技术领域technical field
本申请属于清洁设备技术领域，具体涉及一种清洁设备的自清洁方法、清洁装置、设备及存储介质。The application belongs to the technical field of cleaning equipment, and in particular relates to a self-cleaning method for cleaning equipment, a cleaning device, equipment and a storage medium.
背景技术Background technique
目前，清洁设备可以通过其上安装的清洁机构对待清洁表面进行清洁。在清洁工作结束后，通常需要对清洁机构进行清洗。Currently, cleaning equipment can clean the surface to be cleaned by means of a cleaning mechanism installed thereon. After the cleaning work is finished, it is usually necessary to clean the cleaning mechanism.
传统的对清洁机构进行清洁的方法包括：通过喷液装置向清洁机构喷洒清水，清洁完毕后控制吸污水电机对污水进行回收以达到清洁机构的效果。The traditional method of cleaning the cleaning mechanism includes: spraying clear water to the cleaning mechanism through a liquid spray device, and controlling the sewage suction motor to recycle the sewage after cleaning to achieve the effect of the cleaning mechanism.
然而，传统的清洁方法只能对清洁机构进行简单的清洗，对清洁机构的清洁效果不佳。However, the traditional cleaning method can only simply clean the cleaning mechanism, and the cleaning effect on the cleaning mechanism is not good.
发明内容Contents of the invention
本申请提供给了清洁设备的自清洁方法、清洁装置、设备及存储介质，可以解决传统的清洁方法只能对清洁机构进行简单的清洗，对清洁机构的清洁效果不佳的问题。本申请提供如下技术方案：This application provides a self-cleaning method, cleaning device, equipment and storage medium for cleaning equipment, which can solve the problem that the traditional cleaning method can only simply clean the cleaning mechanism, and the cleaning effect on the cleaning mechanism is not good. This application provides the following technical solutions:
第一方面，提供了一种清洁设备的自清洁方法，所述方法包括：响应于接收到第一自清洁指令，重复执行以下各步骤，直至完成所述清洁设备的自清洁过程：In a first aspect, there is provided a self-cleaning method for a cleaning device, the method comprising: in response to receiving a first self-cleaning instruction, repeatedly performing the following steps until the self-cleaning process of the cleaning device is completed:
对所述清洁设备上的清洁机构执行第一清洁动作；performing a first cleaning action on the cleaning mechanism on the cleaning device;
对所述清洁机构执行第二清洁动作；所述第二清洁动作向所述清洁机构的喷水量小于所述第一清洁动作向所述清洁机构的喷水量、且所述第二清洁动作对污水进行吸取的吸水量大于所述第一清洁动作对污水进行吸取的吸水量。Performing a second cleaning action on the cleaning mechanism; the amount of water sprayed to the cleaning mechanism by the second cleaning action is less than the amount of water sprayed by the first cleaning action to the cleaning mechanism, and the second cleaning action The amount of water absorbed by the sewage is greater than the amount of water absorbed by the first cleaning action.
可选地，所述第一清洁动作的喷水量与所述第一清洁动作的执行次数呈负相关关系。Optionally, the water spray volume of the first cleaning action is negatively correlated with the execution times of the first cleaning action.
可选地，当清洁设备的自清洁状态满足预设条件时，确定完成所述清洁设备的自清洁过程。Optionally, when the self-cleaning state of the cleaning device satisfies a preset condition, it is determined that the self-cleaning process of the cleaning device is completed.
可选地，所述当清洁设备的自清洁状态满足预设条件时，确定完成所述清洁设备的自清洁过程，包括：Optionally, when the self-cleaning state of the cleaning equipment satisfies a preset condition, determining to complete the self-cleaning process of the cleaning equipment includes:
通过预设传感器采集并确定所述清洁机构的脏污程度；响应于检测到所述清洁机构的脏污程度满足脏污条件，确定清洁设备的自清洁状态满足所述预设条件；Collecting and determining the degree of dirtiness of the cleaning mechanism by a preset sensor; in response to detecting that the degree of dirtiness of the cleaning mechanism satisfies a dirt condition, determining that the self-cleaning state of the cleaning device meets the preset condition;
和/或，and / or,
记录所述第一清洁动作及所述第二清洁动作的执行次数；当所述执行次数满足次数条件时，确定清洁设备的自清洁状态满足所述预设条件。Recording the execution times of the first cleaning action and the second cleaning action; when the execution times meet the number condition, it is determined that the self-cleaning state of the cleaning device meets the preset condition.
可选地，当清洁设备的自清洁状态满足所述预设条件且最后一次执行的清洁动作为第二清洁动作时，确定完成所述清洁设备的自清洁过程。Optionally, when the self-cleaning state of the cleaning device satisfies the preset condition and the last cleaning action performed is the second cleaning action, it is determined that the self-cleaning process of the cleaning device is completed.
可选地，所述对所述清洁设备上的清洁机构执行第一清洁动作，包括：Optionally, performing the first cleaning action on the cleaning mechanism on the cleaning device includes:
控制所述清洁机构与输水机构共同工作，所述输水机构的输水方向朝向所述清洁机构；controlling the cleaning mechanism to work together with the water delivery mechanism, and the water delivery direction of the water delivery mechanism faces the cleaning mechanism;
所述对所述清洁机构执行第二清洁动作，包括：The performing the second cleaning action on the cleaning mechanism includes:
控制所述清洁机构与所述抽水机构共同工作。The cleaning mechanism is controlled to work together with the pumping mechanism.
可选地，获取清水箱的第一水量和污水箱的第二水量；所述清水箱用于容纳清水，以对所述清洁机构进行喷水；所述污水箱用于容纳对所述清洁机构进行清洁后的污水；Optionally, obtain the first water volume of the clean water tank and the second water volume of the dirty water tank; the clean water tank is used to hold clean water to spray water on the cleaning mechanism; the dirty water tank is used to accommodate the cleaning mechanism sewage after cleaning;
基于所述第一水量和所述第二水量，确定是否执行所述自清洁过程。Whether to perform the self-cleaning process is determined based on the first water amount and the second water amount.
可选地，所述基于所述第一水量和所述第二水量，确定是否执行所述自清洁过程，包括：Optionally, the determining whether to execute the self-cleaning process based on the first water volume and the second water volume includes:
在所述第一水量大于第一水量阈值、且所述第二水量小于所述第二水量阈值的情况下，确定对所述清洁机构进行清洁。If the first water volume is greater than the first water volume threshold and the second water volume is smaller than the second water volume threshold, it is determined to clean the cleaning mechanism.
可选地，所述清洁设备具有清洁机构检测功能，所述清洁机构检测功能用于检测所述清洁机构是否安装，所述方法还包括：Optionally, the cleaning device has a cleaning mechanism detection function, and the cleaning mechanism detection function is used to detect whether the cleaning mechanism is installed, and the method further includes:
响应于接收到所述第一自清洁指令，关闭所述清洁机构检测功能。In response to receiving the first self-cleaning instruction, the cleaning mechanism detection function is turned off.
可选地，所述方法还包括：Optionally, the method also includes:
响应于接收到第二自清洁指令，对所述清洁机构以预设喷水量进行喷水，同时以预设吸水量进行吸水。In response to receiving the second self-cleaning instruction, the cleaning mechanism sprays water with a preset water spraying amount, and simultaneously absorbs water with a preset water absorption amount.
第二方面，提供了一种清洁装置，用于对所述清洁设备的所述清洁机构进行清洁，所述装置包括处理器和存储器；所述存储器中存储有程序，所述程序由所述处理器加载并执行以实现如第一方面所述的清洁设备的自清洁方法。In the second aspect, there is provided a cleaning device for cleaning the cleaning mechanism of the cleaning equipment, the device includes a processor and a memory; a program is stored in the memory, and the program is executed by the processor The device is loaded and executed to realize the self-cleaning method for cleaning equipment as described in the first aspect.
第三方面，提供了一种计算机可读存储介质，所述存储介质中存储有程序，所述程序被处理器执行时用于实现如第一方面所述的清洁设备的自清洁方法。In a third aspect, a computer-readable storage medium is provided, wherein a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the self-cleaning method for the cleaning device as described in the first aspect.
第四方面，提供了一种清洁设备，所述清洁设备包括：In a fourth aspect, a cleaning device is provided, and the cleaning device includes:
清洁机构；cleaning agencies;
清水箱；Clean water tank;
一端与所述清水箱相连的输水机构，所述输水机构的另一端朝向所述清洁机构；A water delivery mechanism with one end connected to the clean water tank, the other end of the water delivery mechanism facing the cleaning mechanism;
污水箱；Sewage tank;
一端与所述污水箱相连的抽水机构；a pumping mechanism with one end connected to the sewage tank;
与所述输水机构、和所述抽水机构分别相连的处理器，所述处理器用于执行如下步骤：A processor connected to the water delivery mechanism and the water pumping mechanism, the processor is used to perform the following steps:
响应于接收到第一自清洁指令，重复执行以下各步骤，直至完成所述清洁设备的自清洁过程：In response to receiving the first self-cleaning instruction, the following steps are repeatedly performed until the self-cleaning process of the cleaning device is completed:
控制所述抽水机构和所述输水机构对所述清洁设备上的清洁机构执行第一清洁动作；controlling the pumping mechanism and the water delivery mechanism to perform a first cleaning action on the cleaning mechanism on the cleaning device;
控制所述抽水机构和所述输水机构对所述清洁机构执行第二清洁动作；所述第二清洁动作向所述清洁机构的喷水量小于所述第一清洁动作向所述清洁机构的喷水量、且所述第二清洁动作对污水进行吸取的吸水量大于所述第一清洁动作对污水进行吸取的吸水量。Controlling the pumping mechanism and the water delivery mechanism to perform a second cleaning action on the cleaning mechanism; the amount of water sprayed by the second cleaning action to the cleaning mechanism is smaller than that of the first cleaning action to the cleaning mechanism The amount of water sprayed, and the water absorption of the sewage absorbed by the second cleaning action is greater than the water absorption of the sewage absorbed by the first cleaning action.
本申请的有益效果在于：通过接收到清洁设备的自清洁指令，并重复执行第一清洁动作和第二清洁动作，使第二清洁动作的喷水量小于第一清洁动作的喷水量，第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量，完成自清洁过程，这样，一方面可以通过重复执行第一清洁动作和第二清洁动作对清洁机构进行多次清洗，提高清洁效果。另一方面，通过设置第一清洁动作的喷水量大于第二清洁动作的喷水量，以在执行第一清洁动作时主要对清洁机构进行喷水，可以在执行第一清洁动作时加大对清洁机构的浸湿力度，进一步提高清洁机构的清洁效果；同时，通过设置第二清洁动作的吸水量大于第一清洁动作的吸水量，以在执行第二清洁动作时主要吸收污水，可以在执行第二清洁动作时加大对污水的吸收力度，防止大量污水残留在清洁机构上，进一步提高清洁机构的清洁效果。The beneficial effect of the present application is that: by receiving the self-cleaning instruction of the cleaning device, and repeatedly performing the first cleaning action and the second cleaning action, the water spraying amount of the second cleaning action is smaller than the water spraying amount of the first cleaning action, and the second cleaning action The water absorption of the second cleaning action to the sewage is greater than the water absorption of the first cleaning action to the sewage, and the self-cleaning process is completed. In this way, on the one hand, the cleaning mechanism can be repeatedly executed by repeatedly performing the first cleaning action and the second cleaning action. Second cleaning, improve cleaning effect. On the other hand, by setting the water spray volume of the first cleaning action to be greater than the water spray volume of the second cleaning action, so as to mainly spray water to the cleaning mechanism when performing the first cleaning action, it is possible to increase the The wetting strength of the cleaning mechanism further improves the cleaning effect of the cleaning mechanism; at the same time, by setting the water absorption of the second cleaning action to be greater than the water absorption of the first cleaning action, the sewage is mainly absorbed during the second cleaning action. When the second cleaning action is performed, the absorption of sewage is increased to prevent a large amount of sewage from remaining on the cleaning mechanism, and further improve the cleaning effect of the cleaning mechanism.
另外，随着第一清洁动作的执行次数的增多，清洁机构的脏污程度越来越低，通过设置第一清洁动作的喷水量与第一清洁动作的执行次数呈负相关关系，可以节省清水箱中的水量。In addition, as the number of executions of the first cleaning action increases, the degree of dirtiness of the cleaning mechanism becomes lower and lower. By setting the water spray volume of the first cleaning action and the number of executions of the first cleaning action to have a negative correlation, it can save The volume of water in the solution tank.
另外，通过设置当清洁设备的自清洁状态满足预设条件时，确定完成清洁设备的自清洁过程，可以避免清洁设备在没有人为干预的情况下无限次数地循环执行第一清洁动作和第二清洁动作的问题，节省清洁设备的设备资源，提高清洁设备的自动化程度。In addition, by setting when the self-cleaning state of the cleaning device meets the preset conditions, it is determined that the self-cleaning process of the cleaning device is completed, which can prevent the cleaning device from performing the first cleaning action and the second cleaning indefinitely without human intervention. Action problems, save equipment resources for cleaning equipment, and improve the automation of cleaning equipment.
另外，通过设置在清洁机构的脏污程度满足脏污条件的情况下，确定清洁设备的自清洁状态满足预设条件，可以保证清洁设备在清洁机构清洗干净的情况下自动停止自清洁动作，从而保证自清洁效果。In addition, by determining that the self-cleaning state of the cleaning device satisfies the preset condition when the degree of dirtiness of the cleaning mechanism satisfies the dirty condition, it can be ensured that the cleaning device automatically stops the self-cleaning action when the cleaning mechanism is cleaned, thereby Guaranteed self-cleaning effect.
另外，通过设置当清洁设备的自清洁状态满足预设条件且最后一次执行的清洁动作为第二清洁动作时，确定完成清洁设备的自清洁过程，可以保证清洁设备最后一次执行的清洁动作能够将污水吸收干净，保证清洁设备的自清洁效果。In addition, by setting when the self-cleaning state of the cleaning device meets the preset conditions and the last cleaning action performed is the second cleaning action, it is determined that the self-cleaning process of the cleaning device is completed, which can ensure that the last cleaning action performed by the cleaning device can The sewage is absorbed cleanly to ensure the self-cleaning effect of the cleaning equipment.
另外，通过基于清水箱污水箱的水量确定是否对清洁机构进行清洁，保证了在清洁设备的清洁过程清水箱的水量充足，且污水箱的水量不会溢出，避免了清洁过程中因为清水水量不足或者污水过多导致清洁过程中断的问题。In addition, by determining whether to clean the cleaning mechanism based on the water volume of the clean water tank and the sewage tank, it is ensured that the water volume of the clean water tank is sufficient during the cleaning process of the cleaning equipment, and the water volume of the sewage tank will not overflow, avoiding the lack of clean water during the cleaning process. Or the problem of too much sewage causing interruption of the cleaning process.
另外，通过在清洁设备上设置第一自清洁模式和第二自清洁模式，使得清洁设备可以自适应地根据清洁需求设置对应的清洁模式，提高清洁设备的智能化程度。In addition, by setting the first self-cleaning mode and the second self-cleaning mode on the cleaning device, the cleaning device can adaptively set the corresponding cleaning mode according to the cleaning demand, thereby improving the intelligence of the cleaning device.
另外，由于清洁设备与基站对接后，清洁设备响应于接收到第一自清洁指令，关闭清洁机构检测功能。基于此，本实施例中，通过在自清洁过程中将清洁机构检测功能关闭，因此，清洁设备不会输出清洁机构未安装的结果，可以保证自清洁过程中对清洁机构的控制。In addition, after the cleaning device is docked with the base station, the cleaning device turns off the cleaning mechanism detection function in response to receiving the first self-cleaning instruction. Based on this, in this embodiment, by turning off the detection function of the cleaning mechanism during the self-cleaning process, the cleaning device will not output the result that the cleaning mechanism is not installed, which can ensure the control of the cleaning mechanism during the self-cleaning process.
附图说明Description of drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some implementations of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.
图1是本申请一个实施例提供的清洁设备的结构示意图；Fig. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application;
图2是本申请一个实施例提供的清洁设备的自清洁方法的流程图；Fig. 2 is a flowchart of a self-cleaning method for cleaning equipment provided by an embodiment of the present application;
图3是本申请另一个实施例提供的清洁设备的自清洁方法的流程图；Fig. 3 is a flowchart of a self-cleaning method for cleaning equipment provided in another embodiment of the present application;
图4是本申请一个实施例提供的清洁装置的框图；Fig. 4 is a block diagram of a cleaning device provided by an embodiment of the present application;
图5是本申请一个实施例提供的清洁设备的框图。Fig. 5 is a block diagram of a cleaning device provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。The technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present application, not all of them. Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.
在申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本申请。In the application, unless stated to the contrary, the orientation words used such as "upper, lower, top, bottom" are generally used for the directions shown in the drawings, or for the parts themselves in the vertical, vertical Or in the direction of gravity; similarly, for the convenience of understanding and description, "inner and outer" refer to the inner and outer relative to the outline of each component itself, but the above orientation words are not used to limit the present application.
如图1所示为本申请一个实施例提供的清洁设备的结构示意图，该清洁设备可以为洗地机，扫地机等可以对待清洁表面进行清洁的设备，本实施例不对清洁设备的设备类型作限定。其中，待清洁表面可以为地面、桌面、墙壁、太阳能电池表面等，本实施例不对待清洁表面的类型作限定。As shown in Figure 1, it is a schematic structural view of the cleaning equipment provided by an embodiment of the present application. The cleaning equipment can be a floor washing machine, a sweeping machine, etc., which can clean the surface to be cleaned. This embodiment does not make any reference to the equipment type of the cleaning equipment. limited. Wherein, the surface to be cleaned may be the ground, a desktop, a wall, a surface of a solar cell, etc., and the type of the surface to be cleaned is not limited in this embodiment.
根据图1可知，清洁设备至少包括：清洁机构110、清水箱120、输水机构130、污水箱140、抽水机构150和处理器160。According to FIG. 1 , the cleaning equipment at least includes: a cleaning mechanism 110 , a clean water tank 120 , a water delivery mechanism 130 , a sewage tank 140 , a pumping mechanism 150 and a processor 160 .
清洁机构110在清洁设备执行清洁工作时与待清洁表面接触，以对待清洁表面进行清洁。清洁机构110为清洁设备进行自清洁时的清洁对象。The cleaning mechanism 110 contacts the surface to be cleaned when the cleaning device performs cleaning work, so as to clean the surface to be cleaned. The cleaning mechanism 110 is the cleaning object when the cleaning device performs self-cleaning.
可选地，清洁机构可以为毛刷、滚刷或者抹布等，清洁机构的数量可以为一个或至少两个，本实施例不对清洁机构的实现方式和数量作限定。Optionally, the cleaning mechanism may be a brush, a rolling brush, or a rag, and the number of the cleaning mechanism may be one or at least two. This embodiment does not limit the implementation manner and number of the cleaning mechanism.
一般地，清洁机构110安装在清洁设备底部，比如：安装在底部中心位置、底部前端、和/或底部边缘等，本实施例不对清洁机构110的安装位置作限定。Generally, the cleaning mechanism 110 is installed at the bottom of the cleaning device, for example, at the center of the bottom, the front end of the bottom, and/or the edge of the bottom, etc. This embodiment does not limit the installation position of the cleaning mechanism 110 .
清水箱120用于存放具有清洁性质的液体，该液体可以为清水或者清洁液等，本实施例不对清水箱中存放的液体类型作限定。The clean water tank 120 is used to store liquid with cleaning properties, and the liquid may be clean water or cleaning liquid, etc., and the type of liquid stored in the clean water tank is not limited in this embodiment.
可选地，清水箱120包括一个或者至少两个容纳腔，在容纳腔的数量为至少两个时，不同容纳腔中存放的液体相同或不同。Optionally, the clean water tank 120 includes one or at least two accommodation chambers. When the number of accommodation chambers is at least two, the liquids stored in different accommodation chambers are the same or different.
输水机构130的一端与清水箱120相连，另一端朝向清洁机构110，以将清水箱中的液体输送至清洁机构。One end of the water delivery mechanism 130 is connected to the clean water tank 120, and the other end faces the cleaning mechanism 110, so as to deliver the liquid in the clean water tank to the cleaning mechanism.
示意性地，输水机构包括水泵和与水泵相连的输水管道。其中，水泵位于输水管道中，输水管道的一端与清水箱120相连、另一端朝向清洁机构110。Schematically, the water delivery mechanism includes a water pump and a water delivery pipeline connected to the water pump. Wherein, the water pump is located in the water delivery pipeline, one end of the water delivery pipeline is connected with the clean water tank 120 , and the other end faces the cleaning mechanism 110 .
抽水机构150用于将喷向清洁机构110后产生的污水抽取并输送至污水箱140。The pumping mechanism 150 is used for pumping the sewage generated after being sprayed to the cleaning mechanism 110 and transporting it to the sewage tank 140 .
示意性地，抽水机构包括吸水电机(或称主电机)和与吸水电机相连的吸水管道。其中，吸水电机位于吸水管道中，吸水管道的一端与污水箱140相连、另一端朝向清洁机构110。Schematically, the pumping mechanism includes a water suction motor (or main motor) and a water suction pipeline connected with the water suction motor. Wherein, the water suction motor is located in the water suction pipeline, one end of the water suction pipeline is connected with the sewage tank 140 , and the other end faces the cleaning mechanism 110 .
污水箱140与抽水机构150相连，并用于存放抽水机构150抽吸得到的污水。The sewage tank 140 is connected with the pumping mechanism 150 and is used for storing the sewage sucked by the pumping mechanism 150 .
输水机构130和抽水机构150分别与处理器160相连，以在处理器160的控制下，将清水箱120的液体输送至清洁机构110，以及将喷向清洁机构110后产生污水吸取至污水箱140。The water delivery mechanism 130 and the pumping mechanism 150 are respectively connected with the processor 160, so that under the control of the processor 160, the liquid in the clean water tank 120 is delivered to the cleaning mechanism 110, and the sewage generated after spraying to the cleaning mechanism 110 is sucked into the sewage tank 140.
可选地，处理器160可以实现为单片机或者微型计算机，本实施例不对处理器160的实现方式作限定。Optionally, the processor 160 may be implemented as a single-chip microcomputer or a microcomputer, and this embodiment does not limit the implementation manner of the processor 160 .
本实施例中，处理器160用于：响应于接收到第一自清洁指令，重复执行以下各步骤，直至完成清洁设备的自清洁过程：控制抽水机构和输水机构对清洁设备上的清洁机构执行第一清洁动作；控制抽水机构和输水机构对清洁机构执行第二清洁动作。In this embodiment, the processor 160 is configured to: in response to receiving the first self-cleaning instruction, repeatedly execute the following steps until the self-cleaning process of the cleaning device is completed: control the pumping mechanism and the water delivery mechanism to the cleaning mechanism on the cleaning device Execute the first cleaning action; control the pumping mechanism and the water delivery mechanism to perform the second cleaning action on the cleaning mechanism.
其中，第二清洁动作向清洁机构的喷水量小于第一清洁动作向清洁机构的喷水量、且第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量。Wherein, the amount of water sprayed by the second cleaning action to the cleaning mechanism is smaller than the amount of water sprayed by the first cleaning action to the cleaning mechanism, and the amount of water absorbed by the second cleaning action is greater than the amount of water absorbed by the sewage by the first cleaning action .
可选地，为了实现对清水箱120中的水量进行监控，清水箱120中设置有第一传感器170，以获取清水箱的第一水量。第一传感器170可以为激光传感器、电容传感器、雷达传感器或者图像传感器，本实施例不对第一传感器170的类型作限定。Optionally, in order to monitor the water volume in the clean water tank 120, a first sensor 170 is disposed in the clean water tank 120 to obtain the first water volume of the clean water tank. The first sensor 170 may be a laser sensor, a capacitive sensor, a radar sensor or an image sensor, and the type of the first sensor 170 is not limited in this embodiment.
可选地，为了实现对污水箱140中的水量进行监控，污水箱140中设置有第二传感器180，以获取污水箱的第二水量。第二传感器180的类型与第一传感器170的类型相同或不同，第二传感器180可以为激光传感器、电容传感器、雷达传感器或者图像传感器，本实施例不对第二传感器180的类型作限定。Optionally, in order to monitor the water volume in the sewage tank 140, a second sensor 180 is arranged in the sewage tank 140 to obtain the second water volume of the sewage tank. The type of the second sensor 180 is the same as or different from that of the first sensor 170 . The second sensor 180 may be a laser sensor, a capacitive sensor, a radar sensor or an image sensor. This embodiment does not limit the type of the second sensor 180 .
可选地，清洁设备上安装有预设传感器，该预设传感器用于确定清洁机构的脏污程度。其中，预设传感器的实现方式包括但不限于以下几种：Optionally, a preset sensor is installed on the cleaning device, and the preset sensor is used to determine the degree of dirt of the cleaning mechanism. Among them, the implementation of preset sensors includes but not limited to the following:
第一种：预设传感器为图像传感器。此时，图像传感器用于采集清洁机构的机构图像，以通过对机构图像进行图像识别，得到清洁机构的脏污程度。相应地，图像传感器的采集范围包括清洁机构。或者，图像传感器用于采集污水箱140的污水图像，以通过对污水图像进行图像识别，得到污水的脏污程度，该污水的脏污程度与清洁机构的脏污程度呈正相关关系。The first type: the preset sensor is an image sensor. At this time, the image sensor is used to collect the mechanism image of the cleaning mechanism, so as to obtain the degree of dirt of the cleaning mechanism by performing image recognition on the mechanism image. Correspondingly, the acquisition range of the image sensor includes the cleaning mechanism. Alternatively, the image sensor is used to collect the sewage image of the sewage tank 140 to obtain the degree of contamination of the sewage through image recognition of the sewage image, and the degree of contamination of the sewage is positively correlated with the degree of contamination of the cleaning mechanism.
第二种：预设传感器为红外传感器、和/或光电传感器。此时，预设传感器安装在抽水机构和/或污水箱内，以采集污水的透明程度，污水的透明程度与清洁机构的脏污程度呈负相关关系。The second type: the preset sensor is an infrared sensor and/or a photoelectric sensor. At this time, preset sensors are installed in the pumping mechanism and/or the sewage tank to collect the transparency of the sewage, and the transparency of the sewage is negatively correlated with the dirtiness of the cleaning mechanism.
在实际实现时，清洁设备还可以包括其它组件，比如：供电组件、机构驱动组件等，本实施例在此不对清洁设备包括的组件一一进行列举。In actual implementation, the cleaning device may also include other components, such as a power supply component, a mechanism driving component, etc., and this embodiment does not list all the components included in the cleaning device here.
由于传统的清洁方法只能对清洁机构进行简单的清洗，会导致对清洁机构的清洁效果不佳的问题。本实施例中，通过接收到清洁设备的自清洁指令，并重复执行第一清洁动作和第二清洁动作，使第二清洁动作的喷水量小于第一清洁动作的喷水量，第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量，完成自清洁过程，这样，一方面可以通过重复执行第一清洁动作和第二清洁动作对清洁机构进行多次清洗，提高清洁效果。另一方面，通过设置第一清洁动作的喷水量大于第二清洁动作的喷水量，以在执行第一清洁动作时主要对清洁机构进行喷水，可以在执行第一清洁动作时加大对清洁机构的浸湿力度，进一步提高清洁机构的清洁效果；同时，通过设置第二清洁动作的吸水量大于第一清洁动作的吸水量，以在执行第二清洁动作时主要吸收污水，可以在执行第二清洁动作时加大对污水的吸收力度，防止大量污水残留在清洁机构上，进一步提高清洁机构的清洁效果。Since the traditional cleaning method can only simply clean the cleaning mechanism, it will lead to the problem of poor cleaning effect on the cleaning mechanism. In this embodiment, by receiving the self-cleaning instruction of the cleaning device, and repeatedly executing the first cleaning action and the second cleaning action, the water spray volume of the second cleaning action is smaller than the water spray volume of the first cleaning action, and the second cleaning action The amount of water absorbed by the action to the sewage is greater than the amount of water absorbed by the first cleaning action to complete the self-cleaning process. In this way, on the one hand, the cleaning mechanism can be cleaned multiple times by repeatedly executing the first cleaning action and the second cleaning action , improve the cleaning effect. On the other hand, by setting the water spray volume of the first cleaning action to be greater than the water spray volume of the second cleaning action, so as to mainly spray water to the cleaning mechanism when performing the first cleaning action, it is possible to increase the The wetting strength of the cleaning mechanism further improves the cleaning effect of the cleaning mechanism; at the same time, by setting the water absorption of the second cleaning action to be greater than the water absorption of the first cleaning action, the sewage is mainly absorbed during the second cleaning action. When the second cleaning action is performed, the absorption of sewage is increased to prevent a large amount of sewage from remaining on the cleaning mechanism, and further improve the cleaning effect of the cleaning mechanism.
下面对本申请提供的清洁设备的自清洁方法进行详细介绍。The self-cleaning method of the cleaning equipment provided by the present application will be described in detail below.
本实施例提供的一种清洁设备的自清洁方法，如图2所示。本实施例以该方法用于图1所示的清洁设备中为例进行说明。在其它实施例中，也可以由与清洁设备通信相连的其它设备执行，如：通过手机、计算机、平板电脑等设备远程控制清洁设备实现，本实施例不对其它设备的实现方式以及各个实施例的执行主体作限定。该自清洁方法至少包括以下几个步骤：A self-cleaning method for cleaning equipment provided in this embodiment is shown in FIG. 2 . In this embodiment, the method is used in the cleaning equipment shown in FIG. 1 as an example for illustration. In other embodiments, it can also be executed by other devices connected to the cleaning device in communication, such as: remote control of the cleaning device through mobile phones, computers, tablet computers and other devices. The subject of execution is limited. The self-cleaning method at least includes the following steps:
步骤201，响应于接收到第一自清洁指令，重复执行步骤202和203，直至完成清洁设备的自清洁过程。Step 201 , in response to receiving a first self-cleaning instruction, repeatedly execute steps 202 and 203 until the self-cleaning process of the cleaning device is completed.
清洁设备接收自清洁指令的方式包括但不限于以下几种：The ways in which cleaning equipment receives self-cleaning instructions include but are not limited to the following:
第一种：清洁设备安装有自清洁按键。相应地，清洁设备在接收到作用于自清洁按键的触发操作的情况下，生成自清洁指令。The first type: the cleaning device is equipped with a self-cleaning button. Correspondingly, the cleaning device generates a self-cleaning instruction when receiving a trigger operation acting on the self-cleaning button.
其中，自清洁按键可以为安装在清洁设备上的物理按键，或者也可以是通过触摸显示屏显示的虚拟按键，本实施例不对自清洁按键的实现方式作限定。Wherein, the self-cleaning button may be a physical button installed on the cleaning device, or may also be a virtual button displayed through a touch screen, and this embodiment does not limit the implementation of the self-cleaning button.
第二种：清洁设备在检测到与基站对接后，生成自清洁指令。基站用于为清洁设备充电。The second type: After the cleaning device detects that it is docked with the base station, it generates a self-cleaning instruction. The base station is used to charge the cleaning equipment.
第三种：清洁设备接收其它设备发送的自清洁指令。其它设备与清洁设备通信相连，该其它设备可以为遥控器、手机、平板电脑、可穿戴式设备等，本实施例不对其它设备的设备类型作限定。The third type: the cleaning device receives self-cleaning instructions sent by other devices. Other devices are communicatively connected to the cleaning device, and the other devices may be remote controllers, mobile phones, tablet computers, wearable devices, etc. This embodiment does not limit the types of other devices.
在实际实现时，清洁设备获取自清洁指令的方式也可以为其它方式，本实施例不对自清洁指令的获取方式作限定。In actual implementation, the manner in which the cleaning device obtains the self-cleaning instruction may also be in other manners, and this embodiment does not limit the manner in which the self-cleaning instruction is obtained.
可选地，在重复执行步骤202和203的过程中，清洁设备需要确定自清洁过程是否完成。Optionally, during the process of repeatedly executing steps 202 and 203, the cleaning device needs to determine whether the self-cleaning process is completed.
清洁设备确定自清洁过程是否完成的步骤可以在步骤202之后执行，或者也可以在步骤203之后执行，或者也可以与步骤202和203同步执行，本实施例不对清洁设备确定自清洁过程是否完成的时机作限定。The step of determining whether the self-cleaning process is completed by the cleaning device may be performed after step 202, or may be performed after step 203, or may be performed simultaneously with steps 202 and 203. This embodiment does not determine whether the self-cleaning process is completed for the cleaning device Time is limited.
清洁设备确定自清洁过程是否完成，包括：当清洁设备的自清洁状态满足预设条件时，确定完成清洁设备的自清洁过程。当清洁设备的自清洁状态不满足预设条件时，确定自清洁过程未完成，继续执行步骤202或203。The cleaning device determines whether the self-cleaning process is completed, including: determining that the self-cleaning process of the cleaning device is completed when the self-cleaning state of the cleaning device meets a preset condition. When the self-cleaning state of the cleaning device does not meet the preset condition, it is determined that the self-cleaning process is not completed, and step 202 or 203 is continued.
或者，当清洁设备的自清洁状态满足预设条件、且最后一次执行的清洁动作为第二清洁动作时，确定完成清洁设备的自清洁过程。当清洁设备的自清洁状态不满足预设条件、或者自清洁状态满足预设条件但是最后一次执行的清洁动作不是第二清洁动作时，确定自清洁过程未完成，继续执行步骤202或203。Alternatively, when the self-cleaning state of the cleaning device satisfies the preset condition and the last cleaning action performed is the second cleaning action, it is determined that the self-cleaning process of the cleaning device is completed. When the self-cleaning state of the cleaning device does not meet the preset condition, or the self-cleaning state meets the preset condition but the last cleaning action performed is not the second cleaning action, it is determined that the self-cleaning process is not completed, and continue to perform step 202 or 203 .
可选地，当清洁设备的自清洁状态满足预设条件时，确定完成清洁设备的自清洁过程，包括但不限于以下几种方式：Optionally, when the self-cleaning state of the cleaning device satisfies a preset condition, it is determined to complete the self-cleaning process of the cleaning device, including but not limited to the following methods:
第一种：通过预设传感器采集并确定清洁机构的脏污程度；响应于检测到清洁机构的脏污程度满足脏污条件，确定清洁设备的自清洁状态满足预设条件。The first method: collecting and determining the degree of dirtiness of the cleaning mechanism through a preset sensor; in response to detecting that the degree of dirtiness of the cleaning mechanism meets the dirt condition, it is determined that the self-cleaning state of the cleaning device meets the preset condition.
示意性地，脏污条件为预存在清洁设备中的脏污阈值。此时，在脏污程度小于该脏污阈值的情况下，确定清洁机构的脏污程度满足脏污条件；在脏污程度大于或等于该脏污阈值的情况下，确定清洁机构的脏污程度不满足脏污条件。Schematically, the dirty condition is a dirty threshold pre-stored in the cleaning device. At this point, if the degree of dirtiness is less than the dirt threshold, it is determined that the degree of dirtiness of the cleaning mechanism satisfies the dirty condition; Dirty conditions are not met.
第二种：记录第一清洁动作及第二清洁动作的执行次数；当执行次数满足次数条件时，确定清洁设备的自清洁状态满足预设条件。The second type: recording the execution times of the first cleaning action and the second cleaning action; when the execution times meet the number condition, it is determined that the self-cleaning state of the cleaning device meets the preset condition.
示意性地，第一清洁动作对应的次数条件与第二清洁动作对应的次数条件相同或不同。Schematically, the frequency condition corresponding to the first cleaning action is the same as or different from the frequency condition corresponding to the second cleaning action.
若第一清洁动作对应的次数条件与第二清洁动作对应的次数条件不同，则当执行次数满足次数条件时，确定清洁设备的自清洁状态满足预设条件，包括：在第一清洁动作的执行次数不满足第一清洁动作对应的次数条件、且第二清洁动作的执行次数满足第二清洁动作对应的次数条件时，触发执行步骤202，直至第一清洁动作的执行次数满足第一清洁动作对应的次数条件，确定清洁设备的自清洁状态满足预设条件。If the frequency condition corresponding to the first cleaning action is different from the frequency condition corresponding to the second cleaning action, then when the execution frequency meets the frequency condition, it is determined that the self-cleaning state of the cleaning device meets the preset condition, including: When the number of times does not meet the number of times condition corresponding to the first cleaning action, and the number of execution times of the second cleaning action meets the number of times condition corresponding to the second cleaning action, trigger the execution of step 202 until the number of execution times of the first cleaning action satisfies the number of times corresponding to the first cleaning action The number of times condition is determined to determine that the self-cleaning state of the cleaning device meets the preset condition.
或者，在第一清洁动作的执行次数满足第一清洁动作对应的次数条件、且第二清洁动作的执行次数不满足第二清洁动作对应的次数条件时，触发执行步骤203，直至第二清洁动作的执行次数满足第二清洁动作对应的次数条件，确定清洁设备的自清洁状态满足预设条件。Or, when the number of executions of the first cleaning action satisfies the condition of the number of times corresponding to the first cleaning action, and the number of times of execution of the second cleaning action does not meet the condition of the number of times corresponding to the second cleaning action, trigger the execution of step 203 until the second cleaning action The execution times of the second cleaning action satisfy the condition of the number of times corresponding to the second cleaning action, and it is determined that the self-cleaning state of the cleaning device meets the preset condition.
或者，在第一清洁动作的执行次数不满足第一清洁动作对应的次数条件、且第二清洁动作的执行次数不满足第二清洁动作对应的次数条件时，按顺序触发执行步骤202和203，直至第一清洁动作的执行次数满足第一清洁动作对应的次数条件、且第二清洁动作的执行次数满足第二清洁动作对应的次数条件，确定清洁设备的自清洁状态满足预设条件。Or, when the execution times of the first cleaning action do not meet the number condition corresponding to the first cleaning action, and the execution times of the second cleaning action do not meet the number condition corresponding to the second cleaning action, execute steps 202 and 203 in sequence, Until the execution times of the first cleaning action meet the number condition corresponding to the first cleaning action, and the execution times of the second cleaning action meet the number condition corresponding to the second cleaning action, it is determined that the self-cleaning state of the cleaning device meets the preset condition.
可选地，清洁设备获取到自清洁指令后，还可以确定是否执行自清洁过程。在确定出执行自清洁过程的情况下，执行步骤202和203，直至自清洁过程完成时停止；在确定出不执行自清洁过程的情况下，流程结束，或者输出异常提示。其中，异常提示用于提示清洁设备无法执行自清洁过程。Optionally, after the cleaning device acquires the self-cleaning instruction, it may also determine whether to perform the self-cleaning process. If it is determined to perform the self-cleaning process, execute steps 202 and 203 until the self-cleaning process is completed; if it is determined not to perform the self-cleaning process, the process ends, or an abnormal prompt is output. Wherein, the abnormal prompt is used to prompt that the cleaning device cannot perform the self-cleaning process.
异常提示可以为音频提示、或者灯光提示、或者向其它设备发送通讯消息等，本实施例不对异常提示的输出方式作限定。The abnormal prompt can be an audio prompt, or a light prompt, or send a communication message to other devices, etc. This embodiment does not limit the output mode of the abnormal prompt.
在一个示例中，清洁设备确定是否执行自清洁过程，包括：获取清水箱的第一水量和污水箱的第二水量；基于第一水量和第二水量，确定是否执行自清洁过程。In an example, the cleaning device determines whether to perform the self-cleaning process, including: acquiring a first water volume of the clean water tank and a second water volume of the dirty water tank; and determining whether to perform the self-cleaning process based on the first water volume and the second water volume.
本示例中，基于清水箱污水箱的水量确定是否对清洁机构进行清洁，保证了在清洁设备的清洁过程清水箱的水量充足，且污水箱的水量不会溢出，可以避免清洁过程中因为清水水量不足或者污水过多导致清洁过程中断的问题。In this example, it is determined whether to clean the cleaning mechanism based on the water volume of the clean water tank and the sewage tank, so as to ensure that the water volume of the clean water tank is sufficient during the cleaning process of the cleaning equipment, and the water volume of the sewage tank will not overflow, which can avoid the cleaning process due to the amount of clean water. Insufficient or excessive waste water interrupts the cleaning process.
其中，基于第一水量和第二水量，确定是否执行自清洁过程，包括：在第一水量大于第一水量阈值、且第二水量小于第二数量阈值的情况下，确定对清洁机构进行清洁。在第一水量小于或等于第一水量阈值、或者第二水量大于第二水量阈值的情况下，确定不对清洁机构进行清洁。Wherein, determining whether to perform the self-cleaning process based on the first water volume and the second water volume includes: determining to clean the cleaning mechanism when the first water volume is greater than the first water volume threshold and the second water volume is less than the second water volume threshold. If the first water volume is less than or equal to the first water volume threshold, or the second water volume is greater than the second water volume threshold, it is determined not to clean the cleaning mechanism.
在其它实施例中，清洁设备也可以检测供电组件的电量是否达到电量阈值；在达到电量阈值的情况下，确定执行自清洁过程，本实施例不对清洁设备确定是否执行自清洁过程的方式作限定。In other embodiments, the cleaning device can also detect whether the power of the power supply component reaches the power threshold; in the case of reaching the power threshold, it is determined to perform the self-cleaning process, and this embodiment does not limit the way the cleaning device determines whether to perform the self-cleaning process .
步骤202，对清洁设备上的清洁机构执行第一清洁动作。Step 202, perform a first cleaning action on the cleaning mechanism on the cleaning device.
随着第一清洁动作的执行次数的增多，清洁机构的脏污程度越来越低。基于此，为了节省清水箱中的水量，本实施例中，第一清洁动作的喷水量与第一清洁动作的执行次数呈负相关关系。As the number of executions of the first cleaning action increases, the degree of dirtiness of the cleaning mechanism becomes lower and lower. Based on this, in order to save the amount of water in the clean water tank, in this embodiment, the amount of water sprayed in the first cleaning action is negatively correlated with the number of execution times of the first cleaning action.
在其它实施例中，每次执行第一清洁动作时的喷水量也可以保持不变，或者，第一清洁动作每执行n次，则喷水量调小一次，n正整数，本实施例不对每次第一清洁动作执行时对应的喷水量作限定。In other embodiments, the amount of water sprayed each time the first cleaning action is performed can also remain unchanged, or the amount of water sprayed is reduced once every n times the first cleaning action is performed, and n is a positive integer. There is no limitation on the amount of sprayed water corresponding to each execution of the first cleaning action.
在一个示例中，对清洁设备上的清洁机构执行第一清洁动作，包括：控制清洁机构与输水机构共同工作，输水机构的输水方向朝向清洁机构。In an example, performing the first cleaning action on the cleaning mechanism on the cleaning device includes: controlling the cleaning mechanism to work together with the water delivery mechanism, and the water delivery direction of the water delivery mechanism faces the cleaning mechanism.
可选地，在清洁机构与输水机构共同工作的过程中，抽水机构也可以工作，但是，第一清洁动作中抽水机构的功率低于第二清洁动作中抽水机构的功率。换言之，在执行第一清洁动作时，主要向清洁机构喷水。Optionally, when the cleaning mechanism and the water delivery mechanism work together, the pumping mechanism can also work, but the power of the pumping mechanism in the first cleaning action is lower than that in the second cleaning action. In other words, when performing the first cleaning action, water is mainly sprayed to the cleaning mechanism.
可选地，清洁设备中存储有第一清洁动作的第一结束条件，在第一清洁动作的执行状态达到该第一结束条件的情况下，执行步骤203；在第一清洁动作的执行状态未达到该第一结束条件的情况下，继续步骤202。Optionally, the first end condition of the first cleaning action is stored in the cleaning device, and if the execution state of the first cleaning action reaches the first end condition, step 203 is executed; When the first end condition is met, continue to step 202 .
第一结束条件包括但不限于：执行时长达到第一时长阈值，或者，本次清洁的清洁程度达到第一程度阈值，或者，喷水量大于第一水量阈值等，本实施例不对第一结束条件的实现方式作限定。The first end condition includes but is not limited to: the execution time reaches the first duration threshold, or the cleaning degree of this cleaning reaches the first degree threshold, or the water spray volume is greater than the first water volume threshold, etc., this embodiment does not apply to the first end The implementation of the condition is limited.
其中，清洁程度可以为本次清洁动作执行之前的脏污程度与清洁动作执行过程中当前脏污程度之差。Wherein, the degree of cleanliness may be the difference between the degree of dirt before the execution of the current cleaning action and the current degree of dirt during the execution of the cleaning action.
步骤203，对清洁机构执行第二清洁动作；第二清洁动作向清洁机构的喷水量小于第一清洁动作向清洁机构的喷水量、且第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量。Step 203, perform a second cleaning action on the cleaning mechanism; the amount of water sprayed to the cleaning mechanism by the second cleaning action is less than the amount of water sprayed by the first cleaning action to the cleaning mechanism, and the amount of water absorbed by the second cleaning action to the sewage is greater than that of the first cleaning action The amount of water absorbed by the sewage in a cleaning action.
换言之，在执行第二清洁动作时，主要吸收污水。In other words, when performing the second cleaning action, sewage is mainly absorbed.
在一个示例中，对清洁机构执行第二清洁动作，包括：控制清洁机构与抽水机构共同工作。In an example, performing the second cleaning action on the cleaning mechanism includes: controlling the cleaning mechanism and the pumping mechanism to work together.
可选地，在清洁机构与抽水机构共同工作的过程中，输水机构也可以工作，但是，第二清洁动作中输水机构的功率低于第一清洁动作中输水机构的功率。Optionally, when the cleaning mechanism and the pumping mechanism work together, the water delivery mechanism can also work, however, the power of the water delivery mechanism in the second cleaning action is lower than the power of the water delivery mechanism in the first cleaning action.
可选地，清洁设备中存储有第二清洁动作的第二结束条件，在第二清洁动作的执行状态达到该第二结束条件的情况下，执行步骤201；在第二清洁动作的执行状态未达到该第二结束条件的情况下，继续步骤203。Optionally, a second end condition of the second cleaning action is stored in the cleaning device, and if the execution state of the second cleaning action reaches the second end condition, step 201 is executed; When the second end condition is met, continue to step 203 .
第二结束条件包括但不限于：执行时长达到第二时长阈值，或者，本次清洁的清洁程度达到第二程度阈值，或者，喷水量大于第二水量阈值等，本实施例不对第二结束条件的实现方式作限定。The second end conditions include but are not limited to: the execution time reaches the second duration threshold, or the cleaning degree of this cleaning reaches the second degree threshold, or the water spray volume is greater than the second water volume threshold, etc., this embodiment does not apply to the second end The implementation of the condition is limited.
可选地，清洁设备具有清洁机构检测功能，清洁机构检测功能用于检测清洁机构是否安装。由于清洁设备与基站对接后，清洁机构通常会与清洁设备存在间隙，该间隙使得清洁机构检测功能的检测结果为清洁机构未安装。此时，清洁设备基于该检测结果无法控制清洁机构运转。基于此，清洁设备响应于接收到第一自清洁指令，关闭清洁机构检测功能。这样，清洁机构检测功能关闭，不会输出清洁机构未安装的结果，可以保证自清洁过程中对清洁机构的控制。Optionally, the cleaning device has a cleaning mechanism detection function, and the cleaning mechanism detection function is used to detect whether the cleaning mechanism is installed. After the cleaning device is docked with the base station, there is usually a gap between the cleaning mechanism and the cleaning device, and the gap makes the detection result of the cleaning mechanism detection function that the cleaning mechanism is not installed. At this time, the cleaning device cannot control the operation of the cleaning mechanism based on the detection result. Based on this, the cleaning device turns off the cleaning mechanism detection function in response to receiving the first self-cleaning instruction. In this way, the detection function of the cleaning mechanism is turned off, and the result that the cleaning mechanism is not installed will not be output, which can ensure the control of the cleaning mechanism during the self-cleaning process.
可选地，清洁设备中设置有至少两种自清洁模式，该至少两种自清洁模式包括第一自清洁模式和第二自清洁模式。其中，第一自清洁模式即通过执行步骤201至203实现自清洁的模式。第二自清洁模式为对清洁机构以预设喷水量进行喷水，同时以预设吸水量进行吸水的模式。Optionally, at least two self-cleaning modes are set in the cleaning device, and the at least two self-cleaning modes include a first self-cleaning mode and a second self-cleaning mode. Wherein, the first self-cleaning mode is a mode in which self-cleaning is realized by performing steps 201 to 203 . The second self-cleaning mode is a mode in which the cleaning mechanism sprays water with a preset water spraying amount and at the same time absorbs water with a preset water absorption amount.
此时，在步骤201之前，清洁设备确定是否启动第一自清洁模式；在确定出启动第一自清洁模式的情况下，执行步骤201-203；在确定出不启动第一自清洁模式的情况下，按照第二自清洁模式进行自清洁。At this time, before step 201, the cleaning device determines whether to start the first self-cleaning mode; if it is determined to start the first self-cleaning mode, perform steps 201-203; if it is determined not to start the first self-cleaning mode Next, perform self-cleaning according to the second self-cleaning mode.
其中，按照第二自清洁模式进行自清洁，包括：响应于第二自清洁指令，对清洁机构以预设喷水量进行喷水，同时以预设吸水量进行吸水。Wherein, performing self-cleaning according to the second self-cleaning mode includes: responding to the second self-cleaning command, spraying water to the cleaning mechanism with a preset water spraying amount, and simultaneously absorbing water with a preset water absorption amount.
在第二自清洁模式下，输水机构和吸水机构的功率保持不变。In the second self-cleaning mode, the power of the water delivery mechanism and the water suction mechanism remains unchanged.
清洁设备确定是否启动第一自清洁模式的方式，包括但不限于以下几种：The cleaning equipment determines whether to start the first self-cleaning mode, including but not limited to the following:
第一种：清洁设备上安装有第一自清洁模式设置按键。此时，在接收到作用于第一自清洁模式设备按键的启动操作的情况下，确定启动第一自清洁模式。The first type: the first self-cleaning mode setting button is installed on the cleaning device. At this time, in the case of receiving an activation operation acting on the key of the device in the first self-cleaning mode, it is determined to activate the first self-cleaning mode.
第二种：清洁设备识别清洁机构的脏污程度，在脏污程度大于一定阈值的情况下，确定启动第一自清洁模式；在脏污程度小于或等于一定阈值的情况下，确定不启动第一自清洁模式。The second type: the cleaning device identifies the degree of dirtiness of the cleaning mechanism, and when the degree of dirtiness is greater than a certain threshold, it is determined to start the first self-cleaning mode; when the degree of dirtiness is less than or equal to a certain threshold, it is determined not to start the first self-cleaning mode A self-cleaning mode.
在实际实现时，清洁设备确定是否启动第一自清洁模式的方式也可以是其它方式，本实施例在此不再一一列举。In actual implementation, the manner in which the cleaning device determines whether to activate the first self-cleaning mode may also be in other manners, which will not be listed here in this embodiment.
为了更清楚地理解本实施例提供的自清洁方法，下面对该方法举一个实例进行说明，如图3所示，该自清洁方法至少包括步骤31-34：In order to understand the self-cleaning method provided in this embodiment more clearly, an example of the method is given below to illustrate the method. As shown in FIG. 3, the self-cleaning method includes at least steps 31-34:
步骤31，确定是否执行第一自清洁模式，若是，则执行步骤33；若否，则执行步骤32。Step 31, determine whether to execute the first self-cleaning mode, if yes, execute step 33; if not, execute step 32.
步骤32，以预设喷水量进行喷水，同时以预设吸水量进行吸水，以执行第二自清洁模式，在自清洁过程结束时结束自清洁。Step 32, spray water with a preset water spraying amount, and at the same time absorb water with a preset water absorption amount, so as to execute the second self-cleaning mode, and end the self-cleaning process when the self-cleaning process ends.
第二自清洁模式下，确定自清洁过程是否完成，包括：通过预设传感器采集并确定清洁机构的脏污程度；响应于检测到清洁机构的脏污程度满足脏污条件，确定清洁设备的自清洁过程结束；或者，第二自清洁模式的工作时长达到设定时长，确定清洁设备的自清洁过程结束，在实际实现时，自清洁过程完成的确定方式也可以是其它方式，本实施例在此不再赘述。In the second self-cleaning mode, determining whether the self-cleaning process is completed includes: collecting and determining the degree of dirt of the cleaning mechanism through a preset sensor; The cleaning process is over; or, the working time of the second self-cleaning mode reaches the set time, and it is determined that the self-cleaning process of the cleaning device is over. This will not be repeated here.
步骤33，循环执行第一清洁动作和第二清洁动作，以执行第一自清洁模式，在自清洁过程结束时结束自清洁。Step 33, execute the first cleaning action and the second cleaning action cyclically to execute the first self-cleaning mode, and end the self-cleaning when the self-cleaning process ends.
综上所述，本实施例提供的清洁设备的自清洁方法，通过响应于接收到第一自清洁指令，重复执行以下各步骤，直至完成清洁设备的自清洁过程：对清洁设备上的清洁机构执行第一清洁动作；对清洁机构执行第二清洁动作；可以解决传统的清洁方法只能对清洁机构进行简单的清洗，对清洁机构的清洁效果不佳的问题；通过接收到清洁设备的自清洁指令，并重复执行第一清洁动作和第二清洁动作，使第二清洁动作的喷水量小于第一清洁动作的喷水量，第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量，完成自清洁过程，这样，一方面可以通过重复执行第一清洁动作和第二清洁动作对清洁机构进行多次清洗，提高清洁效果。另一方面，通过设置第一清洁动作的喷水量大于第二清洁动作的喷水量，以在执行第一清洁动作时主要对清洁机构进行喷水，可以在执行第一清洁动作时加大对清洁机构的浸湿力度，进一步提高清洁机构的清洁效果；同时，通过设置第二清洁动作的吸水量大于第一清洁动作的吸水量，以在执行第二清洁动作时主要吸收污水，可以在执行第二清洁动作时加大对污水的吸收力度，防止大量污水残留在清洁机构上，进一步提高清洁机构的清洁效果。To sum up, in the self-cleaning method of the cleaning device provided in this embodiment, the following steps are repeatedly executed in response to receiving the first self-cleaning instruction until the self-cleaning process of the cleaning device is completed: the cleaning mechanism on the cleaning device Execute the first cleaning action; perform the second cleaning action on the cleaning mechanism; it can solve the problem that the traditional cleaning method can only simply clean the cleaning mechanism, and the cleaning effect on the cleaning mechanism is not good; by receiving the self-cleaning of the cleaning equipment Instructions, and repeatedly execute the first cleaning action and the second cleaning action, so that the water spray volume of the second cleaning action is less than that of the first cleaning action, and the water absorption of the second cleaning action is greater than that of the first cleaning action The amount of water absorbed by the sewage is used to complete the self-cleaning process. In this way, on the one hand, the cleaning mechanism can be cleaned multiple times by repeatedly performing the first cleaning action and the second cleaning action to improve the cleaning effect. On the other hand, by setting the water spray volume of the first cleaning action to be greater than the water spray volume of the second cleaning action, so as to mainly spray water to the cleaning mechanism when performing the first cleaning action, it is possible to increase the The wetting strength of the cleaning mechanism further improves the cleaning effect of the cleaning mechanism; at the same time, by setting the water absorption of the second cleaning action to be greater than the water absorption of the first cleaning action, the sewage is mainly absorbed during the second cleaning action. When the second cleaning action is performed, the absorption of sewage is increased to prevent a large amount of sewage from remaining on the cleaning mechanism, and further improve the cleaning effect of the cleaning mechanism.
另外，随着第一清洁动作的执行次数的增多，清洁机构的脏污程度越来越低，通过设置第一清洁动作的喷水量与第一清洁动作的执行次数呈负相关关系，可以节省清水箱中的水量。In addition, as the number of executions of the first cleaning action increases, the degree of dirtiness of the cleaning mechanism becomes lower and lower. By setting the water spray volume of the first cleaning action and the number of executions of the first cleaning action to have a negative correlation, it can save The volume of water in the solution tank.
另外，通过设置当清洁设备的自清洁状态满足预设条件时，确定完成清洁设备的自清洁过程，可以避免清洁设备在没有人为干预的情况下无限次数地循环执行第一清洁动作和第二清洁动作的问题，节省清洁设备的设备资源，提高清洁设备的自动化程度。In addition, by setting when the self-cleaning state of the cleaning device meets the preset conditions, it is determined that the self-cleaning process of the cleaning device is completed, which can prevent the cleaning device from performing the first cleaning action and the second cleaning indefinitely without human intervention. Action problems, save equipment resources for cleaning equipment, and improve the automation of cleaning equipment.
另外，通过设置在清洁机构的脏污程度满足脏污条件的情况下，确定清洁设备的自清洁状态满足预设条件，可以保证清洁设备在清洁机构清洗干净的情况下自动停止自清洁动作，从而保证自清洁效果。In addition, by determining that the self-cleaning state of the cleaning device satisfies the preset condition when the degree of dirtiness of the cleaning mechanism satisfies the dirty condition, it can be ensured that the cleaning device automatically stops the self-cleaning action when the cleaning mechanism is cleaned, thereby Guaranteed self-cleaning effect.
另外，通过设置当清洁设备的自清洁状态满足预设条件且最后一次执行的清洁动作为第二清洁动作时，确定完成清洁设备的自清洁过程，可以保证清洁设备最后一次执行的清洁动作能够将污水吸收干净，保证清洁设备的自清洁效果。In addition, by setting when the self-cleaning state of the cleaning device meets the preset conditions and the last cleaning action performed is the second cleaning action, it is determined that the self-cleaning process of the cleaning device is completed, which can ensure that the last cleaning action performed by the cleaning device can The sewage is absorbed cleanly to ensure the self-cleaning effect of the cleaning equipment.
另外，通过基于清水箱污水箱的水量确定是否对清洁机构进行清洁，保证了在清洁设备的清洁过程清水箱的水量充足，且污水箱的水量不会溢出，避免了清洁过程中因为清水水量不足或者污水过多导致清洁过程中断的问题。In addition, by determining whether to clean the cleaning mechanism based on the water volume of the clean water tank and the sewage tank, it is ensured that the water volume of the clean water tank is sufficient during the cleaning process of the cleaning equipment, and the water volume of the sewage tank will not overflow, avoiding the lack of clean water during the cleaning process. Or the problem of too much sewage causing interruption of the cleaning process.
另外，通过在清洁设备上设置第一自清洁模式和第二自清洁模式，使得清洁设备可以自适应地根据清洁需求设置对应的清洁模式，提高清洁设备的智能化程度。In addition, by setting the first self-cleaning mode and the second self-cleaning mode on the cleaning device, the cleaning device can adaptively set the corresponding cleaning mode according to the cleaning demand, thereby improving the intelligence of the cleaning device.
另外，由于清洁设备与基站对接后，清洁设备响应于接收到第一自清洁指令，关闭清洁机构检测功能。基于此，本实施例中，通过在自清洁过程中将清洁机构检测功能关闭，因此，清洁设备不会输出清洁机构未安装的结果，可以保证自清洁过程中对清洁机构的控制。In addition, after the cleaning device is docked with the base station, the cleaning device turns off the cleaning mechanism detection function in response to receiving the first self-cleaning instruction. Based on this, in this embodiment, by turning off the detection function of the cleaning mechanism during the self-cleaning process, the cleaning device will not output the result that the cleaning mechanism is not installed, which can ensure the control of the cleaning mechanism during the self-cleaning process.
图4是本申请一个实施例提供的清洁装置的框图，本实施例以该装置应用于图1所示的清洁设备中为例进行说明。该装置至少包括以下几个模块：重复执行模块410、第一执行模块420、第二执行模块430。FIG. 4 is a block diagram of a cleaning device provided by an embodiment of the present application. This embodiment is described by taking the device applied to the cleaning device shown in FIG. 1 as an example. The device at least includes the following modules: a repeated execution module 410 , a first execution module 420 , and a second execution module 430 .
重复执行模块410，用于响应于接收到第一自清洁指令，重复执行以下各步骤，直至完成清洁设备的自清洁过程；Repeat execution module 410, configured to repeatedly execute the following steps in response to receiving the first self-cleaning instruction until the self-cleaning process of the cleaning device is completed;
第一执行模块420，用于对清洁设备上的清洁机构执行第一清洁动作；The first executing module 420 is configured to execute a first cleaning action on the cleaning mechanism on the cleaning device;
第二执行模块430，用于对清洁机构执行第二清洁动作；第二清洁动作向清洁机构的喷水量小于第一清洁动作向清洁机构的喷水量、且第二清洁动作对污水进行吸取的吸水量大于第一清洁动作对污水进行吸取的吸水量；The second execution module 430 is used to perform a second cleaning action on the cleaning mechanism; the amount of water sprayed to the cleaning mechanism by the second cleaning action is less than the amount of water sprayed to the cleaning mechanism by the first cleaning action, and the second cleaning action absorbs sewage The amount of water absorbed is greater than the amount of water absorbed by the sewage in the first cleaning action;
相关细节参考上述实施例。Relevant details refer to the above-mentioned examples.
需要说明的是：上述实施例中提供的清洁装置在进行自清洁时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将清洁装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的清洁装置与自清洁方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。It should be noted that when the cleaning device provided in the above embodiment performs self-cleaning, the division of the above-mentioned functional modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional modules according to needs. That is, the internal structure of the cleaning device is divided into different functional modules to complete all or part of the functions described above. In addition, the cleaning device and the self-cleaning method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, and will not be repeated here.
本实施例提供一种清洁设备，如图5所示，该清洁设备可以为图1中的清洁设备。该清洁设备至少包括处理器501和存储器502。This embodiment provides a cleaning device, as shown in FIG. 5 , the cleaning device may be the cleaning device in FIG. 1 . The cleaning device includes at least a processor 501 and a memory 502 .
处理器501可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器501可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器501也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central ProcessingUnit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器501可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器501还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 501 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. The processor 501 may also include a main processor and a coprocessor, the main processor is a processor for processing data in the wake-up state, and is also called a CPU (Central Processing Unit, central processing unit); the coprocessor is used to Low-power processor for processing data in standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing content that needs to be displayed on the display screen. In some embodiments, the processor 501 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is configured to process computing operations related to machine learning.
存储器502可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器502还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器502中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器501所执行以实现本申请中方法实施例提供的自清洁方法。Memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 501 to realize the self-cleaning provided by the method embodiments of the present application. method.
在一些实施例中，清洁设备还可选包括有：外围设备接口和至少一个外围设备。处理器501、存储器502和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。In some embodiments, the cleaning device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface may be connected through a bus or a signal line. Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board. Schematically, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.
当然，清洁设备还可以包括更少或更多的组件，本实施例对此不作限定。Of course, the cleaning device may also include fewer or more components, which is not limited in this embodiment.
可选地，本申请还提供有一种计算机可读存储介质，计算机可读存储介质中存储有程序，程序由处理器加载并执行以实现上述方法实施例的自清洁方法。Optionally, the present application also provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the self-cleaning method of the above method embodiment.
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059811.3ACN116491863A (en) | 2022-01-19 | 2022-01-19 | Self-cleaning method for cleaning equipment, cleaning device, equipment and storage medium |
| PCT/CN2023/070361WO2023138368A1 (en) | 2022-01-19 | 2023-01-04 | Self-cleaning method for cleaning device, cleaning apparatus, and device and storage medium |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210059811.3ACN116491863A (en) | 2022-01-19 | 2022-01-19 | Self-cleaning method for cleaning equipment, cleaning device, equipment and storage medium |
| Publication Number | Publication Date |
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| CN116491863Atrue CN116491863A (en) | 2023-07-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210059811.3APendingCN116491863A (en) | 2022-01-19 | 2022-01-19 | Self-cleaning method for cleaning equipment, cleaning device, equipment and storage medium |
| Country | Link |
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| CN (1) | CN116491863A (en) |
| WO (1) | WO2023138368A1 (en) |
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