Self-cleaning method and apparatus for cleaning device, and cleaning system

Abstract

The present application relates to the field of cleaning devices, and provides a self-cleaning method and apparatus for a cleaning device, and a cleaning system. The self-cleaning method and apparatus are applied to a cleaning system comprising a cleaning device and a cleaning base station; the cleaning device comprises a floor brush assembly and a squeegee assembly; and the squeegee assembly has a first position in contact with a surface to be cleaned and a second position maintained at a preset distance from said surface. The self-cleaning method comprises: when it is detected that the cleaning device is located at the cleaning base station and is in an initial cleaning mode, controlling the squeegee assembly to perform reciprocating motion between the first position and the second position; and when it is detected that the degree of contamination of the squeegee assembly is a target degree of contamination, controlling to switch to a target self-cleaning mode corresponding to the target degree of contamination so as to perform self-cleaning, wherein each degree of contamination corresponds to a respective self-cleaning mode. In this way, by controlling the squeegee assembly to perform reciprocating up-and-down scrubbing operations and applying different self-cleaning modes on the basis of different degrees of contamination, the removal of contaminants from the squeegee assembly is facilitated, and the self-cleaning effect is enhanced.

Description

Self-cleaning methods, devices and cleaning systems for cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202510088769.1, filed on January 20, 2025, entitled "Self-cleaning method, apparatus and cleaning system for cleaning equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment, and more particularly to a self-cleaning method, apparatus and cleaning system for cleaning equipment. Background Technology

[0003] Current cleaning equipment features a front-mounted squeegee assembly in front of the floor brush to address water stains during floor cleaning. However, during operation, this squeegee assembly also accumulates dirt, water stains, and other grime. If not cleaned promptly, this grime can impair its performance, leading to reduced cleaning effectiveness.

[0004] However, in the existing technology, during the self-cleaning process of the cleaning equipment at the cleaning base station, it is impossible to thoroughly clean the surface and corners of the front scraper assembly, resulting in the dirt on the scraper assembly not being effectively removed, which in turn affects the cleaning effect of the scraper assembly during the ground cleaning process. Summary of the Invention

[0005] This application provides a self-cleaning method, apparatus, and system for cleaning equipment. When the cleaning equipment performs self-cleaning at a cleaning base station, it controls the reciprocating motion of the scraper assembly, allowing the scraper assembly to come into more comprehensive contact with the cleaning fluid and ensuring that every area of ​​the scraper assembly is effectively cleaned. By detecting the degree of dirt on the scraper assembly in real time, it automatically selects and switches to an appropriate self-cleaning mode to specifically handle different degrees of dirt, ensuring a good self-cleaning effect at each level of dirt.

[0006] In a first aspect, this application provides a self-cleaning method for a cleaning device, applied to a cleaning system. The cleaning system includes a cleaning device and a cleaning base station. The cleaning device includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning device and is located on the front side of the cleaning component on the floor brush assembly. The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned. The method includes:

[0007] When the cleaning equipment is detected to be located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first position and the second position.

[0008] When the degree of dirt on the scraper assembly is detected to be the target level, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target level of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each level of dirt corresponds to its own self-cleaning mode.

[0009] Currently, the self-cleaning methods of cleaning equipment only cover the self-cleaning of the cleaning components. Due to the special structural design of the front-mounted scraper assembly on the cleaning equipment, and the fact that the scraper assembly is located at a preset distance from the surface to be cleaned when the cleaning equipment is not in operation (i.e., when the cleaning equipment is placed on the cleaning base station, the scraper assembly is a certain distance away from the cavity on the cleaning base station that houses the cleaning components, and there is also a gap between the scraper assembly and the cleaning components), it is difficult for the water level to reach the scraper assembly during the cleaning process, or the scraper assembly can only be cleaned by the water splashed off the cleaning components, making it difficult to clean the scraper assembly. More importantly, due to the bending structure and other cleaning dead corners inherent in the scraper assembly itself, the conventional self-cleaning process of the cleaning components cannot clean the cleaning dead corners of the scraper assembly, and stubborn stains are easily left in these dead corners, making them difficult to clean. Based on this, this application controls the scraper assembly to reciprocate between a first position and a second position during the self-cleaning process of the cleaning equipment. By reciprocating up and down, the water level and angle touched by the scraper assembly are different each time it descends. Combined with the surge of cleaning fluid in the cleaning chamber during the cleaning process, the cleaning fluid can repeatedly clean the cleaning dead corners of the scraper assembly. Furthermore, the cleaning operation of the scraper assembly by dynamically raising and lowering it can also dynamically change the cleaning intensity of the cleaning fluid on the cleaning dead corners, thereby further improving the cleaning ability and ensuring that all surfaces and corners of the scraper assembly can be effectively cleaned.

[0010] Furthermore, this application, by incorporating a dirt detection function during the cleaning process of the scraper assembly, can assess the degree of dirt on the scraper assembly in real time. This allows the scraper assembly to intelligently switch to the corresponding self-cleaning mode based on the detected level of dirt as it reciprocates between the first and second positions. This enables different cleaning modes to be applied to the scraper assembly for different levels of dirt, further enhancing the cleaning power of the cleaning liquid on the scraper assembly, especially on hard-to-reach areas, thus improving the cleaning effect on the scraper assembly, particularly on these hard-to-reach areas.

[0011] Therefore, the reciprocating motion of the scraper assembly combined with the intelligent self-cleaning mode effectively cleans the surface of the scraper assembly and areas that are difficult to clean, preventing dirt residue in these areas and ensuring the scraper assembly is in ideal condition. This improves the overall self-cleaning effect and efficiency of the cleaning equipment. Furthermore, the automated detection and self-cleaning process reduces the user's workload and improves the ease of use of the equipment, thereby enhancing user convenience and satisfaction. The precise selection of the self-cleaning mode also reduces the use of cleaning agents and water, lowering resource consumption and environmental impact. In addition, this also ensures the cleaning effect when cleaning floors.

[0012] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0013] If the dirt level of the scraper assembly is detected to be the first level, the cleaning equipment is controlled to switch from the initial cleaning mode to the soaking wash mode to clean the cleaning parts and scraper assembly based on the soaking wash mode.

[0014] In the soaking wash mode, the control scraper assembly reciprocates between a first position and a second position, and the cleaning component is located in the liquid in the cleaning chamber.

[0015] In this way, by switching to the soaking wash mode when the target dirt level is detected as the first level, the cleaning components and scraper assembly are immersed in the cleaning liquid, which can effectively soften and dissolve stubborn dirt. This helps to handle situations with higher levels of dirt. Therefore, through the continuous action of the liquid and the dynamic movement of the scraper assembly, stubborn dirt and hard-to-clean areas on the surface of the scraper assembly and cleaning components can be effectively removed, ensuring a thorough cleaning of the scraper assembly and cleaning components. This allows the scraper assembly and cleaning components of the cleaning equipment to maintain an ideal state after each self-cleaning task, reducing performance degradation caused by dirt accumulation and thus improving overall operating efficiency. Furthermore, the effective self-cleaning process can also reduce the waste of cleaning agents and water, saving resources.

[0016] Optionally, the cleaning equipment may also include a water pump assembly, and the method may also include:

[0017] When the water pump assembly is in the on state, at least when the height of the liquid in the cleaning chamber is detected to be greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber.

[0018] In this way, by controlling the position of the scraper assembly in the liquid at the appropriate height in the cleaning chamber, it can be ensured that the scraper assembly is immersed in the liquid at the appropriate level, thereby enhancing the effect of the cleaning liquid and improving cleaning efficiency. Furthermore, this application can also prevent overflow caused by excessive liquid by detecting the liquid level and automatically shutting off the water pump assembly, reducing potential damage to the internal components of the cleaning equipment. For example, it can prevent the water level from overflowing the air outlet of the hot air generator, thereby protecting the cleaning equipment. In addition, by precisely controlling the amount of liquid injected, waste of cleaning liquid can be reduced, thus saving resources.

[0019] Optionally, the scraper assembly also has a third position in contact with the cleaning element and a fourth position away from the cleaning element; at the third position, the scraper assembly is interference-fitted with the cleaning element; when it is detected that the cleaning device is located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first and second positions, including:

[0020] During the self-cleaning process in the initial self-cleaning mode of the cleaning equipment, if the scraper assembly is detected to have moved from the fourth position to the third position, the scraper assembly is controlled to reciprocate between the first and second positions.

[0021] In this way, through the interference fit at the third position, the scraper assembly can make closer contact with the cleaning component, enhancing the dirt removal effect. Combined with the reciprocating motion, it can ensure that the surface and corners of the scraper assembly can be thoroughly cleaned. Through effective and thorough cleaning, the wear of the scraper assembly and the cleaning component is reduced, thereby extending the service life of the cleaning equipment.

[0022] Optionally, the cleaning equipment also includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning equipment is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0023] If the dirt level of the scraper assembly is detected to be the second level, the cleaning equipment is controlled to switch from the initial cleaning mode to the spin-drying mode to remove the water from the cleaning components based on the spin-drying mode.

[0024] In the spin-dry mode, the water pump assembly is in the off state, and the scraper assembly is in the second position.

[0025] In this way, by skipping the cleaning step and directly entering the spin-drying mode when the target dirt level is detected as the second level, unnecessary water and power consumption is avoided. This method is particularly effective when dealing with light dirt, as a complete self-cleaning process may not be necessary. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, allowing the cleaning equipment to return to a usable state more quickly and improving overall work efficiency. Furthermore, the spin-drying mode effectively removes moisture from the cleaning parts, reducing drying time and improving overall cleaning efficiency. By turning off the water pump assembly, unnecessary water and energy consumption is reduced. By controlling the scraper assembly in the second position, sufficient space is provided for the scraper assembly to spin-dry, avoiding wear or damage caused by contact between the scraper assembly and the cleaning parts, thereby extending the service life of the cleaning equipment.

[0026] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning fluid in the cleaning chamber, or to provide hot cleaning fluid to the cleaning chamber; the self-cleaning mode includes at least a heated cleaning mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning equipment is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0027] If the dirt level of the scraper assembly is detected to be level three, the cleaning equipment is controlled to switch from the initial cleaning mode to the heated washing mode to perform thermal cleaning on the cleaning parts based on the heated washing mode.

[0028] In the heated washing mode, the thermal management component is in the on state, and the scraper component reciprocates between the first position and the second position.

[0029] Thus, by controlling the cleaning equipment to switch to heated washing mode when the target dirt level is detected to be level three, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for handling heavily soiled conditions. Therefore, this application increases the temperature of the cleaning liquid through heated washing mode, thereby enhancing its cleaning ability. It can effectively dissolve dirt on the surface of the cleaning parts and scraper assembly, shortening the overall cleaning time. Furthermore, by combining the dynamic movement of the scraper assembly, it can ensure the thorough cleaning of the cleaning parts and scraper assembly, enhancing the cleaning effect.

[0030] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air to the cleaning chamber; the method further includes:

[0031] When the target level of dirt meets the preset conditions, the cleaning equipment is controlled to switch from the target self-cleaning mode to the drying mode.

[0032] In drying mode, the hot air generator is on and the scraper assembly is in the second position.

[0033] Therefore, in drying mode, the scraper assembly is positioned in the second position. This drying avoidance method allows sufficient space for the drying of the cleaning parts, ensuring adequate space for hot air circulation around them. This space optimization accelerates moisture evaporation and improves drying efficiency. Furthermore, the cleaning parts and the scraper assembly are at a preset distance, and the scraper assembly does not obstruct the surface of the cleaning parts. Both can be dried separately, ensuring that hot air can evenly contact all areas of the cleaning parts, avoiding localized wetting and unnecessary friction and contact, thus reducing wear and potential damage.

[0034] Optionally, the cleaning device also includes a color sensor, a suction pipe, and a wastewater tank; the color sensor is located on the suction pipe connecting the floor brush assembly and the wastewater tank; before controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, the method further includes:

[0035] First sensing data of the target medium flowing through the suction pipe is obtained based on a color sensor;

[0036] The target color temperature of the target medium is obtained by analyzing and processing the data from the first sensor.

[0037] Based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper assembly;

[0038] The target level of dirt on the wiper assembly is determined based on the first sensor data.

[0039] Therefore, this application introduces a color sensor to identify dirt in the target medium flowing through the suction pipe. This sensor integrates light intensity and color information for multi-dimensional analysis, enabling the detection of subtle color changes and accurate detection of sensor data for the target medium. Furthermore, by analyzing the target color temperature of the target medium using the accurate sensor data, and considering the influence of temperature on the color of the target medium, analysis of dirt information using the target color temperature allows for a better understanding and classification of the color characteristics of the target medium. This leads to a more precise differentiation of the degree of dirt in the target medium, thereby more accurately assessing the degree of dirt on the scraper assembly. Moreover, based on the detected degree of dirt, the cleaning system can dynamically adjust the self-cleaning mode of the cleaning equipment to ensure the adoption of appropriate cleaning strategies. This flexibility helps improve the self-cleaning effect, ensuring good self-cleaning results under various conditions.

[0040] Optionally, the first sensing data includes at least first channel parameters and second channel parameters; the target medium is analyzed and processed based on the first sensing data to obtain the target color temperature of the target medium, including:

[0041] Call the color temperature calculation model;

[0042] The first and second channel parameters are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0043] In this way, by using the first and second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed, improving the accuracy of color temperature measurement. Compared with single-channel analysis, it can capture more subtle color changes. Furthermore, by using a specially designed color temperature calculation model for accurate color temperature measurement, sensor data can be effectively converted into color temperature information, helping to identify the properties and state of the medium. In addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, enabling the cleaning equipment to adapt to various self-cleaning scenarios. This helps to more accurately identify and distinguish different types of dirt, allowing the cleaning equipment to better select and adjust its self-cleaning mode to adapt to different dirt conditions.

[0044] Optionally, the first sensing data includes at least first channel parameters, second channel parameters, third channel parameters, and fourth channel parameters; based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper assembly, including:

[0045] If the target color temperature meets the preset color temperature conditions, the parameters of the first channel, the second channel, the third channel, and the fourth channel are compared with their respective specific thresholds to determine the type of contamination in the target medium.

[0046] The target level of dirt on the scraper assembly is determined based on the type of dirt.

[0047] In this way, when the target color temperature meets the preset color temperature conditions, the multi-dimensional analysis capability of the target medium provided by multiple channel parameters can capture more complex color and composition changes, provide a more comprehensive dirt assessment, ensure that there is no possibility of omission in the detection, and by comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified. In addition, through accurate analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0048] Optionally, the cleaning equipment also includes a lighting device installed on the suction pipe connecting the floor brush assembly and the wastewater tank, and the method further includes:

[0049] Before the cleaning equipment starts its initial cleaning mode, the lighting device is turned on, and second sensor data of the inner wall of the suction pipe is acquired.

[0050] The internal environment of the suction pipe is analyzed and processed based on the second sensor data to obtain the initial color temperature corresponding to the internal environment;

[0051] If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0052] In this way, by providing a stable light source and adjusting the lighting conditions through the lighting device, the impact of ambient light changes on color temperature measurement is reduced, improving the accuracy and reliability of the detection. By acquiring the initial color temperature and calibrating it, the accuracy of color temperature measurement can be ensured, which helps to more accurately identify and classify dirt. Furthermore, if the initial color temperature does not meet the preset color temperature conditions, calibration can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature. This ensures that the color sensor works under ideal conditions, thereby improving the reliability and consistency of the detection.

[0053] Optionally, the method also includes:

[0054] When the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to operate with the illumination parameters corresponding to the initial color temperature.

[0055] In this way, by directly using the corresponding illumination parameters when the initial color temperature meets the requirements, unnecessary illumination adjustments can be avoided, thereby saving energy and reducing wear on the lighting device. Furthermore, by using illumination parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light. This not only helps improve the stability and accuracy of color temperature measurement and analysis, but also ensures that the lighting device operates in a high-efficiency state, further reducing energy consumption.

[0056] Optionally, the lighting device includes a first LED and a second LED; if the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0057] If the initial color temperature does not meet the preset color temperature conditions, adjust the brightness of the first and second LED beads until the initial color temperature meets the preset color temperature conditions.

[0058] The first LED is used to emit light with a color temperature greater than a first threshold; the second LED is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0059] Therefore, by controlling the brightness of the two types of LEDs separately, the overall color temperature can be precisely adjusted. The first and second LEDs emit light above and below specific thresholds, respectively, providing a wide range of color temperature adjustment. By adjusting the brightness of the LEDs to meet the preset color temperature conditions, it can flexibly adapt to various ambient light conditions, ensuring that the ideal color temperature can be achieved under any circumstances, thus improving the accuracy and reliability of color temperature measurement.

[0060] Secondly, this application provides a self-cleaning method for a cleaning device, applied to a cleaning system. The cleaning system includes a cleaning device and a cleaning base station. The cleaning device includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning device and is located on the front side of a cleaning component on the floor brush assembly. The scraper assembly has a third position in contact with the cleaning component and a fourth position away from the cleaning component. The method includes:

[0061] When the cleaning equipment is detected to be located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the third and fourth positions.

[0062] When the degree of dirt on the scraper assembly is detected to be the target level, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target level of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each level of dirt corresponds to its own self-cleaning mode.

[0063] Currently, the self-cleaning methods of cleaning equipment only cover the self-cleaning of the cleaning components. Due to the special structural design of the front-mounted scraper assembly on the cleaning equipment, and the fact that the scraper assembly is located at a preset distance from the surface to be cleaned when the cleaning equipment is not in operation (i.e., when the cleaning equipment is placed on the cleaning base station, the scraper assembly is a certain distance away from the cavity on the cleaning base station that houses the cleaning components, and there is also a gap between the scraper assembly and the cleaning components), it is difficult for the water level to reach the scraper assembly during the cleaning process, or the scraper assembly can only be cleaned by the water splashed off the cleaning components, making it difficult to clean the scraper assembly. More importantly, due to the bending structure and other cleaning dead corners inherent in the scraper assembly itself, the conventional self-cleaning process of the cleaning components cannot clean the cleaning dead corners of the scraper assembly, and stubborn stains are easily left in these dead corners, making them difficult to clean. Based on this, this application controls the scraper assembly to reciprocate between the third and fourth positions during the self-cleaning process of the cleaning equipment. By horizontally swinging the scraper assembly, it is ensured that the scraper assembly can contact the cleaning parts and cleaning fluid at different positions and angles. This, combined with the surge of cleaning fluid in the cleaning chamber during the cleaning process, allows the cleaning fluid to repeatedly clean the cleaning dead corners of the scraper assembly. Furthermore, the dynamic horizontal swinging of the scraper assembly during cleaning operation also allows the cleaning force of the cleaning fluid to dynamically change in the cleaning dead corners, thereby further improving the cleaning ability and ensuring that all surfaces and corners of the scraper assembly can be effectively cleaned, thus ensuring comprehensive cleaning coverage.

[0064] Furthermore, this application, by incorporating a dirt detection function during the cleaning process of the scraper assembly, can assess the degree of dirt on the scraper assembly in real time. This allows the scraper assembly to intelligently switch to a corresponding self-cleaning mode based on the detected level of dirt as it reciprocates between the third and fourth positions. Each self-cleaning mode corresponds to a different cleaning strategy, implementing different cleaning methods for different levels of dirt on the scraper assembly. This further enhances the cleaning power of the cleaning liquid on the scraper assembly, especially on hard-to-reach areas, thereby improving the cleaning effect on the scraper assembly, particularly on these hard-to-reach areas.

[0065] Therefore, the reciprocating motion of the scraper assembly combined with the intelligent self-cleaning mode effectively cleans the surface of the scraper assembly and areas that are difficult to clean, preventing dirt residue in these areas and ensuring the scraper assembly is in ideal condition. This improves the overall self-cleaning effect and efficiency of the cleaning equipment. Furthermore, the automated detection and self-cleaning process reduces the user's workload and improves the ease of use of the equipment, thereby enhancing user convenience and satisfaction. The precise selection of the self-cleaning mode also reduces the use of cleaning agents and water, lowering resource consumption and environmental impact. In addition, this also ensures the cleaning effect when cleaning floors.

[0066] Optionally, controlling the reciprocating motion of the scraper assembly between the third and fourth positions includes:

[0067] When the scraper assembly is in the third position, the scraper assembly is controlled to remain in the third position for a preset time, and after the preset time has elapsed, the scraper assembly is controlled to move from the third position to the fourth position.

[0068] Therefore, after a preset time, the cleaning system controls the scraper assembly to move from the third position to the fourth position. By maintaining the scraper assembly at the third position for a preset time, sufficient cleaning pressure and time can be applied to the cleaning components to effectively remove stubborn dirt and residues, optimize the cleaning process, and improve overall cleaning efficiency. Furthermore, by reasonably controlling the dwell time of the scraper assembly at the third position, excessive pressure or friction can be avoided, reducing wear on the cleaning components and the scraper. After cleaning, the scraper assembly quickly moves to the fourth position, further reducing unnecessary contact, which helps extend the service life of the scraper assembly and the cleaning components, and reduces the maintenance and replacement costs of the equipment.

[0069] Thirdly, this application provides a self-cleaning device for a cleaning equipment, applied to a cleaning system. The cleaning system includes a cleaning equipment and a cleaning base station. The cleaning equipment includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly. The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned. The device includes:

[0070] The first control module is used to control the scraper assembly to reciprocate between a first position and a second position when it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode.

[0071] The second control module is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode.

[0072] Fourthly, this application provides a self-cleaning device for a cleaning equipment, applied to a cleaning system. The cleaning system includes a cleaning equipment and a cleaning base station. The cleaning equipment includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly. The scraper assembly has a third position in contact with the cleaning component and a fourth position away from the cleaning component. The device includes:

[0073] The third control module is used to control the scraper assembly to reciprocate between the third and fourth positions when it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode.

[0074] The fourth control module is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode.

[0075] Fifthly, this application provides a cleaning system, which includes a cleaning device and a cleaning base station; the cleaning device includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning device and is located in front of the cleaning component on the floor brush assembly; the scraper assembly has a first position in contact with the surface to be cleaned, a second position maintaining a preset distance from the surface to be cleaned, a third position in contact with the cleaning component, and a fourth position away from the cleaning component.

[0076] The cleaning system is used to perform the methods described in either the first or second aspect.

[0077] It should be noted that the third to fifth aspects of this application correspond to the technical solutions of the first and second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0078] In summary, this application provides a self-cleaning method, apparatus, and system for cleaning equipment, applied to a cleaning system. When the cleaning equipment is located at a cleaning base station and in the initial cleaning mode, the cleaning system initiates a self-cleaning process. In the initial cleaning mode, the scraper assembly is controlled to reciprocate between a first (or third) position and a second (or fourth) position. This movement helps remove dirt adhering to the scraper assembly. Furthermore, the cleaning system can detect the degree of dirt on the scraper assembly. When the detected degree of dirt reaches a preset target level, the cleaning system can switch to the corresponding self-cleaning mode. This design allows for targeted treatment of varying degrees of dirt. In the selected self-cleaning mode, the cleaning system can also control the scraper assembly to perform reciprocating brushing operations, ensuring more comprehensive contact between the scraper assembly and the cleaning fluid. This guarantees effective cleaning of every area within the scraper assembly. By controlling the scraper assembly to perform reciprocating brushing operations during the self-cleaning process, the cleaning equipment helps remove dirt from the scraper assembly, enhancing the self-cleaning effect. Furthermore, applying different self-cleaning modes to different levels of dirt ensures a good self-cleaning effect at every level of dirt. Attached Figure Description

[0079] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0080] Figure 1 is a partial structural schematic diagram of a cleaning system provided in an embodiment of this application;

[0081] Figure 2 is a schematic diagram of a cleaning system provided in an embodiment of this application;

[0082] Figure 3 is a schematic diagram of an application scenario provided by an embodiment of this application;

[0083] Figure 4 is a partial structural schematic diagram of a cleaning device provided in this embodiment;

[0084] Figure 5 is a flowchart illustrating a self-cleaning method for a cleaning device provided in an embodiment of this application;

[0085] Figure 6 is a flowchart illustrating another self-cleaning method for a cleaning device provided in an embodiment of this application;

[0086] Figure 7 is a structural schematic diagram of a self-cleaning device for a cleaning equipment provided in an embodiment of this application;

[0087] Figure 8 is a structural schematic diagram of a self-cleaning device for another cleaning equipment provided in an embodiment of this application.

[0088] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0089] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and purpose. For example, "first device" and "second device" are merely used to distinguish different devices and do not limit their order of execution. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0090] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0091] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0092] In the current technology, during the cleaning process of the cleaning equipment, the scraper assembly set at the front end of the floor brush assembly can be controlled to contact or separate from the surface to be cleaned. When the user pushes the cleaning equipment forward, the scraper assembly separates from the surface to be cleaned. When the user pulls the cleaning equipment backward, the front scraper assembly descends and contacts the surface to be cleaned, thereby scraping and cleaning the surface, which can effectively remove dirt from the surface to be cleaned.

[0093] However, current self-cleaning methods for cleaning equipment only address the self-cleaning of the cleaning components. Due to the unique structure of the front-mounted scraper assembly on the cleaning equipment, and the fact that the scraper assembly is positioned at a preset distance from the surface to be cleaned when the cleaning equipment is not in operation (i.e., when the cleaning equipment is placed on the cleaning base station, the scraper assembly is a certain distance away from the cavity on the cleaning base station that houses the cleaning components, and there is also a gap between the scraper assembly and the cleaning components), it is difficult for the water level to reach the scraper assembly during the cleaning process, or the scraper assembly is only cleaned by water splashed off the cleaning components, making it difficult to clean the scraper assembly effectively. More importantly, due to the inherent bending structure and other cleaning dead corners in the scraper assembly itself, conventional self-cleaning processes for cleaning components cannot clean these dead corners, and stubborn stains easily remain in these dead corners, making them difficult to clean thoroughly.

[0094] To address the aforementioned problems, this application provides a self-cleaning method for cleaning equipment, applied to a cleaning system. When the cleaning equipment is located at a cleaning base station and in initial cleaning mode, the cleaning system initiates a self-cleaning process. In initial cleaning mode, the scraper assembly is controlled to reciprocate between a first position (in contact with the surface to be cleaned) and a second position (maintaining a preset distance from the surface to be cleaned). This movement helps remove dirt adhering to the scraper assembly. Furthermore, the cleaning system can detect the degree of dirt on the scraper assembly. When the detected degree of dirt reaches a preset target level, the cleaning system can switch to the corresponding self-cleaning mode. This allows for targeted treatment of varying degrees of dirt. In the selected self-cleaning mode, the cleaning system can also control the scraper assembly to perform reciprocating lifting and brushing operations, ensuring more comprehensive contact between the scraper assembly and the cleaning fluid. This guarantees effective cleaning of every area within the scraper assembly. Because the cleaning equipment can control the scraper assembly to perform reciprocating lifting and brushing operations during the self-cleaning process, it helps remove dirt from the scraper assembly, enhancing the self-cleaning effect. Furthermore, applying different self-cleaning modes to different levels of dirt ensures a good self-cleaning effect at every level of dirt.

[0095] Optionally, the self-cleaning method of the cleaning equipment provided in this application is applied to a cleaning system. For example, Figure 1 is a partial structural schematic diagram of a cleaning system provided in an embodiment of this application. As shown in Figure 1, the cleaning system 300 includes a cleaning device 200 and a cleaning base station 100. The cleaning device 200 includes a floor brush assembly 201 and a scraper assembly 202. The scraper assembly 202 is installed at the front end of the cleaning device 200 and is located on the front side of the cleaning component on the floor brush assembly 201. The scraper assembly 202 has a first position that contacts the surface to be cleaned, a second position that maintains a preset distance from the surface to be cleaned, a third position that contacts the cleaning component, and a fourth position that is away from the cleaning component.

[0096] The cleaning system 300 is used to perform the self-cleaning method of the cleaning equipment provided in this application.

[0097] The first position is the position where the scraper assembly 202 contacts the surface to be cleaned. During the cleaning process of the cleaning equipment 200, when the scraper assembly 202 is in the first position, it can scrape off the dirt on the surface to be cleaned.

[0098] The second position is the position where the scraper assembly 202 maintains a preset distance from the surface to be cleaned. This preset distance can ensure that the scraper assembly 202 is separated from the surface to be cleaned when cleaning is not required, thereby preventing the scraper assembly 202 from contacting the surface to be cleaned. In this application embodiment, the size of the preset distance is not specifically limited, and it can be designed based on the application requirements of the cleaning equipment.

[0099] For example, as shown in Figure 4, when the scraper assembly 202 scrapes away dirt from the surface to be cleaned, stubborn dirt is easily formed on the scraper assembly 202, especially in cleaning dead corner areas, where the dirt is more difficult to clean. For example, area A of the scraper assembly 202 is the bending area of ​​the scraper assembly 202. During the cleaning process, dirt is easily accumulated here and is more difficult to clean, which forms a cleaning dead corner area of ​​the scraper assembly 202.

[0100] The third position is the position where the scraper assembly 202 contacts the cleaning component. At the third position, the scraper assembly 202 and the cleaning component are interference-fitted, which is used to remove dirt from the scraper assembly 202 based on the rotation of the cleaning component during the self-cleaning operation of the cleaning equipment.

[0101] The fourth position is the position of the scraper assembly 202 away from the cleaning component. Optionally, the fourth position can be the same as the first position, or the same as the second position, or the two can be different positions. This application embodiment does not specifically limit this.

[0102] It should be noted that during the self-cleaning process, controlling the scraper assembly 202 to reciprocate in the first and second positions, i.e., when the scraper assembly 202 is performing a lifting and brushing operation, can effectively clean the surface and corners of the scraper assembly 202 and improve the cleaning effect of the scraper assembly 202; controlling the scraper assembly 202 to reciprocate in the third and fourth positions, i.e., when the scraper assembly 202 swings in the horizontal direction to brush close to and away from the cleaning part, can also effectively clean the surface and corners of the scraper assembly 202 and improve the cleaning effect of the scraper assembly 202.

[0103] In this way, the cleaning system 300 can automatically adjust the position and movement mode of the scraper assembly 202 according to the degree of dirt on the scraper assembly 202, and perform appropriate self-cleaning operations, so that the scraper assembly 202 can switch between different positions to ensure that it effectively removes accumulated dirt during the self-cleaning process and improves the overall self-cleaning effect.

[0104] For example, Figure 2 is a schematic diagram of the structure of a cleaning system provided in an embodiment of this application. As shown in Figure 2, the cleaning system 300 includes a cleaning device 200 and a cleaning base station 100. In addition to having part of the structure of the cleaning device 200 shown in Figure 1, the cleaning system 300 also has part of the structure of the cleaning base station 100, which is used to carry the cleaning device 200.

[0105] Optionally, the cleaning base station 100 includes a cleaning chamber 101 and a thermal management component 102, which is used to heat the cleaning fluid in the cleaning chamber 101 or to provide hot cleaning fluid to the cleaning chamber 101.

[0106] Optionally, the thermal management component 102 may be a heating element and / or a hot air generator 103; the heating element is installed on the bottom wall of the cleaning chamber to heat the bottom liquid in the cleaning chamber; the hot air generator 103 is used to provide hot air to the cleaning chamber.

[0107] By setting a heating component, cold water can be heated into hot water when the cleaning device 200 is performing self-cleaning at the cleaning base station 100. This allows for hot cleaning of the cleaning components on the floor brush assembly 201. Alternatively, a hot air generator can be used to heat the cleaning liquid in the cleaning chamber 101 or directly heat the surface of the cleaning components on the floor brush assembly 201, thereby more effectively heating and dissolving stubborn stains to achieve hot cleaning. The cleaning component can be a roller brush assembly.

[0108] Optionally, the hot air generator 103 can also be used to dry the cleaned parts based on the provided hot air.

[0109] Optionally, the cleaning device 200 further includes: a water pump assembly 203, a color sensor 204, a suction pipe 205, a wastewater tank 206, and a lighting device 207; the color sensor 204 is disposed on the suction pipe 205 connecting the floor brush assembly 201 and the wastewater tank 206, the water pump assembly 203 is used to provide cleaning fluid and adjust the water spray volume based on a determined self-cleaning mode; wherein, the color sensor 204 can be installed at any position on the suction pipe 205, and the specific deployment position of the color sensor 204 is not limited in this embodiment.

[0110] It is understood that the deployment location of the color sensor 204 is not limited to being set on the suction pipe 205, but can also be set in the cleaning tank or roller brush chamber of the cleaning base station 100. This application embodiment does not specifically limit the deployment location of the color sensor 204, and its deployment location can support the cleaning device 200 to perform the self-cleaning method.

[0111] Optionally, a lighting device 207 is installed on the suction pipe 205 connecting the floor brush assembly 201 and the wastewater tank 206. The lighting device 207 is used to adjust the lighting conditions and color temperature within the suction pipe 205.

[0112] The lighting device 207 may include a first LED and a second LED, which are used to emit cool light and warm light, respectively. Specifically, the first LED emits light with a color temperature greater than a first threshold, and the second LED emits light with a color temperature less than a second threshold. The second threshold is less than the first threshold. The cleaning device 200 can then send pulse width modulation (PWM) signals with different duty cycles to the lighting device 207 to control the brightness of the first and second LEDs, thereby adjusting the lighting conditions and color temperature within the suction pipe 205.

[0113] Optionally, the cleaning device 200 also includes a power unit (not shown) for driving the cleaning components to perform cleaning actions and adjusting the operating power based on a determined self-cleaning mode.

[0114] Optionally, the cleaning device 200 and / or the cleaning base station 100 include a body display; the body display is used to display corresponding prompt signals based on the degree of dirtiness of the scraper assembly and cleaning components. For example, the prompt signal can be a color indicator signal, etc. The embodiments of this application do not specifically limit the form of the prompt signal, such as the prompt signal can also be a text display.

[0115] For example, each level of dirt corresponds to a specific color. This mapping relationship is preset. For example, light dirt may correspond to green, moderate dirt to yellow, and heavy dirt to red. This application embodiment does not specifically limit the mapping relationship or the color type corresponding to each level of dirt.

[0116] Optionally, the display can be a simple light-emitting diode (LED) indicator system or a more complex screen display, which can also indicate the degree of dirtiness by the number and color of dirt rings.

[0117] In this way, by displaying prompts on the machine's display screen, users can intuitively understand the current level of dirt on the scraper assembly and cleaning components. This allows users to monitor the changes in dirt during the self-cleaning process in real time, understand the self-cleaning effect of the cleaning equipment and the working status of the cleaning system, and decide whether to adjust the self-cleaning strategy based on the displayed prompts.

[0118] Optionally, the cleaning equipment also includes a scraper; the scraper moves relative to the scraper assembly, and when the scraper assembly comes into contact with the scraper, the scraper is used to scrape off dirt from the scraper assembly.

[0119] In this way, the relative movement of the scraper and the scraper assembly enables an automated dirt removal process, reducing manual intervention and improving cleaning efficiency.

[0120] For example, Figure 3 is a schematic diagram of an application scenario provided by an embodiment of this application. As shown in Figure 3, the application scenario can be applied to a home scenario. Taking the cleaning device 200 as a floor scrubber as an example, the application scenario includes a floor scrubber and a cleaning base station 100; the floor scrubber includes a floor brush assembly and a squeegee assembly.

[0121] When the floor scrubber returns to the cleaning base station 100 for self-cleaning after completing the cleaning task, if the floor scrubber is detected to be located at the cleaning base station 100 and in the initial cleaning mode, the squeegee assembly can be controlled to reciprocate between the first position and the second position. This can effectively remove dirt and residues attached to the squeegee assembly. This reciprocating motion helps to scrape dirt off the squeegee assembly and ensures the cleanliness of the squeegee assembly.

[0122] Furthermore, the degree of dirt on the scraper assembly is detected, and then the corresponding self-cleaning mode is selected and executed based on the detected degree of dirt. Different degrees of dirt correspond to different self-cleaning modes. In this way, by switching to the appropriate self-cleaning mode, different degrees of dirt can be dealt with in a targeted manner, thereby greatly improving the self-cleaning effect.

[0123] It should be noted that the cleaning equipment 200 can also be applied to shopping malls, schools, and offices. This application embodiment does not limit the specific application scenario; the above is only an example.

[0124] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0125] Figure 5 is a flowchart illustrating a self-cleaning method for a cleaning device according to an embodiment of this application. As shown in Figure 5, the self-cleaning method for the cleaning device is applied to a cleaning system; the self-cleaning method for the cleaning device includes the following steps:

[0126] S401. When it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first position and the second position.

[0127] In this embodiment of the application, the initial cleaning mode may refer to the mode that the cleaning equipment enters after completing the cleaning task, in preparation for self-cleaning operation.

[0128] Optionally, the initial cleaning mode can be a cleaning mode using hot cleaning fluid at around 70 degrees Celsius or a cleaning mode using room temperature cleaning fluid. In this initial cleaning mode, hot cleaning fluid at around 70 degrees Celsius or room temperature cleaning fluid can be used to perform hot cleaning or normal cleaning on the cleaning components and scraper assembly of the floor brush assembly. In this embodiment of the application, the temperature of the cleaning fluid corresponding to the cleaning components and scraper assembly is not specifically limited; the above is only an example.

[0129] It is understood that the initial cleaning mode may also include other modes, such as a cleaning mode with hot cleaning liquid at around 100 degrees Celsius, an immersion cleaning mode, etc. The embodiments of this application do not limit the specific mode corresponding to the initial cleaning mode, which can be set based on the actual application scenario or the performance of the cleaning equipment.

[0130] In this application, after confirming that the cleaning equipment is at the cleaning base station and in the initial cleaning mode, the cleaning system starts the control program of the scraper assembly, that is, controls the scraper assembly to start reciprocating between the first position and the second position. The reciprocating motion can be a high-frequency lifting and brushing operation, such as moving back and forth between the first position and the second position multiple times within a unit time.

[0131] It should be noted that the frequency of lifting and brushing operations is not specifically limited in the embodiments of this application, and can be set based on the needs of the application scenario.

[0132] In this way, through reciprocating motion, dirt and residue on the scraper assembly can be effectively removed, because the movement of the scraper assembly between different positions can disturb and loosen the attached dirt or grime.

[0133] S402. When the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning equipment is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each degree of dirt corresponds to its own self-cleaning mode.

[0134] In this step, when the dirt level of the scraper assembly is detected to reach a certain preset target dirt level, the cleaning system identifies the target self-cleaning mode that needs to be adopted, and then controls the cleaning equipment to switch to the corresponding target self-cleaning mode. Each dirt level corresponds to a specific self-cleaning mode to ensure that the cleaning system performs self-cleaning in a reasonable manner.

[0135] The self-cleaning mode may include different cleaning intensities, cleaning times, cleaning temperatures, cleaning agent usage amounts, or scraper movement patterns. This application embodiment does not limit the specific mode corresponding to the self-cleaning mode, which can be set based on the actual application scenario requirements.

[0136] Understandably, by selecting the appropriate self-cleaning mode for different levels of dirt, it is possible to ensure that the wiper assembly remains in an ideal clean state.

[0137] It should be noted that in this application, the cleaning system is equipped with a sensor or detection system to assess the degree of dirt on the wiper assembly, such as optical sensors, pressure sensors, color sensors or other types of detection technologies. Then, by analyzing the sensor data, the current degree of dirt on the wiper assembly is determined and compared with a preset degree of dirt standard to determine the target degree of dirt. The method for detecting the degree of dirt on the wiper assembly in this application embodiment is not specifically limited; the above is only an example.

[0138] This application controls the scraper assembly to reciprocate between a first and a second position during self-cleaning of the cleaning equipment. By reciprocating up and down, the water level and angle touched by the scraper assembly are different each time it descends. Combined with the surging of cleaning fluid in the cleaning chamber during the cleaning process, the cleaning fluid can repeatedly clean the cleaning dead corners of the scraper assembly. Furthermore, the cleaning operation of the scraper assembly by dynamically raising and lowering it can also dynamically change the cleaning intensity of the cleaning fluid on the cleaning dead corners, thereby further improving the cleaning ability and ensuring that all surfaces and corners of the scraper assembly can be effectively cleaned.

[0139] Furthermore, this application, by incorporating a dirt detection function during the cleaning process of the scraper assembly, can assess the degree of dirt on the scraper assembly in real time. This allows the scraper assembly to intelligently switch to the corresponding self-cleaning mode based on the detected level of dirt as it reciprocates between the first and second positions. This enables different cleaning modes to be applied to the scraper assembly for different levels of dirt, further enhancing the cleaning power of the cleaning liquid on the scraper assembly, especially on hard-to-reach areas, thus improving the cleaning effect on the scraper assembly, particularly on these hard-to-reach areas.

[0140] Therefore, the reciprocating motion of the scraper assembly combined with the intelligent self-cleaning mode effectively cleans the surface of the scraper assembly and areas that are difficult to clean, preventing dirt residue in these areas and ensuring the scraper assembly is in ideal condition. This improves the overall self-cleaning effect and efficiency of the cleaning equipment. Furthermore, the automated detection and self-cleaning process reduces the user's workload and improves the ease of use of the equipment, thereby enhancing user convenience and satisfaction. The precise selection of the self-cleaning mode also reduces the use of cleaning agents and water, lowering resource consumption and environmental impact. In addition, this also ensures the cleaning effect when cleaning floors.

[0141] Optionally, the self-cleaning mode includes at least a soaking wash mode; when the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0142] If the dirt level of the scraper assembly is detected to be the first level, the cleaning equipment is controlled to switch from the initial cleaning mode to the soaking wash mode to clean the cleaning parts and scraper assembly based on the soaking wash mode.

[0143] In the soaking wash mode, the control scraper assembly reciprocates between a first position and a second position, and the cleaning component is located in the liquid in the cleaning chamber.

[0144] In this embodiment, the first level of dirt corresponds to medium dirt, which means that the degree of dirt is relatively high and deep cleaning is required. At this time, the cleaning equipment can be controlled to switch from the initial cleaning mode to the soaking washing mode.

[0145] For example, when the degree of dirtiness of the scraper assembly is detected to be at the first level, the cleaning system can switch from the initial cleaning mode to the soaking wash mode. In the soaking wash mode, the cleaning device places the cleaning component and the scraper assembly in the liquid in the cleaning chamber, and then controls the scraper assembly to reciprocate between the first position and the second position to ensure that the surface of the scraper assembly can fully contact the cleaning liquid and enhance the cleaning effect.

[0146] During the soaking process, the cleaning liquid can penetrate and soften stubborn dirt, making it easier to be removed by the movement of the scraper assembly. The cleaning component can rotate alternately in the liquid in the cleaning chamber, ensuring that all parts of the cleaning component can be thoroughly cleaned, thereby enhancing the self-cleaning effect.

[0147] It should be noted that the soaking washing mode may include a hot cleaning liquid cleaning mode of about 70 degrees Celsius and a cleaning mode of soaking the cleaning parts and / or scraper assembly. The specific mode corresponding to the soaking washing mode is not specifically limited in the embodiments of this application. Optionally, after the cleaning equipment has finished cleaning the cleaning parts and / or scraper assembly based on the soaking washing mode, it can be directly switched to the spin-drying mode to spin out the water in the cleaning parts, thereby improving the cleaning efficiency.

[0148] Understandably, the soaking wash mode effectively removes stubborn dirt from the surface of the squeegee assembly and cleaning components by soaking them for an extended period of time and allowing them to rotate alternately.

[0149] In this way, by switching to the soaking wash mode when the target dirt level is detected as the first level, the cleaning components and scraper assembly are immersed in the cleaning liquid, which can effectively soften and dissolve stubborn dirt. This helps to handle situations with higher levels of dirt. Therefore, through the continuous action of the liquid and the dynamic movement of the scraper assembly, stubborn dirt and hard-to-clean areas on the surface of the scraper assembly and cleaning components can be effectively removed, ensuring a thorough cleaning of the scraper assembly and cleaning components. This allows the scraper assembly and cleaning components of the cleaning equipment to maintain an ideal state after each self-cleaning task, reducing performance degradation caused by dirt accumulation and thus improving overall operating efficiency. Furthermore, the effective self-cleaning process can also reduce the waste of cleaning agents and water, saving resources.

[0150] Optionally, the method also includes:

[0151] When the water pump assembly is in the on state, at least when the height of the liquid in the cleaning chamber is detected to be greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber.

[0152] In this embodiment, the preset position can be a pre-set position threshold to prevent liquid from overflowing from the cleaning chamber. This embodiment does not specifically limit the height of the preset position, which can be set based on the product performance of the cleaning system. The setting of this preset position can ensure that the scraper assembly can be effectively soaked and cleaned.

[0153] It is understood that in this application, the cleaning system may also be equipped with a liquid level sensor or other detection device to detect the height of the liquid in the cleaning chamber. When the liquid height is detected to reach or exceed the height corresponding to the preset position, the cleaning system controls the water pump assembly to shut down. This is because when the liquid height in the cleaning chamber exceeds the height corresponding to the preset position, continuing to run the water pump assembly may cause the liquid to overflow. In this case, the liquid can be prevented from overflowing to the outside by shutting down the water pump in time.

[0154] It should be noted that the embodiments of this application do not specifically limit the method and manner of detecting the height of liquid in the cleaning chamber. For example, it can also be determined by the water injection time and the amount of water injected per unit time.

[0155] For example, during the self-cleaning process, the water pump assembly is turned on to inject cleaning liquid into the cleaning chamber, ensuring that there is enough liquid in the cleaning chamber for soaking and cleaning operations. Furthermore, after detecting that the liquid level is greater than the height corresponding to the preset position, the cleaning system automatically controls the water pump assembly to switch to the off state to prevent excessive liquid injection and avoid overflow or waste of water resources. The scraper assembly is controlled to be located in the liquid in the cleaning chamber to ensure that the surface of the scraper assembly can fully contact the cleaning liquid, thereby performing effective cleaning.

[0156] When the scraper assembly is controlled to be in the liquid in the cleaning chamber, it can be in a first position or in other positions. This application embodiment does not limit this, as long as it can be in the liquid in the cleaning chamber.

[0157] In this way, by controlling the position of the scraper assembly in the liquid at the appropriate height in the cleaning chamber, it can be ensured that the scraper assembly is immersed in the liquid at the appropriate level, thereby enhancing the effect of the cleaning liquid and improving cleaning efficiency. Furthermore, this application can also prevent overflow caused by excessive liquid by detecting the liquid level and automatically shutting off the water pump assembly, reducing potential damage to the internal components of the cleaning equipment. For example, it can prevent the water level from overflowing the air outlet of the hot air generator, thereby protecting the cleaning equipment. In addition, by precisely controlling the amount of liquid injected, waste of cleaning liquid can be reduced, thus saving resources.

[0158] Optionally, the scraper assembly also has a third position in contact with the cleaning element and a fourth position away from the cleaning element; at the third position, the scraper assembly is interference-fitted with the cleaning element; when it is detected that the cleaning device is located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first and second positions, including:

[0159] During the self-cleaning process in the initial self-cleaning mode of the cleaning equipment, if the scraper assembly is detected to have moved from the fourth position to the third position, the scraper assembly is controlled to reciprocate between the first and second positions.

[0160] In this embodiment of the application, during the self-cleaning process of the cleaning equipment at the cleaning base station, the scraper assembly can reciprocate at the first and second positions, or at the third and fourth positions. Both reciprocating movements can effectively clean the surface and corners of the scraper assembly, improving the cleaning effect on the scraper assembly. The combination of the two movements can ensure that the scraper assembly is thoroughly cleaned.

[0161] Understandably, this multi-position movement design provides a flexible cleaning strategy, allowing the cleaning equipment to adapt to different cleaning needs and conditions. Consequently, the cleaning system can automatically adjust the position of the scraper assembly according to the actual situation to optimize the cleaning process.

[0162] For example, when the cleaning device returns to the cleaning base station and enters the initial self-cleaning mode, the cleaning system can detect changes in the position of the scraper assembly. When it detects that the scraper assembly has moved from the fourth position to the third position, it controls the scraper assembly to reciprocate between the first and second positions to remove dirt from the surface of the scraper assembly.

[0163] The interference fit at the third position ensures close contact between the scraper assembly and the cleaning component, thereby enhancing the cleaning effect.

[0164] In this way, through the interference fit at the third position, the scraper assembly can make closer contact with the cleaning component, enhancing the dirt removal effect. Combined with the reciprocating motion, it can ensure that the surface and corners of the scraper assembly can be thoroughly cleaned. Through effective and thorough cleaning, the wear of the scraper assembly and the cleaning component is reduced, thereby extending the service life of the cleaning equipment.

[0165] Optionally, the self-cleaning mode includes at least a spin-drying mode; when the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0166] If the dirt level of the scraper assembly is detected to be the second level, the cleaning equipment is controlled to switch from the initial cleaning mode to the spin-drying mode to remove the water from the cleaning components based on the spin-drying mode.

[0167] In the spin-dry mode, the water pump assembly is in the off state, and the scraper assembly is in the second position.

[0168] In this embodiment, the second level of dirt corresponds to low dirt, which means that the degree of dirt is relatively light. At this time, the process can be skipped directly to the spin-drying process, that is, the cleaning equipment is controlled to switch from the initial cleaning mode to the spin-drying mode.

[0169] For example, during the self-cleaning process, when the cleaning system detects that the degree of dirt on the scraper assembly is at the second level of dirt, the cleaning device switches from the initial cleaning mode to the spin-drying mode. In the spin-drying mode, the cleaning device spins out the water from the cleaning parts through high-speed rotation or other mechanical actions. At this time, the water pump assembly is in the off state to prevent additional water from entering the cleaning chamber during the spin-drying process. The scraper assembly is controlled to be in the second position to ensure that the scraper assembly does not come into unnecessary contact with the cleaning parts or other components during the spin-drying process, thus avoiding wear or damage.

[0170] In this way, by skipping the cleaning step and directly entering the spin-drying mode when the target dirt level is detected as the second level, unnecessary water and power consumption is avoided. This method is particularly effective when dealing with light dirt, as a complete self-cleaning process may not be necessary. By omitting unnecessary cleaning steps, the total self-cleaning time is shortened, allowing the cleaning equipment to return to a usable state more quickly and improving overall work efficiency. Furthermore, the spin-drying mode effectively removes moisture from the cleaning parts, reducing drying time and improving overall cleaning efficiency. By turning off the water pump assembly, unnecessary water and energy consumption is reduced. By controlling the scraper assembly in the second position, sufficient space is provided for the scraper assembly to spin-dry, avoiding wear or damage caused by contact between the scraper assembly and the cleaning parts, thereby extending the service life of the cleaning equipment.

[0171] Optionally, the self-cleaning mode includes at least a heated washing mode; when the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0172] If the dirt level of the scraper assembly is detected to be level three, the cleaning equipment is controlled to switch from the initial cleaning mode to the heated washing mode to perform thermal cleaning on the cleaning parts based on the heated washing mode.

[0173] In the heated washing mode, the thermal management component is in the on state, and the scraper component reciprocates between the first position and the second position.

[0174] In this embodiment, the third level of dirt corresponds to high dirt. At this time, the cleaning equipment is controlled to switch from the initial cleaning mode to the heated cleaning mode to perform hot cleaning with hot water and / or hot air to remove stubborn dirt on the cleaning parts and scraper assembly.

[0175] For example, during the self-cleaning process, when the cleaning system detects that the dirt level of the scraper assembly is level three, the cleaning device switches from the initial cleaning mode to the heated cleaning mode. In the heated cleaning mode, the thermal management component is activated to heat the cleaning liquid or cleaning parts and the scraper assembly. In the heated cleaning mode, the scraper assembly reciprocates between a first position and a second position to ensure that the surface of the scraper assembly can fully contact the heated cleaning liquid, thereby enhancing the cleaning effect.

[0176] The heat provided by the thermal management components allows the cleaning liquid to effectively dissolve grease, dirt, and other stubborn substances, thereby enhancing its dissolving and cleaning capabilities.

[0177] It should be noted that this heated washing mode refers to a cleaning mode using a hot cleaning liquid at around 100 degrees Celsius. The thermal management component includes a heating element and / or a hot air generator. The heating element heats the liquid in the cleaning chamber, increasing the temperature of the cleaning liquid to enhance the cleaning effect. The hot air generator can provide hot air and can also heat the liquid in the cleaning chamber and the cleaning components, thereby enhancing the cleaning effect. This hot air generator does not require additional configuration and can be shared with the heater used for drying.

[0178] In some embodiments, the heated washing mode may include a washing mode using hot cleaning liquid at around 100 degrees Celsius and an immersion washing mode. In this way, by combining immersion and high-temperature washing, the ideal cleaning effect can be achieved in a shorter time, thereby improving the overall cleaning efficiency.

[0179] In other embodiments, the heated washing mode may include a washing mode with hot cleaning liquid at around 70 degrees Celsius, a washing mode with hot cleaning liquid at around 100 degrees Celsius, and an immersion washing mode. In this way, by combining washing and immersion modes at different temperatures, the washing cycle can be optimized to ensure that the ideal cleaning effect is achieved in the shortest possible time.

[0180] It should be noted that the embodiments of this application do not specifically limit the specific mode corresponding to the heating washing mode. Optionally, after the cleaning equipment has finished cleaning the cleaning parts and scraper assembly based on the heating washing mode, it can directly switch to the spin-drying mode to spin out the water in the cleaning parts, thereby improving the self-cleaning efficiency.

[0181] Thus, by controlling the cleaning equipment to switch to heated washing mode when the target dirt level is detected to be level three, stubborn dirt can be effectively dissolved and removed. This high-temperature cleaning is particularly suitable for handling heavily soiled conditions. Therefore, this application increases the temperature of the cleaning liquid through heated washing mode, thereby enhancing its cleaning ability. It can effectively dissolve dirt on the surface of the cleaning parts and scraper assembly, shortening the overall cleaning time. Furthermore, by combining the dynamic movement of the scraper assembly, it can ensure the thorough cleaning of the cleaning parts and scraper assembly, enhancing the cleaning effect.

[0182] Optionally, the method also includes:

[0183] When the target level of dirt meets the preset conditions, the cleaning equipment is controlled to switch from the target self-cleaning mode to the drying mode.

[0184] In drying mode, the hot air generator is on and the scraper assembly is in the second position.

[0185] In this embodiment, meeting the preset conditions can be that the dirt level corresponding to the target dirt level is less than a preset threshold, or that the target color temperature for determining the target dirt level meets the preset color temperature condition. Alternatively, it can be that the target color temperature for determining the target dirt level is within a preset range. This embodiment does not specifically limit the content of the preset conditions. Meeting the preset conditions indicates that the scraper assembly and cleaning component have achieved the expected cleaning effect and can be prepared to enter the drying stage. For example, when the dirt level corresponding to the target dirt level is less than the preset threshold, it indicates that the preset conditions are met. This embodiment does not specifically limit the size of the preset threshold and the preset range, which can be set based on the actual application scenario requirements.

[0186] For example, the cleaning system can continuously detect the degree of dirt on the scraper assembly and cleaning parts. After confirming that the dirt level corresponding to the target dirt level is lower than a preset threshold, the cleaning system automatically controls the cleaning equipment to switch from the current target self-cleaning mode to the drying mode. In the drying mode, the hot air generator is turned on to generate hot air for drying the cleaning parts and scraper assembly. In the drying mode, the scraper assembly is controlled to be in a second position to ensure that the hot air can fully contact all surfaces of the scraper assembly, avoiding incomplete drying, wear or damage caused by obstruction or clogging.

[0187] The hot air from the hot air generator can quickly dry the scraper assembly and cleaning parts, shortening the drying time and improving self-cleaning efficiency. It can also prevent mold growth and odor, keeping the cleaning equipment hygienic and clean.

[0188] Therefore, in drying mode, the scraper assembly is positioned in the second position. This drying avoidance method allows sufficient space for the drying of the cleaning parts, ensuring adequate space for hot air circulation around them. This space optimization accelerates moisture evaporation and improves drying efficiency. Furthermore, the cleaning parts and the scraper assembly are at a preset distance, and the scraper assembly does not obstruct the surface of the cleaning parts. Both can be dried separately, ensuring that hot air can evenly contact all areas of the cleaning parts, avoiding localized wetting and unnecessary friction and contact, thus reducing wear and potential damage.

[0189] It should be noted that, due to the poor lighting conditions inside the suction pipe, the color sensor has difficulty receiving light reflected from the surface of dirty objects. Therefore, it is necessary to turn on the lighting device to create good detection conditions.

[0190] It should be noted that the intensity and color of ambient light can also affect the accuracy of the data collected by the color sensor. Therefore, due to changes in ambient light, such as day or night, sunny or cloudy days, using the same light intensity may cause errors in the color sensor's recognition, which in turn affects the accuracy of the degree of dirtiness recognition.

[0191] In response to the above situation, this application introduces a lighting device that can automatically turn on when insufficient ambient light is detected inside the suction pipe.

[0192] Optionally, before controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, the method further includes:

[0193] First sensing data of the target medium flowing through the suction pipe is obtained based on a color sensor;

[0194] The target color temperature of the target medium is obtained by analyzing and processing the data from the first sensor.

[0195] Based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper assembly;

[0196] The target level of dirt on the wiper assembly is determined based on the first sensor data.

[0197] In this embodiment, the first sensing data provides information about the color of the medium, which can reflect the degree of contamination of the medium. Optionally, the first sensing data may include data from five channels: R, G, B, C (transparency), and IR (infrared). This embodiment does not specifically limit the data type and quantity of the first sensing data.

[0198] For example, when the cleaning equipment is performing self-cleaning at the cleaning base station, since the color sensor is installed on the suction pipe, the color change of the target medium flowing through the suction pipe can be monitored in real time. The target medium may include solid and / or liquid media. The embodiments of this application do not specifically limit the state of the target medium, for example, it may be sewage or cleaning liquid.

[0199] Then, based on the acquired first sensing data, the target medium can be analyzed to determine its target color temperature. This target color temperature is a quantitative representation of color characteristics, which can help assess the color changes of the target medium or identify the pollution characteristics of the target medium.

[0200] Furthermore, based on the target color temperature of the target medium, the dirt information of the target medium is further analyzed to determine the target dirt level of the wiper assembly; wherein, the target dirt level reflects the dirt level of the wiper assembly; the dirt level may include different levels such as low dirt, medium dirt and high dirt, and the embodiments of this application do not specifically limit the dirt level classification corresponding to the target dirt level, such as it can also be divided into level 1, level 2, level 3, etc.

[0201] For example, the color sensor acquires the first sensing data of the target medium and calculates its correlated color temperature (CCT), which is the target color temperature. The CCT value is usually expressed in Kelvin (K).

[0202] Optionally, different CCT ranges can be divided into three levels of dirtiness. This division is based on the analysis of the color characteristics of different types of dirt and their corresponding CCT values. For example, if the target color temperature is greater than or equal to the fourth threshold and less than or equal to the fifth threshold, the dirtiness of the target medium is determined to be the second level of dirtiness, i.e., low dirtiness. The fourth threshold can be 3600K and the fifth threshold can be 4500K. CCT values ​​in this range usually correspond to no dirtiness or a light degree of dirtiness, such as clean water.

[0203] If the target color temperature is greater than the fifth threshold, or greater than the sixth threshold but less than the fourth threshold, the degree of contamination of the target medium is determined to be the first level of contamination, i.e., medium contamination. The sixth threshold can be 2800K, which represents a medium level of contamination and may include some lightly contaminated dirt.

[0204] If the target color temperature is less than or equal to the sixth threshold and greater than the seventh threshold, the contamination level of the target medium is determined to be the third level of contamination, i.e., high contamination. The seventh threshold can be 2500K. CCT values ​​in this range correspond to more severe contamination, which may be some more difficult-to-treat contaminants.

[0205] When the target color temperature is less than or equal to the seventh threshold, the level of contamination of the target medium is determined to be ultra-high contamination. This range represents an extremely high degree of contamination and usually requires special self-cleaning strategies.

[0206] It should be noted that the specific values ​​corresponding to the fourth, fifth, sixth and seventh thresholds in this application embodiment are not limited. They can be set based on actual application scenario requirements or user requirements. The above values ​​are only illustrative examples.

[0207] Therefore, this application introduces a color sensor to identify dirt in the target medium flowing through the suction pipe. This sensor integrates light intensity and color information for multi-dimensional analysis, enabling the detection of subtle color changes and accurate detection of sensor data for the target medium. Furthermore, by analyzing the target color temperature of the target medium using the accurate sensor data, and considering the influence of temperature on the color of the target medium, analysis of dirt information using the target color temperature allows for a better understanding and classification of the color characteristics of the target medium. This leads to a more precise differentiation of the degree of dirt in the target medium, thereby more accurately assessing the degree of dirt on the scraper assembly. Moreover, based on the detected degree of dirt, the cleaning system can dynamically adjust the self-cleaning mode of the cleaning equipment to ensure the adoption of appropriate cleaning strategies. This flexibility helps improve the self-cleaning effect, ensuring good self-cleaning results under various conditions.

[0208] Optionally, the first sensing data includes at least first channel parameters and second channel parameters; the target medium is analyzed and processed based on the first sensing data to obtain the target color temperature of the target medium, including:

[0209] Call the color temperature calculation model;

[0210] The first and second channel parameters are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0211] In this embodiment of the application, the first channel parameter and the second channel parameter correspond to different color channels and are used to describe the color characteristics of the target medium. Optionally, the first channel parameter is R (red) channel data and the second channel parameter is B (blue) channel data.

[0212] A color temperature calculation model is a mathematical or algorithmic model used to convert color channel parameters into CCT values. Optionally, the color temperature calculation model calculates the R / B ratio of the first channel parameter and the second channel parameter, and then calculates the CCT value based on the R / B ratio and other correction factors and / or constants. For example, the CCT value is calculated based on the first constant, the second constant, the third constant, multiple correction factors and the R / B ratio. The first constant and the second constant are determined by the fifth channel parameter, and the third constant is usually taken as 1. Optionally, the fifth channel parameter is IR (infrared) channel data.

[0213] For example, the first difference between the first constant and the second constant, the first ratio of the R / B ratio to the first correction factor are calculated, and the CCT value is calculated based on the first difference, the first ratio, the second constant, the third constant, the first correction factor, the second correction factor, and the third correction factor. The calculation formula is as follows:

[0214] in, R represents the first channel parameter, B represents the second channel parameter, TcoE represents the first correction factor, TcoE = a; IRa1 represents the fifth channel parameter detected at the first position or the first time, and in this application, IRa1 represents the first constant, IRa1 = b; IRa2 represents the fifth channel parameter detected at the second position or the second time, and in this application, IRa2 represents the second constant, IRa2 = c; xT represents the second correction factor, xT = d; pT represents the third correction factor, pT = e. In this embodiment, the specific values ​​corresponding to a, b, c, d, and e are not limited, and they can be set based on the actual application scenario requirements.

[0215] It should be noted that the embodiments of this application do not specifically limit the values ​​of the first constant, the second constant, the third constant, the first correction factor, the second correction factor, the third correction factor, the first channel parameter, and the second channel parameter. They can be set based on the actual application scenario requirements. The above is only an example illustration.

[0216] In this step, the first channel parameters and the second channel parameters are input into the color temperature calculation model. The color temperature calculation model analyzes and calculates these parameters and outputs the target color temperature, namely the CCT value mentioned above. Then, by comparing the CCT value with a predefined range, the cleaning equipment can identify the degree of dirtiness of the target medium. This identification process is automated and can be performed in real time.

[0217] Optionally, continuous first sensing data can be acquired from the color sensor, and then the acquired continuous first sensing data can be divided into several groups in sequence, each group containing five data points. Further, for each group of data, the average value of the R channel data and the B channel data can be calculated respectively. For each group of data after mean filtering, the ratio of the R channel data to the B channel data can be calculated, and then the ratio can be input into the color temperature calculation model to calculate the target color temperature.

[0218] In this way, by using the first and second channel parameters obtained by the color sensor to calculate the color temperature of the target medium, the color characteristics of the target medium can be accurately analyzed, improving the accuracy of color temperature measurement. Compared with single-channel analysis, it can capture more subtle color changes. Furthermore, by using a specially designed color temperature calculation model for accurate color temperature measurement, sensor data can be effectively converted into color temperature information, helping to identify the properties and state of the medium. In addition, the color temperature calculation model can be adjusted according to different application scenarios and needs, enabling the cleaning equipment to adapt to various self-cleaning scenarios. This helps to more accurately identify and distinguish different types of dirt, allowing the cleaning equipment to better select and adjust its self-cleaning mode to adapt to different dirt conditions.

[0219] It should be noted that for some special types of dirt, such as dirt with CCT values ​​usually within the normal range, it is difficult to effectively identify and process them using color temperature detection methods. In such cases, specific analysis and processing can be performed on these special types of dirt. Optionally, the first sensing data includes at least first channel parameters, second channel parameters, third channel parameters, and fourth channel parameters; based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper blade assembly, including:

[0220] If the target color temperature meets the preset color temperature conditions, the parameters of the first channel, the second channel, the third channel, and the fourth channel are compared with their respective specific thresholds to determine the type of contamination in the target medium.

[0221] The target level of dirt on the scraper assembly is determined based on the type of dirt.

[0222] For example, R channel data, G channel data, B channel data, and C channel data can be acquired and compared with their respective specific thresholds to determine the type of contamination in the target medium. For instance, if the R channel data, G channel data, B channel data, and C channel data are all less than their respective specific thresholds, it indicates that a special type of contamination has been detected.

[0223] The specific threshold for each channel can be set based on empirical data or experimental results to identify different types of dirt. In this embodiment, the specific threshold for each channel is not specifically limited.

[0224] Optionally, after identifying the type of dirt in the target medium, the target dirt level of the scraper assembly can be further determined based on preset rules or models. This application embodiment does not specifically limit this process.

[0225] In this way, when the target color temperature meets the preset color temperature conditions, the multi-dimensional analysis capability of the target medium provided by multiple channel parameters can capture more complex color and composition changes, provide a more comprehensive dirt assessment, ensure that there is no possibility of omission in the detection, and by comparing each channel parameter with its corresponding specific threshold, the type of dirt can be accurately identified. In addition, through accurate analysis of multiple channels and multiple thresholds, the possibility of false detection can be reduced.

[0226] Optionally, the cleaning equipment also includes a lighting device installed on the suction pipe connecting the floor brush assembly and the wastewater tank, and the method further includes:

[0227] Before the cleaning equipment starts its initial cleaning mode, the lighting device is turned on, and second sensor data of the inner wall of the suction pipe is acquired.

[0228] The internal environment of the suction pipe is analyzed and processed based on the second sensor data to obtain the initial color temperature corresponding to the internal environment;

[0229] If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0230] In this embodiment of the application, the lighting device is usually an LED light or other type of light source installed in the pipe. This embodiment of the application does not specifically limit the type of light source corresponding to the lighting device. The lighting device can provide uniform and sufficient light to improve the light conditions in the suction pipe.

[0231] For example, when the cleaning equipment is located at the cleaning base station but has not yet entered the initial cleaning mode, the lighting device installed on the suction pipe can be automatically turned on. The function of the lighting device is to provide a stable and consistent light source for the color sensor so as to accurately collect environmental data inside the pipe. Then, under the illumination of the lighting device, the color difference sensor can collect second sensing data of the inner wall of the suction pipe. The second sensing data can be the same as or different from the first sensing data. This application embodiment does not specifically limit this. For example, the second sensing data may include color channel data, light intensity, etc., for analyzing the environmental conditions inside the suction pipe.

[0232] Furthermore, based on the collected second sensor data, the internal environment of the suction pipe is analyzed, and the corresponding initial color temperature is calculated. This initial color temperature reflects the color characteristics of the inside of the suction pipe under the current lighting conditions. The method for calculating the initial color temperature can refer to the method for calculating the CCT value in the above embodiment, and will not be repeated here.

[0233] Furthermore, the calculated initial color temperature is compared with a preset color temperature condition, which is a standard used to ensure that the color sensor works under ideal lighting conditions. This preset color temperature condition corresponds to the CCT value being within the normal range, that is, greater than or equal to the fourth threshold and less than or equal to the fifth threshold.

[0234] If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device will be calibrated. This calibration process may include adjusting the brightness, color temperature, or direction of the light source to ensure that the color sensor collects data under ideal conditions. The embodiments of this application do not specifically limit the calibration process.

[0235] In this way, by providing a stable light source and adjusting the lighting conditions through the lighting device, the impact of ambient light changes on color temperature measurement is reduced, improving the accuracy and reliability of the detection. By acquiring the initial color temperature and calibrating it, the accuracy of color temperature measurement can be ensured, which helps to more accurately identify and classify dirt. Furthermore, if the initial color temperature does not meet the preset color temperature conditions, calibration can be performed based on the lighting parameters of the lighting device to adjust the initial color temperature. This ensures that the color sensor works under ideal conditions, thereby improving the reliability and consistency of the detection.

[0236] Optionally, the method also includes:

[0237] When the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to operate with the illumination parameters corresponding to the initial color temperature.

[0238] It should be noted that the preset color temperature condition is one or more color temperature ranges used to determine whether the lighting needs to be adjusted in the current environment. For example, the range of CCT values ​​corresponding to the preset color temperature condition is 3600-4500K.

[0239] For example, the detected initial color temperature is compared with the preset color temperature conditions. If the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to work with the illumination parameters corresponding to the initial color temperature. This means that the brightness, color temperature and other illumination characteristics of the lighting device have been adjusted to a state that allows for self-cleaning.

[0240] In this way, by directly using the corresponding illumination parameters when the initial color temperature meets the requirements, unnecessary illumination adjustments can be avoided, thereby saving energy and reducing wear on the lighting device. Furthermore, by using illumination parameters that match the initial color temperature, the color sensor can more accurately capture and analyze reflected light. This not only helps improve the stability and accuracy of color temperature measurement and analysis, but also ensures that the lighting device operates in a high-efficiency state, further reducing energy consumption.

[0241] Optionally, the lighting device includes a first LED and a second LED; if the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0242] If the initial color temperature does not meet the preset color temperature conditions, adjust the brightness of the first and second LED beads until the initial color temperature meets the preset color temperature conditions.

[0243] The first LED is used to emit light with a color temperature greater than a first threshold; the second LED is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0244] It should be noted that the first threshold and the second threshold are numerical ranges set to distinguish between cold and warm lamps. The color temperature of cold lamps is usually between 5000K and 6500K, while the color temperature of warm lamps is usually between 2700K and 3000K. Therefore, the first threshold and the second threshold can be set based on the above parameter ranges. In this application embodiment, the size of the first threshold and the second threshold is not specifically limited.

[0245] In this embodiment, the first LED corresponds to the LED of the cold LED, and the second LED corresponds to the LED of the warm LED. It should be noted that if the brightness of the warm LED is too high, the CCT value will decrease, and the color sensor will misidentify dirt. If the brightness of the cold LED is too high, the CCT value will increase, and the sensitivity of the color sensor to identify dirt will decrease. Therefore, the brightness of the first LED and the second LED can be adjusted until the initial color temperature meets the preset color temperature condition.

[0246] In this step, when it is determined that the initial color temperature does not meet the preset color temperature conditions, the process of calibrating the lighting parameters will be initiated. That is, by adjusting the brightness of the first and second LEDs, the color temperature of the overall lighting will be gradually adjusted until the initial color temperature meets the preset color temperature conditions.

[0247] Since the above adjustment process is dynamic, the current color temperature can be continuously detected and the brightness of the LED beads can be adjusted in real time to achieve the required color temperature conditions. Once the initial color temperature is adjusted to meet the preset color temperature conditions, the adjustment stops and the system enters normal detection and working state.

[0248] Therefore, by controlling the brightness of the two types of LEDs separately, the overall color temperature can be precisely adjusted. The first and second LEDs emit light above and below specific thresholds, respectively, providing a wide range of color temperature adjustment. By adjusting the brightness of the LEDs to meet the preset color temperature conditions, it can flexibly adapt to various ambient light conditions, ensuring that the ideal color temperature can be achieved under any circumstances, thus improving the accuracy and reliability of color temperature measurement.

[0249] Optionally, adjust the brightness of the first and second LEDs until the initial color temperature meets the preset color temperature conditions, including:

[0250] If the initial color temperature is detected to be greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first LED is reduced until the initial color temperature meets the preset color temperature condition.

[0251] If the initial color temperature is detected to be lower than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first LED is increased until the initial color temperature meets the preset color temperature condition.

[0252] In this embodiment, the duty cycle refers to the proportion of time the signal is at a high level within a PWM cycle. By adjusting the duty cycle, the brightness of the light can be controlled.

[0253] It should be noted that duty cycle adjustment is a fast-response method that can quickly change the brightness of the LED beads, thereby rapidly adjusting the color temperature. In this way, by dynamically adjusting the duty cycle of the first LED bead, the color temperature of the overall lighting can be precisely controlled. Precise color temperature control reduces unnecessary light interference, helping to ensure that the color sensor operates under ideal lighting conditions, thus improving the accuracy of detection and recognition.

[0254] Optionally, adjust the brightness of the first and second LEDs until the initial color temperature meets the preset color temperature conditions, including:

[0255] If the initial color temperature is detected to be greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second LED is increased until the initial color temperature meets the preset color temperature condition.

[0256] If the initial color temperature is detected to be lower than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second LED is reduced until the initial color temperature meets the preset color temperature condition.

[0257] In this way, the brightness can be dynamically changed by continuously adjusting the duty cycle of the second LED until the initial color temperature reaches the preset color temperature condition, thereby achieving precise adjustment of the overall color temperature and ensuring that the lighting device provides ideal lighting effects under various environmental conditions, thus improving the accuracy of detection and identification.

[0258] Optionally, the method also includes:

[0259] If the duration of calibrating the illumination parameters of the lighting device exceeds the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0260] The third threshold is a threshold set in advance to determine that the calibration process takes too long. For example, the third threshold can be 8 seconds. In this embodiment, the size of the third threshold is not specifically limited.

[0261] In this way, by monitoring and calibrating the processing time, abnormal conditions in the internal environment of the suction pipe can be detected early, and timely alarm signals help users take necessary maintenance measures, which can reduce downtime caused by pipe dirt, improve the availability and self-cleaning efficiency of the cleaning system, and prevent serious failures caused by long-term accumulation of dirt through timely alarm prompts, thereby reducing maintenance costs.

[0262] Optionally, the cleaning equipment can be switched to a target self-cleaning mode corresponding to the target level of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0263] The first duration for determining the degree of soiling of the target;

[0264] If the first duration exceeds the first preset duration threshold, the cleaning device is controlled to switch to the target self-cleaning mode and self-clean in the target self-cleaning mode.

[0265] In this embodiment, a delayed switching is adopted when switching between different self-cleaning modes. That is, when the target color temperature reaches a certain level of dirtiness, it is necessary to determine that the target color temperature meets the color temperature range corresponding to the level of dirtiness for a certain period of time before the target self-cleaning mode can be switched. This can improve the stability of the switching.

[0266] The first preset duration threshold is a pre-set standard used to determine whether the self-cleaning mode needs to be switched. For example, the first preset duration threshold can be 0.5s. This application embodiment does not specifically limit the size of the first preset duration threshold. The above is just an example.

[0267] In this way, by introducing the concept of duration, the cleaning system can dynamically respond to different dirt conditions, avoid excessive or insufficient self-cleaning, and only switch to self-cleaning mode when the first duration of the target dirt level exceeds the first preset duration threshold, which helps to improve the stability of switching.

[0268] Optionally, if the first duration exceeds a first preset duration threshold, the cleaning device is controlled to switch to a target self-cleaning mode and perform self-cleaning in the target self-cleaning mode, including:

[0269] Determine the current self-cleaning mode of the cleaning equipment and the current level of dirt corresponding to the current self-cleaning mode;

[0270] Determine the difference between the current level of dirtiness and the target level of dirtiness;

[0271] When the first duration is greater than the first preset duration threshold and the degree difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch from the current self-cleaning mode to the target self-cleaning mode step by step.

[0272] In this application, when the self-cleaning mode is switched across different time zones, such as from the self-cleaning mode corresponding to low dirt to the self-cleaning mode corresponding to high dirt, a stability judgment with a delay is first performed before entering the adjacent cleaning mode. That is, the self-cleaning mode corresponding to low dirt is first entered into the self-cleaning mode corresponding to medium dirt, and then after a short delay, the target self-cleaning mode, namely the self-cleaning mode corresponding to high dirt, is entered to improve the smoothness of switching between different self-cleaning modes.

[0273] In this way, by taking into account the differences in the degree of dirt and switching the self-cleaning mode step by step, the cleaning system can be ensured to smoothly transition to the target self-cleaning mode, reducing the impact and wear of the cleaning system when switching self-cleaning modes, thereby extending the service life of the cleaning system. Furthermore, by switching to a more suitable self-cleaning mode at the appropriate time and under the right conditions, the self-cleaning equipment can handle complex dirt situations more effectively.

[0274] This automated mode adjustment reduces the need for manual intervention by users, making the cleaning system easier to use and manage.

[0275] Optionally, based on the target color temperature, the contamination information of the target medium is analyzed and processed to determine the target contamination level of the wiper assembly, including:

[0276] If the target color temperature does not meet the preset color temperature conditions, and the target medium is determined to be at the fourth level of contamination based on the target color temperature, the second duration of the target medium being at the fourth level of contamination is obtained.

[0277] If the second duration exceeds the second preset duration threshold, the contamination level of the target medium is adjusted to the fifth contamination level.

[0278] The fifth level of dirtiness is more severe than the fourth level of dirtiness.

[0279] The fourth level of dirtiness can be any one of the first level of dirtiness, the second level of dirtiness, or the third level of dirtiness.

[0280] In this way, by monitoring the duration of dirt levels, the dirt level can be dynamically adjusted. This dynamic adjustment helps to reflect the true state of dirt, even under less than ideal initial testing conditions. Furthermore, the monitoring of duration provides an additional criterion for judgment, which helps to identify dirt levels that may be misjudged in a short period of time. This reduces misjudgments and improves the accuracy of dirt level identification. In turn, by accurately identifying and adjusting the dirt level, unnecessary self-cleaning operations can be avoided, thereby saving water, electricity, and other resources.

[0281] Optionally, the method also includes:

[0282] An abnormal alert is issued if the duration of the third level of dirtiness exceeds the third preset duration threshold.

[0283] In this embodiment, the third preset duration threshold is a pre-set time threshold. If the third preset duration threshold is exceeded, it indicates that the degree of dirtiness is high and has lasted for too long. At this time, an abnormal reminder can be issued to the user.

[0284] In this way, by promptly reminding users and helping them identify abnormalities in the self-cleaning process, as well as performance degradation of the cleaning system or damage to the cleaning base station, the user experience can be improved.

[0285] For example, Figure 6 is a schematic flowchart of another self-cleaning method for cleaning equipment provided in an embodiment of this application. As shown in Figure 6, the self-cleaning method for cleaning equipment is applied to a cleaning system, and the self-cleaning method for cleaning equipment includes:

[0286] S501. When it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the third position and the fourth position.

[0287] In one example, the scraper component can initially be in the first position, and then reciprocate between the third and fourth positions. In this case, the fourth position can be the same as the first position.

[0288] In another example, the scraper component can initially be in the second position, and then reciprocate between the third and fourth positions. In this case, the fourth position can be the same as the second position.

[0289] In this step, when the cleaning equipment is detected to be in the initial cleaning mode, the cleaning system controls the scraper assembly to reciprocate between the third and fourth positions to ensure that the scraper assembly can switch between close contact with the cleaning parts and away from the cleaning parts, so as to achieve an effective cleaning effect.

[0290] S502. When the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning equipment is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each degree of dirt corresponds to its own self-cleaning mode.

[0291] It should be noted that the specific implementation principles and process explanations of S501-S502 are similar to those of S401-S402 above. Similar parts can be referred to the description of the above embodiments, and will not be repeated here. The difference between the two is that in the initial cleaning mode, one performs a lifting brushing operation, while the other performs a horizontal swinging brushing operation. The two achieve similar effects.

[0292] Therefore, compared to existing self-cleaning methods, this application controls the scraper assembly to reciprocate between the third and fourth positions during self-cleaning of the cleaning equipment. By horizontally swinging the scraper assembly, it ensures that the scraper assembly can contact the cleaning parts and cleaning fluid at different positions and angles. This, combined with the surging of cleaning fluid in the cleaning chamber during the cleaning process, allows the cleaning fluid to repeatedly clean the cleaning dead corners of the scraper assembly. Furthermore, the dynamic horizontal swinging method of cleaning the scraper assembly also allows the cleaning force of the cleaning fluid to dynamically change in the cleaning dead corners, thereby further improving the cleaning ability and ensuring that all surfaces and corners of the scraper assembly can be effectively cleaned, thus ensuring comprehensive cleaning coverage.

[0293] Furthermore, this application, by incorporating a dirt detection function during the cleaning process of the scraper assembly, can assess the degree of dirt on the scraper assembly in real time. This allows the scraper assembly to intelligently switch to a corresponding self-cleaning mode based on the detected level of dirt as it reciprocates between the third and fourth positions. Each self-cleaning mode corresponds to a different cleaning strategy, implementing different cleaning methods for different levels of dirt on the scraper assembly. This further enhances the cleaning power of the cleaning liquid on the scraper assembly, especially on hard-to-reach areas, thereby improving the cleaning effect on the scraper assembly, particularly on these hard-to-reach areas.

[0294] Therefore, the reciprocating motion of the scraper assembly combined with the intelligent self-cleaning mode effectively cleans the surface of the scraper assembly and areas that are difficult to clean, preventing dirt residue in these areas and ensuring the scraper assembly is in ideal condition. This improves the overall self-cleaning effect and efficiency of the cleaning equipment. Furthermore, the automated detection and self-cleaning process reduces the user's workload and improves the ease of use of the equipment, thereby enhancing user convenience and satisfaction. The precise selection of the self-cleaning mode also reduces the use of cleaning agents and water, lowering resource consumption and environmental impact. In addition, this also ensures the cleaning effect when cleaning floors.

[0295] In addition, the specific switching of the target self-cleaning mode, the method of judging the degree of dirt by color temperature, and the detailed calibration method of the lighting device are all consistent with the self-cleaning method used in the embodiment shown in Figure 5 above, and only adaptive adjustments are needed.

[0296] Optionally, controlling the reciprocating motion of the scraper assembly between the third and fourth positions includes:

[0297] When the scraper assembly is in the third position, the scraper assembly is controlled to remain in the third position for a preset time, and after the preset time has elapsed, the scraper assembly is controlled to move from the third position to the fourth position.

[0298] In this embodiment, the third position is the position where the scraper assembly and the cleaning component are in close contact. It is usually designed with an interference fit to ensure that the scraper assembly can apply sufficient pressure to the cleaning component, thereby effectively removing dirt. When the scraper assembly is in the third position, the scraper assembly is controlled to remain in the position for a preset period of time to allow the scraper assembly to perform a thorough cleaning operation on the cleaning component.

[0299] The preset time is set based on experience and experimental data to ensure that the ideal cleaning effect is achieved without damaging the equipment. This application embodiment does not specifically limit the size of the preset time.

[0300] Therefore, after a preset time, the cleaning system controls the scraper assembly to move from the third position to the fourth position. By maintaining the scraper assembly at the third position for a preset time, sufficient cleaning pressure and time can be applied to the cleaning components to effectively remove stubborn dirt and residues, optimize the cleaning process, and improve overall cleaning efficiency. Furthermore, by reasonably controlling the dwell time of the scraper assembly at the third position, excessive pressure or friction can be avoided, reducing wear on the cleaning components and the scraper. After cleaning, the scraper assembly quickly moves to the fourth position, further reducing unnecessary contact, which helps extend the service life of the scraper assembly and the cleaning components, and reduces the maintenance and replacement costs of the equipment.

[0301] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0302] If the dirt level of the scraper assembly is detected to be the first level, the cleaning equipment is controlled to switch from the initial cleaning mode to the soaking wash mode to clean the cleaning parts and scraper assembly based on the soaking wash mode.

[0303] In the soaking wash mode, the control scraper assembly reciprocates between a first position and a second position, and the cleaning component is located in the liquid in the cleaning chamber.

[0304] Optionally, the cleaning equipment may also include a water pump assembly, and the method may also include:

[0305] When the water pump assembly is in the on state, at least when the height of the liquid in the cleaning chamber is detected to be greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber.

[0306] Optionally, the scraper assembly also has a third position in contact with the cleaning element and a fourth position away from the cleaning element; at the third position, the scraper assembly is interference-fitted with the cleaning element; when it is detected that the cleaning device is located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first and second positions, including:

[0307] During the self-cleaning process in the initial self-cleaning mode of the cleaning equipment, if the scraper assembly is detected to have moved from the fourth position to the third position, the scraper assembly is controlled to reciprocate between the first and second positions.

[0308] Optionally, the cleaning equipment also includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning equipment is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0309] If the dirt level of the scraper assembly is detected to be the second level, the cleaning equipment is controlled to switch from the initial cleaning mode to the spin-drying mode to remove the water from the cleaning components based on the spin-drying mode.

[0310] In the spin-dry mode, the water pump assembly is in the off state, and the scraper assembly is in the second position.

[0311] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning fluid in the cleaning chamber, or to provide hot cleaning fluid to the cleaning chamber; the self-cleaning mode includes at least a heated cleaning mode; when the degree of dirt on the scraper assembly is detected to be a target degree of dirt, the cleaning equipment is controlled to switch to a target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0312] If the dirt level of the scraper assembly is detected to be level three, the cleaning equipment is controlled to switch from the initial cleaning mode to the heated washing mode to perform thermal cleaning on the cleaning parts based on the heated washing mode.

[0313] In the heated washing mode, the thermal management component is in the on state, and the scraper component reciprocates between the first position and the second position.

[0314] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air to the cleaning chamber; the method further includes:

[0315] When the target level of dirt meets the preset conditions, the cleaning equipment is controlled to switch from the target self-cleaning mode to the drying mode.

[0316] In drying mode, the hot air generator is on and the scraper assembly is in the second position.

[0317] Optionally, the cleaning device also includes a color sensor, a suction pipe, and a wastewater tank; the color sensor is located on the suction pipe connecting the floor brush assembly and the wastewater tank; before controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, the method further includes:

[0318] First sensing data of the target medium flowing through the suction pipe is obtained based on a color sensor;

[0319] The target color temperature of the target medium is obtained by analyzing and processing the data from the first sensor.

[0320] Based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper assembly;

[0321] The target level of dirt on the wiper assembly is determined based on the first sensor data.

[0322] Optionally, the first sensing data includes at least first channel parameters and second channel parameters; the target medium is analyzed and processed based on the first sensing data to obtain the target color temperature of the target medium, including:

[0323] Call the color temperature calculation model;

[0324] The first and second channel parameters are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0325] Optionally, the first sensing data includes at least first channel parameters, second channel parameters, third channel parameters, and fourth channel parameters; based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the wiper assembly, including:

[0326] If the target color temperature meets the preset color temperature conditions, the parameters of the first channel, the second channel, the third channel, and the fourth channel are compared with their respective specific thresholds to determine the type of contamination in the target medium.

[0327] The target level of dirt on the scraper assembly is determined based on the type of dirt.

[0328] Optionally, the cleaning equipment also includes a lighting device installed on the suction pipe connecting the floor brush assembly and the wastewater tank, and the method further includes:

[0329] Before the cleaning equipment starts its initial cleaning mode, the lighting device is turned on, and second sensor data of the inner wall of the suction pipe is acquired.

[0330] The internal environment of the suction pipe is analyzed and processed based on the second sensor data to obtain the initial color temperature corresponding to the internal environment;

[0331] If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0332] Optionally, the method also includes:

[0333] When the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to operate with the illumination parameters corresponding to the initial color temperature.

[0334] Optionally, the lighting device includes a first LED and a second LED; if the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature, including:

[0335] If the initial color temperature does not meet the preset color temperature conditions, adjust the brightness of the first and second LED beads until the initial color temperature meets the preset color temperature conditions.

[0336] The first LED is used to emit light with a color temperature greater than a first threshold; the second LED is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0337] Optionally, adjust the brightness of the first and second LEDs until the initial color temperature meets the preset color temperature conditions, including:

[0338] If the initial color temperature is detected to be greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first LED is reduced until the initial color temperature meets the preset color temperature condition.

[0339] If the initial color temperature is detected to be lower than the preset color temperature threshold, the duty cycle of the pulse signal sent to the first LED is increased until the initial color temperature meets the preset color temperature condition.

[0340] Optionally, adjust the brightness of the first and second LEDs until the initial color temperature meets the preset color temperature conditions, including:

[0341] If the initial color temperature is detected to be greater than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second LED is increased until the initial color temperature meets the preset color temperature condition.

[0342] If the initial color temperature is detected to be lower than the preset color temperature threshold, the duty cycle of the pulse signal sent to the second LED is reduced until the initial color temperature meets the preset color temperature condition.

[0343] Optionally, the method also includes:

[0344] If the duration of calibrating the illumination parameters of the lighting device exceeds the third threshold, an alarm signal is generated to indicate that the initial color temperature corresponding to the internal environment of the suction pipe is in an abnormal state.

[0345] Optionally, the cleaning equipment can be switched to a target self-cleaning mode corresponding to the target level of dirt, so as to perform self-cleaning based on the target self-cleaning mode, including:

[0346] Determine the first duration for the target level of contamination;

[0347] If the first duration exceeds the first preset duration threshold, the cleaning device is controlled to switch to the target self-cleaning mode and self-clean in the target self-cleaning mode.

[0348] Optionally, if the first duration exceeds a first preset duration threshold, the cleaning device is controlled to switch to a target self-cleaning mode and perform self-cleaning in the target self-cleaning mode, including:

[0349] Determine the current self-cleaning mode of the cleaning equipment and the current level of dirt corresponding to the current self-cleaning mode;

[0350] Determine the difference between the current level of dirtiness and the target level of dirtiness;

[0351] When the first duration is greater than the first preset duration threshold and the degree difference is greater than or equal to the preset difference threshold, the cleaning device is controlled to switch from the current self-cleaning mode to the target self-cleaning mode step by step.

[0352] Optionally, based on the target color temperature, the contamination information of the target medium is analyzed and processed to determine the target contamination level of the wiper assembly, including:

[0353] If the target color temperature does not meet the preset color temperature conditions, and the target medium is determined to be at the fourth level of contamination based on the target color temperature, the second duration of the target medium being at the fourth level of contamination is obtained.

[0354] If the second duration exceeds the second preset duration threshold, the contamination level of the target medium is adjusted to the fifth contamination level.

[0355] The fifth level of dirtiness is more severe than the fourth level of dirtiness.

[0356] Optionally, the method also includes:

[0357] An abnormal alert is issued if the duration of the third level of dirtiness exceeds the third preset duration threshold.

[0358] It should be noted that the specific implementation principles and effects of the above embodiments can be found in the relevant descriptions and effects of the corresponding embodiments of the self-cleaning method of the cleaning equipment in the above embodiments, and will not be elaborated further here.

[0359] In the foregoing embodiments, the self-cleaning method of the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the above embodiments, the cleaning system, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0360] For example, Figure 7 is a structural schematic diagram of a self-cleaning device for a cleaning equipment provided in an embodiment of this application. As shown in Figure 7, the self-cleaning device 600 of the cleaning equipment is applied to a cleaning system, which includes a cleaning equipment and a cleaning base station. The cleaning equipment includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly. The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned. The self-cleaning device 600 of the cleaning equipment includes:

[0361] The first control module 601 is used to control the scraper assembly to reciprocate between a first position and a second position when it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode.

[0362] The second control module 602 is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode.

[0363] Optionally, the cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion washing mode; the second control module 602 is specifically used for:

[0364] If the dirt level of the scraper assembly is detected to be the first level, the cleaning equipment is controlled to switch from the initial cleaning mode to the soaking wash mode to clean the cleaning parts and scraper assembly based on the soaking wash mode.

[0365] In the soaking wash mode, the control scraper assembly reciprocates between a first position and a second position, and the cleaning component is located in the liquid in the cleaning chamber.

[0366] Optionally, the cleaning equipment also includes a water pump assembly, and the self-cleaning device 600 of the cleaning equipment further includes a fifth control module, which is used for:

[0367] When the water pump assembly is in the on state, at least when the height of the liquid in the cleaning chamber is detected to be greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber.

[0368] Optionally, the scraper assembly also has a third position in contact with the cleaning element and a fourth position away from the cleaning element; at the third position, the scraper assembly is interference-fitted with the cleaning element; the first control module 601 is specifically used for:

[0369] During the self-cleaning process in the initial self-cleaning mode of the cleaning equipment, if the scraper assembly is detected to have moved from the fourth position to the third position, the scraper assembly is controlled to reciprocate between the first and second positions.

[0370] Optionally, the cleaning device also includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; the second control module 602 is specifically used for:

[0371] If the dirt level of the scraper assembly is detected to be the second level, the cleaning equipment is controlled to switch from the initial cleaning mode to the spin-drying mode to remove the water from the cleaning components based on the spin-drying mode.

[0372] In the spin-dry mode, the water pump assembly is in the off state, and the scraper assembly is in the second position.

[0373] Optionally, the cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning fluid in the cleaning chamber, or to provide hot cleaning fluid to the cleaning chamber; the self-cleaning mode includes at least a heated cleaning mode; the second control module 602 is specifically used for:

[0374] If the dirt level of the scraper assembly is detected to be level three, the cleaning equipment is controlled to switch from the initial cleaning mode to the heated washing mode to perform thermal cleaning on the cleaning parts based on the heated washing mode.

[0375] In the heated washing mode, the thermal management component is in the on state, and the scraper component reciprocates between the first position and the second position.

[0376] Optionally, the cleaning base station includes a cleaning chamber and a hot air generator; the hot air generator is used to provide hot air to the cleaning chamber; the self-cleaning device 600 of the cleaning equipment also includes a sixth control module, which is used for:

[0377] When the target level of dirt meets the preset conditions, the cleaning equipment is controlled to switch from the target self-cleaning mode to the drying mode.

[0378] In drying mode, the hot air generator is on and the scraper assembly is in the second position.

[0379] Optionally, the cleaning equipment also includes a color sensor, a suction pipe, and a wastewater tank; the color sensor is disposed on the suction pipe connecting the floor brush assembly and the wastewater tank; before controlling the cleaning equipment to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, the self-cleaning device 600 of the cleaning equipment also includes an acquisition module, an analysis module, a processing module, and a determination module.

[0380] The acquisition module is used to acquire first sensing data of the target medium flowing through the suction pipe based on the color sensor;

[0381] The analysis module is used to analyze and process the target medium based on the first sensor data to obtain the target color temperature of the target medium;

[0382] The processing module is used to analyze and process the dirt information of the target medium based on the target color temperature to determine the target dirt level of the scraper assembly;

[0383] The determination module is used to determine the target level of dirt on the wiper assembly based on the first sensor data.

[0384] Optionally, the first sensing data includes at least first channel parameters and second channel parameters; the analysis module is specifically used for:

[0385] Call the color temperature calculation model;

[0386] The first and second channel parameters are input into the color temperature calculation model for analysis and calculation to obtain the target color temperature.

[0387] Optionally, the first sensing data includes at least first channel parameters, second channel parameters, third channel parameters, and fourth channel parameters; the processing module is specifically used for:

[0388] If the target color temperature meets the preset color temperature conditions, the parameters of the first channel, the second channel, the third channel, and the fourth channel are compared with their respective specific thresholds to determine the type of contamination in the target medium.

[0389] The target level of dirt on the scraper assembly is determined based on the type of dirt.

[0390] Optionally, the cleaning equipment also includes a lighting device installed on the suction pipe connecting the floor brush assembly and the wastewater tank. The self-cleaning device 600 of the cleaning equipment also includes a seventh control module, which is used for:

[0391] Before the cleaning equipment starts its initial cleaning mode, the lighting device is turned on, and second sensor data of the inner wall of the suction pipe is acquired.

[0392] The internal environment of the suction pipe is analyzed and processed based on the second sensor data to obtain the initial color temperature corresponding to the internal environment;

[0393] If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature.

[0394] Optionally, the self-cleaning device 600 of the cleaning equipment further includes an eighth control module, which is used for:

[0395] When the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to operate with the illumination parameters corresponding to the initial color temperature.

[0396] Optionally, the lighting device includes a first LED and a second LED; the seventh control module includes an adjustment unit for:

[0397] If the initial color temperature does not meet the preset color temperature conditions, adjust the brightness of the first and second LED beads until the initial color temperature meets the preset color temperature conditions.

[0398] The first LED is used to emit light with a color temperature greater than a first threshold; the second LED is used to emit light with a color temperature less than a second threshold; and the second threshold is less than the first threshold.

[0399] It should be noted that the specific implementation principle and effect of the self-cleaning device of the above-mentioned cleaning equipment can be found in the relevant descriptions and effects of the above embodiments, and will not be elaborated further here.

[0400] For example, Figure 8 is a schematic diagram of the structure of another self-cleaning device for a cleaning equipment provided in an embodiment of this application. As shown in Figure 8, the self-cleaning device 700 of the cleaning equipment is applied to a cleaning system, which includes a cleaning device and a cleaning base station; the cleaning device includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning device and is located on the front side of the cleaning component on the floor brush assembly; the scraper assembly has a third position in contact with the cleaning component and a fourth position away from the cleaning component; the self-cleaning device 700 of the cleaning equipment includes:

[0401] The third control module 701 is used to control the scraper assembly to reciprocate between the third position and the fourth position when it is detected that the cleaning equipment is located at the cleaning base station and is in the initial cleaning mode.

[0402] The fourth control module 702 is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode.

[0403] Optional, the third control module 701 is specifically used for:

[0404] When the scraper assembly is in the third position, the scraper assembly is controlled to remain in the third position for a preset time, and after the preset time has elapsed, the scraper assembly is controlled to move from the third position to the fourth position.

[0405] It should be noted that the specific implementation principle and effect of the self-cleaning device of the above-mentioned cleaning equipment can be found in the relevant descriptions and effects of the above embodiments, and will not be elaborated further here.

[0406] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0407] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments of this application as executed by a cleaning device or cleaning system.

[0408] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments of this application as performed by a cleaning device or cleaning system.

[0409] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0410] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0411] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0412] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0413] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0414] The memory may include high-speed random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0415] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0416] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0417] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components within a cleaning device or a main control device.

[0418] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0419] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0420] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0421] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0422] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

A self-cleaning method for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; the method includes: When the cleaning device is detected to be located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first position and the second position to clean the scraper assembly. The method according to claim 1, characterized in that, The clean base station includes a clean chamber; the method further includes: When the cleaning device is in soaking wash mode, the scraper assembly is controlled to reciprocate between the first position and the second position, and the cleaning component is located in the liquid in the cleaning chamber. The method according to claim 1 or 2, characterized in that, The cleaning equipment further includes a water pump assembly, and the cleaning base station includes a cleaning chamber; when the floor brush assembly is located on the cleaning base station, the cleaning chamber is used to accommodate the cleaning component, and the method further includes: When the water pump assembly is in the on state, at least when the water injection time of the water pump assembly reaches a preset time threshold, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber. The method according to claim 3, characterized in that, The control of the scraper assembly being located in the liquid within the cleaning chamber includes: The scraper assembly is controlled to be in the first position. The method according to any one of claims 1-4, characterized in that, The cleaning equipment further includes a water pump assembly; the method further includes: When the cleaning equipment is in spin-dry mode, the water pump assembly is controlled to be in the off state, and the scraper assembly is in the second position. The method according to any one of claims 1-5 is characterized in that, The cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning fluid in the cleaning chamber, or to provide hot cleaning fluid to the cleaning chamber; the method further includes: When the cleaning base station is in heated washing mode, the thermal management component is controlled to be turned on, and the scraper component reciprocates between the first position and the second position. The method according to claim 6, characterized in that, The thermal management component includes a heating element; the heating element is installed on the bottom wall of the cleaning chamber to heat the liquid at the bottom of the cleaning chamber; controlling the thermal management component to be in the on state includes: The heating element is controlled to be turned on to heat the liquid in the cleaning chamber. The method according to claim 6 or 7, characterized in that, The thermal management component includes a hot air generator; the hot air generator is used to provide hot air to the cleaning chamber; controlling the thermal management component to be in an on state includes: The hot air generator is controlled to be turned on to deliver hot air into the cleaning chamber, heating the cleaning liquid in the cleaning chamber or heating the surface of the cleaning parts on the floor brush assembly. The method according to any one of claims 1-8, characterized in that, The clean base station includes a clean chamber and a hot air generator; The hot air generator is used to provide hot air to the cleaning chamber; the method further includes: When the cleaning equipment is in drying mode, the hot air generator is turned on and the scraper assembly is in the second position. A self-cleaning method for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; the method includes: When the cleaning device is detected to be located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the first position and the second position. When the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each degree of dirt corresponds to its own self-cleaning mode. The method according to claim 10, characterized in that, The cleaning base station includes a cleaning chamber; the self-cleaning mode includes at least an immersion wash mode; the step of controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be a target dirt level, so as to perform self-cleaning based on the target self-cleaning mode, includes: If the degree of dirtiness of the scraper assembly is detected to be at the first level of dirtiness, the cleaning device is controlled to switch from the initial cleaning mode to the soaking wash mode, so as to clean the cleaning parts and the scraper assembly based on the soaking wash mode; In the soaking wash mode, the scraper assembly is controlled to reciprocate between the first position and the second position, and the cleaning component is located in the liquid in the cleaning chamber. The method according to claim 11, characterized in that, The cleaning equipment also includes a water pump assembly, and the method further includes: When the water pump assembly is in the on state, at least when the height of the liquid in the cleaning chamber is detected to be greater than the height corresponding to the preset position, the water pump assembly is controlled to switch to the off state, and the scraper assembly is controlled to be in the liquid in the cleaning chamber. The method according to any one of claims 10-12 is characterized in that, The scraper assembly also has a third position in contact with the cleaning element and a fourth position away from the cleaning element; at the third position, the scraper assembly is interference-fitted with the cleaning element; the step of controlling the scraper assembly to reciprocate between the first position and the second position when the cleaning device is detected to be located at the cleaning base station and in the initial cleaning mode includes: During the self-cleaning process of the cleaning device in the initial self-cleaning mode, if it is detected that the scraper assembly has moved from the fourth position to the third position, the scraper assembly is controlled to reciprocate between the first position and the second position. The method according to any one of claims 10-13 is characterized in that, The cleaning device further includes a water pump assembly; the self-cleaning mode includes at least a spin-drying mode; the step of controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be a target dirt level, so as to perform self-cleaning based on the target self-cleaning mode, includes: If the degree of dirtiness of the scraper assembly is detected to be the second level of dirtiness, the cleaning device is controlled to switch from the initial cleaning mode to the spin-drying mode to remove the water from the cleaning component based on the spin-drying mode. In the spin-drying mode, the water pump assembly is in the off state, and the scraper assembly is in the second position. The method according to any one of claims 10-14 is characterized in that, The cleaning base station includes a cleaning chamber and a thermal management component; the thermal management component is used to heat the cleaning fluid in the cleaning chamber, or to provide hot cleaning fluid to the cleaning chamber; the self-cleaning mode includes at least a heated washing mode; the step of controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be a target dirt level, so as to perform self-cleaning based on the target self-cleaning mode, includes: If the dirt level of the scraper assembly is detected to be the third level, the cleaning device is controlled to switch from the initial cleaning mode to the heated washing mode to perform hot cleaning on the cleaning parts based on the heated washing mode. In the heated washing mode, the thermal management component is in the on state, and the scraper component reciprocates between the first position and the second position. The method according to any one of claims 10-15 is characterized in that, The clean base station includes a clean chamber and a hot air generator; The hot air generator is used to provide hot air to the cleaning chamber; The method further includes: When the target level of dirt meets the preset conditions, the cleaning device is controlled to switch from the target self-cleaning mode to the drying mode. In the drying mode, the hot air generator is turned on and the scraper assembly is in the second position. The method according to any one of claims 10-16 is characterized in that, The cleaning device further includes a color sensor, a suction pipe, and a wastewater tank; the color sensor is disposed on the suction pipe connecting the floor brush assembly and the wastewater tank; before controlling the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be a target dirt level, the method further includes: The first sensing data of the target medium flowing through the suction pipe is obtained based on the color sensor. The target medium is analyzed and processed based on the first sensing data to obtain the target color temperature of the target medium; Based on the target color temperature, the dirt information of the target medium is analyzed and processed to determine the target dirt level of the scraper assembly; The target level of dirt on the scraper assembly is determined based on the first sensor data. The method according to claim 17, characterized in that, The cleaning equipment further includes a lighting device disposed on a suction pipe connecting the floor brush assembly and the wastewater tank, and the method further includes: Before the cleaning equipment starts its initial cleaning mode, the lighting device is turned on, and second sensor data of the inner wall of the suction pipe is acquired. The internal environment of the suction pipe is analyzed and processed based on the second sensor data to obtain the initial color temperature corresponding to the internal environment; If the initial color temperature does not meet the preset color temperature conditions, the illumination parameters of the lighting device are calibrated to adjust the initial color temperature. The method according to claim 18, characterized in that, The method further includes: When the initial color temperature meets the preset color temperature conditions, the lighting device is controlled to operate with the illumination parameters of the lighting device corresponding to the initial color temperature. A self-cleaning method for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a third position in contact with the cleaning element and a fourth position away from the cleaning element; the method includes: When the cleaning device is detected to be located at the cleaning base station and in the initial cleaning mode, the scraper assembly is controlled to reciprocate between the third position and the fourth position. When the degree of dirt on the scraper assembly is detected to be the target degree of dirt, the cleaning device is controlled to switch to the target self-cleaning mode corresponding to the target degree of dirt, so as to perform self-cleaning based on the target self-cleaning mode; each degree of dirt corresponds to its own self-cleaning mode. The method according to claim 20, characterized in that, The control of the scraper assembly to reciprocate between the third position and the fourth position includes: When the scraper assembly is in the third position, the scraper assembly is controlled to remain in the third position for a preset time, and after the preset time has elapsed, the scraper assembly is controlled to move from the third position to the fourth position. A self-cleaning device for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; the device includes: The first control module is used to control the scraper assembly to reciprocate between the first position and the second position when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode, so as to clean the scraper assembly. A self-cleaning device for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a first position that contacts the surface to be cleaned and a second position that maintains a preset distance from the surface to be cleaned; the device includes: The first control module is used to control the scraper assembly to reciprocate between the first position and the second position when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode; The second control module is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode. A self-cleaning device for cleaning equipment, characterized in that, The cleaning system includes cleaning equipment and a cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly; the scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; The scraper assembly has a third position in contact with the cleaning element and a fourth position away from the cleaning element; the device includes: The third control module is used to control the scraper assembly to reciprocate between the third position and the fourth position when it is detected that the cleaning device is located at the cleaning base station and is in the initial cleaning mode; The fourth control module is used to control the cleaning device to switch to the target self-cleaning mode corresponding to the target dirt level when the dirt level of the scraper assembly is detected to be the target dirt level, so as to perform self-cleaning based on the target self-cleaning mode; each dirt level corresponds to its own self-cleaning mode. A cleaning system, characterized in that, The cleaning system includes cleaning equipment and cleaning base station; the cleaning equipment includes a floor brush assembly and a scraper assembly. The scraper assembly is installed at the front end of the cleaning equipment and is located on the front side of the cleaning component on the floor brush assembly; the scraper assembly has a first position that contacts the surface to be cleaned, a second position that maintains a preset distance from the surface to be cleaned, a third position that contacts the cleaning component, and a fourth position that is away from the cleaning component. The cleaning system is used to perform the method as described in any one of claims 1-21.

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