning fluid in the cleaning disc to flow, thereby flushing the cleaning disc, and can also brush the cleaning disc while swinging, thereby improving the cleaning effect.

[0100] It is understood that the cleaning element may also be a component in other forms, such as a bar-shaped object or a circular object, capable of driving the flow of the cleaning fluid to flush the cleaning disc. Specifically, a reciprocating structure may be used to drive the bar-shaped object to repeatedly move, thereby agitating the cleaning fluid. A rotary motor may be used to rotate the circular object, thereby agitating the cleaning fluid.

[0101] In step 1023 or step 1024, driving the cleaning element and the cleaning disc to generate relative displacement includes:

[0102] Step 10231: driving the cleaning element to rotate at a variable speed within the cleaning disc.

[0103] In this step, by driving the cleaning element to rotate at a variable speed in the cleaning disc, the cleaning fluid can also flow at a variable speed, thereby further improving the flushing effect on the cleaning disc.

[0104] In step 102, after the cleaning element and the cleaning disc are driven to generate relative displacement, the following steps are included:

[0105] Step 301: Control the cleaning element and the cleaning disc to stop relative displacement.

[0106] Step 302: Control the drainage pump corresponding to the cleaning tray to operate.

[0107] In steps 301 and 302, the relative displacement between the cleaning element and the cleaning disc is stopped to prevent debris from being disturbed during the extraction of the cleaning fluid, thereby preventing the cleaning disc from being contaminated again. The cleaning fluid containing debris is then discharged by controlling the operation of the corresponding drainage pump of the cleaning disc, thereby ensuring that the cleaning disc is clean.

[0108] Among them, a filter can be set at the water inlet of the drainage pump to filter the clean fluid containing debris, preventing the debris from entering the drainage pump and causing blockage and damage to the drainage pump. At the same time, the debris can be gathered at the filter, making it easier to collect the debris.

[0109] The drain pump can be a drain pump within the base station. After cleaning the cleaning element, the base station uses the drain pump to remove wastewater. After cleaning the cleaning tray, the drain pump also removes the cleaning fluid containing debris. This can be accomplished using the same drain pump, avoiding additional costs.

[0110] Step 302, controlling the drain pump corresponding to the cleaning disk to operate, includes:

[0111] Step 3021: During the first drainage time period of the drainage pump, if the liquid level of the cleaning fluid drops below the preset liquid level, the drainage pump is controlled to continue draining during the second drainage time period.

[0112] In this step, if the level of the cleaning fluid drops below the preset level during the first drainage period of the drain pump, it can be determined that the drain pump is operating normally and has drained most of the cleaning fluid containing debris from the cleaning pan. After the level of the cleaning fluid drops below the preset level, the drain pump is controlled to continue draining for a second drainage period to ensure that the cleaning fluid containing debris in the cleaning pan is drained, reduce debris residue in the cleaning pan, and ensure a good cleaning effect.

[0113] The first drainage time and the second drainage time can be flexibly determined according to the drainage volume of the drainage pump and the volume of the cleaning tray.

[0114] Specifically, in a feasible embodiment, the first drainage time and the second drainage time are both set to 15 seconds. That is, within 15 seconds after the drainage pump starts working, if the liquid level of the cleaning fluid drops below the preset liquid level, the drainage pump is controlled to continue draining for another 15 seconds.

[0115] Step 3022: After the drain pump has been operating for the first drainage period, if the cleaning fluid is still at the preset liquid level or higher than the preset liquid level, an alarm message is issued.

[0116] In this step, during the first drainage time of the drain pump, if the cleaning fluid is still at the preset liquid level or higher than the preset liquid level, there may be a drainage failure problem. The alarm message can prompt the user to check to avoid the cleaning dish being contaminated again due to the failure of drainage.

[0117] In this embodiment, if the Hall sensor can always detect the magnet in the float, it can be determined that the cleaning fluid is at the preset liquid level or higher than the preset liquid level.

[0118] If the cleaning fluid remains at or above the preset level during the first drainage period of the drain pump, there may be a problem with the drain pump, a clogged drain pipe, or a clogged filter at the drain pump inlet. This could prevent the cleaning fluid from being drained, causing the debris to fall back onto the cleaning tray and contaminate it again. Alternatively, there could be a malfunction in the liquid level detection device. This malfunction will not affect the drainage of the cleaning fluid containing debris, but it will affect the next cleaning operation and may also affect other functions. Therefore, issuing an alarm is essential for maintaining stable operation of the automatic cleaning device.

[0119] Furthermore, the alarm information may be a sound alarm information, a light alarm light information, etc. on the base station or the self-propelled cleaning device, or an alarm information sent to a terminal bound to the automatic cleaning device.

[0120] As shown in FIG4 and FIG5 , a second aspect of this embodiment provides an automatic cleaning device, which includes:

[0121] Cleaning plate 1;

[0122] The water inlet device 2 is used to inject cleaning fluid 6 into the cleaning tray 1 when the automatic cleaning device is in the self-cleaning mode of the cleaning tray 1.

[0123] Cleaning components;

[0124] The driver is used to drive the cleaning element to generate relative displacement with the cleaning disc 1 , so that the cleaning element drives the cleaning fluid 6 to flow and flush the cleaning disc 1 .

[0125] The automatic cleaning device provided in the embodiment of the present application may be an automatic cleaning device such as a sweeping robot system.

[0126] The automatic cleaning device includes a base station, in which the cleaning tray 1 is arranged. The automatic cleaning device also includes a self-moving cleaning device that can dock on the base station and perform operations such as charging, vacuuming, or cleaning the mop 3 on the base station.

[0127] The automatic cleaning device includes a cleaning mode. When the automatic cleaning device is in cleaning mode, the cleaning tray 1 is used to store cleaning water, allowing the components of the automatic cleaning device used for cleaning, such as the mop 3, to be cleaned within the cleaning tray 1. During cleaning, dust and other debris on the mop 3 will enter the cleaning water. After cleaning is completed, the cleaning water is pumped out, but some debris will remain in the cleaning tray 1. After a period of use, stains will remain on the surface of the cleaning tray 1, and the cleaning tray 1 needs to be manually cleaned, resulting in a poor user experience. Based on this, the automatic cleaning device provided in this embodiment adds a self-cleaning mode for the cleaning tray 1. When the automatic cleaning device is in the self-cleaning mode for the cleaning tray 1, a cleaning fluid 6 is injected into the cleaning tray 1 through a cleaning pump, which can provide cleaning fluid 6 for the cleaning operation, and can provide cleaning water and / or detergent for the cleaning operation. The cleaning tray 1 can be cleaned within the base station, eliminating the need to disassemble and install the cleaning tray 1, simplifying the cleaning operation steps, and improving the user experience.

[0128] Among them, the automatic cleaning device is equipped with a driver, and the driver drives the cleaning element to produce relative displacement with the cleaning disc 1, so that the cleaning element or the cleaning disc 1 can drive the cleaning fluid 6 to flow in the cleaning disc 1, and then flush the surface of the cleaning disc 1, which can flush away the stains and achieve the cleaning effect, realize automatic cleaning, eliminate manual operation, save time and effort, and improve the user experience.

[0129] As a feasible embodiment, the cleaning pump and the cleaning tray 1 are mounted on the base station, and the driver and the cleaning element are mounted on the self-propelled cleaning device. In other words, the cleaning element is part of the self-propelled cleaning device. For example, in the case of a robot vacuum cleaner, the cleaning element can be a mop 3 on the robot vacuum cleaner, which moves with the robot vacuum cleaner to clean the floor.

[0130] The movement of the cleaning element within the cleaning disc is identical to the movement of the cleaning element during cleaning operations. For example, if the cleaning element is a mop 3 of a robot vacuum, the mop 3 is driven to rotate during cleaning operations and to rotate when moving within the cleaning disc. The same drive component can be used to both drive the mop 3 for cleaning and to agitate the cleaning fluid 6, eliminating the need for additional drive components and thus avoiding increased costs.

[0131] Specifically, the driver may be a drive motor. The driver and the cleaning element are disposed on the self-moving cleaning device, and the driver is connected to the cleaning element to drive the cleaning element to move. In this embodiment, the cleaning element is a mop 3, and the driver is a drive motor that rotates the mop 3. When the automatic cleaning device is in cleaning mode, the drive motor rotates the mop 3, thereby achieving floor mopping. When the automatic cleaning device is in self-cleaning mode for the cleaning disc 1, the drive motor rotates the mop 3, and the rotation of the mop 3 drives the cleaning fluid 6 to flow within the cleaning disc 1, thereby flushing the cleaning disc 1.

[0132] As another feasible embodiment, the driver and the cleaning element are arranged on the self-moving cleaning device and / or the cleaning disc 1 , that is, the cleaning element is a part of the cleaning disc 1 .

[0133] Specifically, the cleaning element can be a brush that is rotatably connected to the cleaning disc 1. The brush is connected to a driving device, for example, a motor, so that the motor can drive the brush to swing, thereby driving the cleaning fluid 6 in the cleaning disc 1 to flow, thereby flushing the cleaning disc 1, and can also brush the cleaning disc 1 while swinging, thereby improving the cleaning effect.

[0134] It is understood that the cleaning element may also be a component in other forms, such as a bar-shaped object or a circular object, which can drive the flow of cleaning fluid 6 to flush the cleaning plate 1. Specifically, a reciprocating structure can be used to drive the bar-shaped object to move repeatedly, thereby stirring the cleaning fluid 6. A rotary motor can be used to rotate the circular object, thereby stirring the cleaning fluid 6.

[0135] The base station is also equipped with a clean water tank and a water pipe. The water inlet of the water pipe is connected to the clean water tank, and the outlet of the water pipe is located toward the cleaning tray 1. A clean water pump is installed on the water pipe. When the automatic cleaning device is in cleaning mode, the clean water pump draws clean water from the clean water tank and discharges it onto the cleaning tray 1. When the automatic cleaning device is in self-cleaning mode for the cleaning tray 1, the cleaning pump draws clean fluid 6 and discharges it onto the cleaning tray 1. The clean fluid 6 can be clean water from the clean water tank, a detergent mixed in the clean water tank, or a detergent storage tank connected in parallel with the clean water tank.

[0136] The cleaning tray 1 is provided with a liquid level detection device for detecting the liquid level of the cleaning fluid 6 and issuing a position detection signal when the cleaning fluid 6 reaches a preset liquid level. The cleaning fluid 6 is set to a preset liquid level by the liquid level detection device. As the cleaning fluid 6 is injected into the cleaning tray 1, the liquid level of the cleaning fluid 6 in the cleaning tray 1 continuously rises. The liquid level detection device can detect when the cleaning fluid 6 reaches the preset liquid level, thereby determining that the cleaning fluid 6 has reached the preset liquid level.

[0137] The preset liquid level is set by the liquid level detection device, and the volume of the cleaning tray 1 is a fixed value. Therefore, by adjusting the preset liquid level to an appropriate position, when the liquid level detection device detects that the cleaning fluid 6 has reached the preset liquid level, the amount of cleaning fluid 6 stored in the cleaning tray 1 at this time can be known, that is, the preset inventory.

[0138] The liquid level detection device can be a float level detection mechanism. Specifically, the liquid level detection device includes a float 4 and a Hall effect sensor. The float 4 moves up and down as the level of the cleaning fluid 6 changes. The float 4 is internally equipped with a magnet. When the cleaning fluid 6 reaches a preset level, the Hall effect sensor detects the position of the float 4 and issues a position signal.

[0139] The float 4 is provided with a filter 5, which is used to block debris and prevent the float 4 from being stuck by the debris.

[0140] As shown in Figure 4 , the cleaning fluid 6 has not reached the preset level, and the Hall sensor cannot detect the float 4. As shown in Figure 5 , the cleaning fluid 6 has reached the preset level, and the Hall sensor can detect the float 4.

[0141] As shown in FIG7 , the third aspect of the embodiment of the present application proposes a computer-readable storage medium 401 , which stores a computer program 402 for implementing a control method according to any of the above technical solutions.

[0142] The computer-readable storage medium 401 provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the computer-readable storage medium 401 has all the beneficial effects of the control method of any of the above technical solutions.

[0143] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0144] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages and stores the hardware and software resources of the automated cleaning device, supporting the execution of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various controls within the storage medium, as well as with other hardware and software within the physical device.

[0145] As shown in Figure 8, according to the fourth aspect of an embodiment of the present application, an electronic device is proposed, including: a memory 501, which stores a computer program; a processor 502, which executes the computer program; wherein, when the processor 502 executes the computer program, it implements a control method such as any of the above technical solutions.

[0146] The electronic device provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the electronic device has all the beneficial effects of the control method of any of the above technical solutions.

[0147] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0148] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device, wherein the functional units may communicate with each other via a bus. The memory stores a computer program, and the processor is configured to execute the program stored in the memory and perform the method of the above embodiment.

[0149] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0150] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0151] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram and the combination of the process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes and / or one box or multiple boxes of the flow chart.

[0152] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0153] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0154] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0155] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A self-cleaning method for a cleaning dish, wherein: include: Controlling the water inlet device to inject cleaning fluid into the cleaning tray; The cleaning element is driven to generate relative displacement with the cleaning disc, so that the cleaning element drives the cleaning fluid to flow and flush the cleaning disc.

2. The self-cleaning method for a cleaning dish according to claim 1, wherein: A liquid level detection device is provided in the cleaning tray; The water inlet control device injects cleaning fluid into the cleaning tray, including: When the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within a preset time, the water inlet device is controlled to continue injecting liquid using the first injection strategy; If the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time, the water inlet device is controlled to continue injecting liquid using the second injection strategy.

3. The self-cleaning method for a cleaning dish according to claim 2, wherein: When the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within the preset time, controlling the water inlet device to continue injecting liquid using the first injection strategy includes: Obtaining a first injection time duration from when the water inlet device is started to when the cleaning fluid reaches the preset liquid level; determining a second injection duration based on the first injection duration; The cleaning fluid continues to be injected into the cleaning dish based on the second injection time.

4. The self-cleaning method for a cleaning dish according to claim 3, wherein: The determining the second injection duration based on the first injection duration includes: Obtaining an injection flow rate based on a known preset inventory and the first injection duration, wherein the known preset inventory is the inventory of the cleaning fluid on the cleaning disk when the cleaning fluid reaches the preset liquid level; The second injection duration is determined based on the injection flow rate.

5. The self-cleaning method for a cleaning dish according to claim 4, wherein: The determining the second injection duration based on the injection flow rate includes: If the injection flow rate is within a preset flow rate range, calculating the second injection duration based on the injection flow rate and a pre-stored continuous injection volume; If the injection flow rate is not within the preset flow rate interval, the injection flow rate is changed to the injection flow rate setting value corresponding to the preset flow rate interval, and the second injection duration is calculated according to the injection flow rate setting value and the pre-stored continuous injection amount; The sum of the pre-stored refill volume and the known preset volume is the injection volume of the cleaning fluid required for self-cleaning.

6. The self-cleaning method for a cleaning dish according to claim 5, wherein: If the injection flow rate is not within the preset flow rate range, an alarm message is issued.

7. The self-cleaning method for a cleaning dish according to claim 3, wherein: The determining the second injection duration based on the first injection duration includes: When the cleaning fluid reaches the preset liquid level, determining a second injection duration according to a ratio of the known preset inventory to the pre-stored refill volume and the first injection duration; Wherein, the known preset inventory is the inventory of the cleaning fluid on the cleaning disk when the cleaning fluid reaches the preset liquid level; The sum of the pre-stored refill volume and the known preset volume is the injection volume of the cleaning fluid required for self-cleaning.

8. The self-cleaning method for a cleaning dish according to claim 2, wherein: If the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time, controlling the water inlet device to continue injecting liquid using the second injection strategy includes: The cleaning fluid continues to be injected into the cleaning dish based on the pre-stored third injection time.

9. The self-cleaning method for a cleaning dish according to claim 1, wherein: The driving of the cleaning element and the cleaning disc to generate relative displacement includes: When the cleaning fluid is injected into the cleaning disc, the cleaning element is driven to generate relative displacement with the cleaning disc; After the cleaning fluid is injected into the cleaning disc, the cleaning element is driven to continuously generate relative displacement with the cleaning disc within a preset motion duration.

10. The self-cleaning method for a cleaning dish according to claim 1, wherein: The cleaning disc is adapted to a self-moving cleaning device, and the cleaning element is provided on the self-moving cleaning device; The driving of the cleaning element to generate relative displacement with the cleaning disc includes: driving the cleaning element to rotate in the cleaning disc.

11. The self-cleaning method for a cleaning dish according to claim 1, wherein: The cleaning element is connected to the cleaning disc; The driving of the cleaning element to generate relative displacement with the cleaning disc includes: driving the cleaning element to move within the cleaning disc.

12. The self-cleaning method for a cleaning dish according to claim 10, wherein: The driving of the cleaning element and the cleaning disc to generate relative displacement includes: The cleaning element is driven to rotate at a variable speed in the cleaning disc.

13. The self-cleaning method for a cleaning dish according to claim 2, wherein: After the driving cleaning element and the cleaning disc generate relative displacement, the method includes: Controlling the cleaning element and the cleaning disc to stop relative displacement; Control the operation of the drainage pump corresponding to the cleaning tray.

14. The self-cleaning method for a cleaning dish according to claim 13, wherein: The control of the drainage pump corresponding to the cleaning disk includes: During the first drainage time period of the drainage pump, if the liquid level of the cleaning fluid drops below the preset liquid level, the drainage pump is controlled to continue draining during the second drainage time period.

15. The self-cleaning method for a cleaning dish according to claim 13, wherein: The control of the drainage pump corresponding to the cleaning disk includes: After the drainage pump has been operating for a first drainage period, if the cleaning fluid is still at the preset liquid level or higher than the preset liquid level, an alarm message is issued.

16. An automatic cleaning device, wherein: include: Washing tray; a water inlet device for injecting cleaning fluid into the cleaning disc when the automatic cleaning device is in a self-cleaning mode of the cleaning disc; Cleaning components; The driver is used to drive the cleaning element and the cleaning disc to generate relative displacement, so that the cleaning element drives the cleaning fluid to flow and flush the cleaning disc.

17. The automatic cleaning device according to claim 16, wherein: The cleaning disc is provided with a liquid level detection device, and the liquid level detection device is used to detect the liquid level of the cleaning fluid.

18. The automatic cleaning device according to claim 17, wherein: When the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within a preset time, the water inlet device continues to inject liquid using the first injection strategy; When the liquid level detection device fails to detect that the cleaning fluid reaches the preset liquid level within the preset time, the water inlet device continues to inject liquid using the second injection strategy.

19. The automatic cleaning device according to claim 18, wherein: When the liquid level detection device detects that the cleaning fluid reaches the preset liquid level within the preset time, the water inlet device continues to inject the cleaning fluid into the cleaning tray based on a second injection duration, and the second injection duration is determined based on the first injection duration. The first injection duration is the time from the start of the water inlet device to the cleaning fluid reaching the preset liquid level.

20. The automatic cleaning device according to claim 19, wherein The second injection duration is determined based on an injection flow rate, and the injection flow rate is obtained by a known preset inventory and the first injection duration, wherein the known preset inventory is the amount of the cleaning fluid stored in the cleaning tray when the liquid level detection device detects that the cleaning fluid reaches the preset liquid level.

21. The automatic cleaning device according to claim 20, wherein: If the injection flow rate is within a preset flow rate range, the second injection duration is calculated based on the injection flow rate and a pre-stored continuous injection volume; If the injection flow rate is not within the preset flow rate interval, the second injection duration is calculated based on changing the injection flow rate to an injection flow rate setting value corresponding to the preset flow rate interval and according to the injection flow rate setting value and a pre-stored continuous injection amount; The sum of the pre-stored refill volume and the known preset volume is the injection volume of the cleaning fluid required for self-cleaning.

22. The automatic cleaning device according to claim 21, wherein The automatic cleaning device includes a base station and a self-moving cleaning device. If the injection flow rate is not within the preset flow rate range, the base station or the self-moving cleaning device will emit a sound alarm information and a light alarm light information; or If the injection flow rate is not within the preset flow rate range, an alarm message is sent to the terminal bound to the automatic cleaning device.

23. The automatic cleaning device according to claim 19, wherein The second injection duration is determined according to the ratio of the known preset stock volume to the pre-stored continuous injection volume and the first injection duration when the cleaning fluid reaches the preset liquid level; The known preset inventory is the inventory of the cleaning fluid on the cleaning disk when the cleaning fluid reaches the preset liquid level; the sum of the pre-stored refill volume and the known preset inventory is the injection volume of the cleaning fluid required for self-cleaning.

24. The automatic cleaning device according to claim 18, wherein When the liquid level detection device fails to detect that the cleaning fluid reaches the preset liquid level within the preset time, the water inlet device continues to inject the cleaning fluid into the cleaning tray based on the pre-stored third injection time.

25. The automatic cleaning device according to claim 16, wherein When the cleaning fluid is injected into the cleaning disc, the driver drives the cleaning element and the cleaning disc to generate relative displacement; After the cleaning fluid is injected into the cleaning disc, the driver drives the cleaning element to continuously generate relative displacement with the cleaning disc within a preset motion duration.

26. The automatic cleaning device according to claim 16, wherein The cleaning disc is adapted to a self-moving cleaning device, and the cleaning element is provided on the self-moving cleaning device; The driver drives the cleaning element to rotate within the cleaning disc.

27. The automatic cleaning device according to claim 16, wherein: The cleaning element is connected to the cleaning disc; The driver drives the cleaning element to move within the cleaning disc.

28. The automatic cleaning device according to claim 26, wherein The driver drives the cleaning element to rotate at a variable speed in the cleaning disc.

29. The automatic cleaning device according to claim 16, wherein The automatic cleaning device includes a base station, and the base station includes a drainage pump. After the cleaning element cleans the cleaning disc, the drainage pump is used to extract the cleaning fluid containing debris in the cleaning disc.

30. The automatic cleaning device according to claim 29, wherein During the first drainage time period of the drainage pump, the drainage pump is configured to continue draining water during a second drainage time period when the liquid level of the cleaning fluid drops below the preset liquid level.

31. The automatic cleaning device according to claim 29, wherein The automatic cleaning device includes a base station and a self-moving cleaning device. After the drainage pump has been operating for a first drainage period, if the cleaning fluid is still at or above the preset liquid level, the base station or the self-moving cleaning device emits an audible alarm and a light alarm. or After the drainage pump has been operating for a first drainage period, if the cleaning fluid is still at or above the preset liquid level, an alarm message is sent to a terminal associated with the automatic cleaning device.

32. The automatic cleaning device according to claim 16, wherein The automatic cleaning device includes a base station and a self-moving cleaning device, the water inlet device and the cleaning disk are arranged on the base station, and the drive and the cleaning element are arranged on the self-moving cleaning device and / or the cleaning disk.

33. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program for implementing the self-cleaning method for a cleaning dish according to any one of claims 1 to 15.

34. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 15 is implemented.

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