CN118078137A

CN118078137A - Cleaning disc self-cleaning method, automatic cleaning device, storage medium and electronic device

Info

Publication number: CN118078137A
Application number: CN202410168224.7A
Authority: CN
Inventors: 单建强
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2024-02-06
Filing date: 2024-02-06
Publication date: 2024-05-28

Abstract

The application provides a self-cleaning method of a cleaning disc, automatic cleaning equipment, a storage medium and electronic equipment, wherein the self-cleaning method of the cleaning disc comprises the following steps: controlling the water inlet device to inject cleaning fluid into the cleaning disc; and driving the cleaning element to generate relative displacement with the cleaning disc, so that the cleaning element drives the cleaning fluid to flow and wash the cleaning disc. The cleaning fluid is injected into the cleaning disc by controlling the water inlet device, so that the cleaning disc can be cleaned in the base station, and the operations of disassembling, conveying and installing the cleaning disc are avoided. Through drive cleaning element with the production of cleaning disc relative displacement makes cleaning element can drive cleaning fluid flows, and then erodees the cleaning disc has realized cleaning disc's self-cleaning, has avoided manual operation, and labour saving and time saving has improved the use experience.

Description

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

Technical Field

The application belongs to the technical field of automatic cleaning equipment, and particularly relates to a self-cleaning method for a cleaning disc, automatic cleaning equipment, a storage medium and electronic equipment.

Background

With the iterative updating and development of technology, self-moving automatic cleaning equipment has come into ordinary home life, such as popularization. In the current self-moving automatic cleaning equipment, the floor mopping machine and the sweeping and mopping integrated machine are popular with people because of having the function of mopping. In addition, the self-moving automatic cleaning device can stop the base station to clean the cleaning elements after completing a certain cleaning task or cleaning for a designated time.

Cleaning element washs in the washing dish of basic station, leads to the surface of wasing the dish and can remain the spot, and the washing dish generally needs 1-2 weeks to wash once, and among the prior art, the washing dish can be dismantled from the basic station, then washs the dish through the manual work with washing the dish area to water source department, installs the washing dish back on the basic station after wasing, and the cleaning process is wasted time and energy, leads to using experience relatively poor.

Disclosure of Invention

Therefore, the technical problem to be solved by the application is to provide a cleaning disc self-cleaning method, an automatic cleaning device, a storage medium and an electronic device, which can reduce manual operation and improve use experience.

In order to solve the above problems, the present application provides a self-cleaning method for a cleaning tray, comprising:

Controlling the water inlet device to inject cleaning fluid into the cleaning disc;

and driving the cleaning element to generate relative displacement with the cleaning disc, so that the cleaning element drives the cleaning fluid to flow and wash the cleaning disc.

Optionally, a liquid level detection device is arranged in the cleaning disc;

the control water inlet device injects cleaning fluid into the cleaning disc, comprising:

in the preset time, under the condition that the liquid level detection device detects that the cleaning fluid reaches the preset liquid level, controlling the water inlet device to continue to inject liquid according to a first liquid injection strategy;

And controlling the water inlet device to continue to inject liquid according to a second liquid injection strategy under the condition that the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time.

Optionally, when the liquid level detection device detects that the cleaning fluid reaches a preset liquid level in a preset time, the water inlet device is controlled to continue to inject liquid according to a first liquid injection strategy, including:

acquiring a first injection time period from the start of the water inlet device to the time when the cleaning fluid reaches the preset liquid level;

Determining a second injection duration based on the first injection duration;

Continuing to inject the cleaning fluid into the cleaning disc based on the second injection duration.

Optionally, the determining the second injection duration based on the first injection duration includes:

Obtaining an injection flow based on a known preset stock and the first injection duration, wherein the known preset stock is the stock of the cleaning fluid on the cleaning disc when the cleaning fluid reaches the preset liquid level;

and determining the second injection duration based on the injection flow.

Optionally, the determining the second injection duration based on the injection flow rate includes:

if the injection flow is in a preset flow interval, calculating the second injection duration based on the injection flow and a pre-stored continuous injection quantity;

if the injection flow is not in the preset flow interval, changing the injection flow into an injection flow set value corresponding to the preset flow rate interval, and calculating the second injection duration according to the injection flow set value and a pre-stored continuous injection quantity;

Wherein the sum of the refill amount and the known preset amount is the amount of fluid required for self-cleaning.

Optionally, if the injection flow is not in the preset flow interval, an alarm message is sent out.

when the cleaning fluid reaches the preset liquid level, determining a second injection duration according to the ratio of the known preset storage quantity to the pre-stored continuous injection quantity and the first injection duration;

Wherein the known preset stock is the stock of the cleaning fluid on the cleaning disc when the cleaning fluid reaches the preset level;

Optionally, when the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time, controlling the water inlet device to continue to inject liquid according to a second liquid injection strategy includes:

continuing to inject the cleaning fluid into the cleaning disc based on a pre-stored third injection duration.

Optionally, the driving the cleaning element to generate relative displacement with the cleaning disc includes:

driving the cleaning element to generate relative displacement with the cleaning disc when cleaning fluid is injected into the cleaning disc;

after the cleaning fluid is injected into the cleaning disc, the cleaning element is driven to continuously generate relative displacement with the cleaning disc in a preset movement duration.

Optionally, the cleaning disc is adapted to a self-moving cleaning device, the cleaning element being disposed on the self-moving cleaning device;

The driving of the cleaning element relative to the cleaning plate comprises: the cleaning elements are driven to rotate within the cleaning plate.

Optionally, the cleaning element is attached to the cleaning plate;

the driving of the cleaning element relative to the cleaning plate comprises: the cleaning elements are driven to move within the cleaning tray.

the cleaning element is driven to rotate in a variable speed in the cleaning disc.

Optionally, after the driving cleaning element is displaced relative to the washing plate, the method comprises:

controlling the cleaning element and the cleaning disc to stop relative displacement;

And controlling the drainage pump corresponding to the cleaning disc to work.

Optionally, the controlling the operation of the drain pump corresponding to the cleaning disc includes:

And in the first drainage time period of the drainage pump, if the liquid level of the cleaning fluid is reduced below the preset liquid level, controlling the drainage pump to continue drainage in the second drainage time period.

And after the first drainage time period of the drainage pump, sending out alarm information if the cleaning fluid is still at or higher than the preset liquid level.

In a second aspect of the present application, there is provided an automatic cleaning apparatus comprising:

Cleaning a tray;

A water inlet device for injecting cleaning fluid into the cleaning disc when the automatic cleaning device is in the cleaning disc self-cleaning mode;

A cleaning member;

and the driver is used for driving the cleaning element and the cleaning disc to generate relative displacement so that the cleaning element drives the cleaning fluid to flow and wash the cleaning disc.

Optionally, the cleaning device comprises a base station and a self-moving cleaning device, wherein the water inlet device and the cleaning disc are arranged on the base station, and the driver and the cleaning element are arranged on the self-moving cleaning device and/or the cleaning disc.

Optionally, a liquid level detection device is disposed on the cleaning disc, and the liquid level detection device is used for detecting the liquid level of the cleaning fluid.

In a third aspect of the present application, a computer readable storage medium is provided, which stores a computer program for implementing a method for cleaning a disc self-cleaning as described above.

In a fourth aspect of the application, an electronic device is provided, comprising a memory storing a computer program and a processor implementing the method described above when executing the computer program.

By means of the technical scheme, the cleaning fluid is injected into the cleaning disc by controlling the water inlet device, so that the cleaning disc can be cleaned in the base station, and the operations of disassembling, conveying and installing the cleaning disc are avoided. Through drive cleaning element with the production of cleaning disc relative displacement makes cleaning element can drive cleaning fluid flows, and then erodees the cleaning disc has realized cleaning disc's self-cleaning, has avoided manual operation, and labour saving and time saving has improved the use experience.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a first schematic step flow diagram of a method of self-cleaning a cleaning plate in accordance with an embodiment of the present application;

FIG. 2 is a second schematic step flow diagram of a method of self-cleaning a cleaning pan in accordance with an embodiment of the present application;

FIG. 3 is a third schematic step flow diagram of a method of self-cleaning a cleaning pan in accordance with an embodiment of the present application;

FIG. 4 is a first schematic view of an embodiment of the present application;

FIG. 5 is a second schematic view of the automatic cleaning apparatus according to the embodiment of the present application;

FIG. 6 is a schematic view of the structure of a cleaning tray of the automatic cleaning apparatus according to the embodiment of the present application;

FIG. 7 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to better understand the above technical solutions, the following detailed description of the technical solutions of the embodiments of the present application is made by using the accompanying drawings and the specific embodiments, and it should be understood that the specific features of the embodiments of the present application are detailed descriptions of the technical solutions of the embodiments of the present application, and not limit the technical solutions of the present application, and the technical features of the embodiments of the present application may be combined with each other without conflict.

In this embodiment, there is provided a self-cleaning method for cleaning a disc, as shown in fig. 1, the method including:

Step 101, controlling the water inlet device to inject cleaning fluid into the cleaning disc.

The self-cleaning method of the cleaning disc provided by the embodiment of the application is used for self-cleaning of the cleaning disc of automatic cleaning equipment such as a sweeping robot. The washing tray is usually arranged in a base station of an automatic cleaning device for cleaning the mop, etc. for cleaning, and when cleaning the mop, the washing tray stores washing water so that the mop can be soaked and cleaned in the washing tray. When washing, debris such as dust on the mop can get into the washing water, after wasing, the washing water is taken out, but has some debris to remain in the washing dish, after using a period, can lead to wasing the dish surface and remain the spot, needs the manual work to wash the operation to the washing dish moreover, leads to using experience lower. Based on this, in the self-cleaning method for the cleaning disc provided in this embodiment, when the cleaning disc is cleaned, the water inlet device is controlled to inject the cleaning fluid into the cleaning disc, so that the cleaning water and/or the cleaning agent can be provided for the cleaning operation, and the cleaning disc can be cleaned in the base station, so that the operations of disassembling and installing the cleaning disc are omitted, the steps of the cleaning operation are simplified, and the use experience is improved.

In this step, the water inlet means may be a clean water tank in the base station and a clean water pump connected to the clean water tank, the clean water pump drawing clean fluid from the clean water tank and injecting it into the cleaning pan. The water inlet device can be other external water injection devices, such as a water tank and a water pump which are independent of a base station, and the like, and cleaning fluid can be injected into the cleaning disc.

Further, the injected cleaning fluid can be clean water, a cleaning agent or a mixed liquid of the clean water and the cleaning agent.

Specifically, in this embodiment, the water inlet device is described by taking a clean water tank and a clean water pump in the base station as an example.

Step 102, driving the cleaning element to generate relative displacement with the cleaning disc, so that the cleaning element drives the cleaning fluid to flow to wash the cleaning disc.

According to the self-cleaning method for the cleaning disc, provided by the embodiment of the application, the cleaning element or the cleaning disc is driven to generate relative displacement with the cleaning disc, so that the cleaning element or the cleaning disc drives the cleaning fluid to flow in the cleaning disc, and then the surface of the cleaning disc is flushed, stains on the cleaning disc can be flushed down, the cleaning effect is achieved, automatic cleaning is realized, manual operation is avoided, time and labor are saved, and the use experience is improved.

In this step, as a possible embodiment, the cleaning element can be driven in motion, i.e. relative to the cleaning disc, so that the cleaning element can drive the cleaning fluid in the cleaning disc in a flow and thus flush the cleaning disc. In particular, taking the cleaning element as a mop for example, automatic cleaning devices generally have a drive motor for driving the mop to rotate. When the cleaning disc is cleaned, the mop can be driven by the driving motor to rotate in the cleaning disc, and then the cleaning fluid is driven to flow in the cleaning disc through the rotation of the mop.

As a further possible embodiment, the cleaning disc can be driven in motion, i.e. relative to the cleaning elements, so that the cleaning fluid can flow in the cleaning disc and thereby scour the cleaning disc. Specifically, the cleaning disc can be driven to swing by driving components such as a reciprocating mechanism and the like, and cleaning fluid can be driven to flow in the cleaning disc by the swing of the cleaning disc.

In this embodiment, the cleaning fluid is injected into the cleaning tray, so that the cleaning tray can be cleaned in the base station, and the operations of disassembling, transporting and installing the cleaning tray are eliminated. Through drive cleaning element with the production of cleaning disc relative displacement makes cleaning element can drive cleaning fluid flows, and then erodees the cleaning disc has realized cleaning disc's self-cleaning, has avoided manual operation, and labour saving and time saving has improved the use experience.

In another embodiment, the cleaning elements are driven to displace relative to the cleaning disc while simultaneously injecting cleaning fluid into the cleaning disc.

In yet another embodiment, the cleaning elements are driven to displace relative to the cleaning plate and the cleaning fluid is injected into the cleaning plate.

The cleaning disc is internally provided with a liquid level detection device which is used for detecting the liquid level height of cleaning fluid in the cleaning disc. In this embodiment, the liquid level detection device is used to set a preset liquid level, and along with injecting the cleaning fluid into the cleaning disc, the liquid level of the cleaning fluid in the cleaning disc is continuously increased, and the liquid level detection device can detect whether the liquid level of the cleaning fluid reaches the preset liquid level. Reach to

The preset liquid level can be set through the liquid level detection device, and the volume of the cleaning disc is a fixed value, so that the amount of the cleaning fluid stored in the cleaning disc when the liquid level of the cleaning fluid reaches the preset liquid level can be known, namely the preset storage amount is known by adjusting the preset liquid level to a proper position.

As a possible embodiment, the liquid level detection means may be a float liquid level detection mechanism. Specifically, the liquid level detection device comprises a float and a Hall sensor. The float floats up and down along with the change of the liquid level of the cleaning fluid, the magnet is arranged in the float, and when the cleaning fluid reaches the preset liquid level, the Hall sensor can detect the float, so that the cleaning fluid can be judged to reach the preset liquid level.

As shown in fig. 2, in step 101, controlling the water inlet device to inject cleaning fluid into the cleaning tray includes:

Step 201, controlling the water inlet device to continue to inject liquid according to a first liquid injection strategy when the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within a preset time. And controlling the water inlet device to continue to inject liquid according to a second liquid injection strategy under the condition that the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time.

In this step, by setting two liquid injection strategies, more targeted liquid injection can be performed according to whether the liquid level detection device detects that the cleaning fluid reaches a preset liquid level. Specifically, in the preset time, when the liquid level detection device detects that the cleaning fluid reaches the preset liquid level, the liquid supply can be more accurate through calculation, and the cleaning disc can be well cleaned. In the preset time, under the condition that the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level, the liquid level detection device may fail at the moment, and the cleaning disc can be cleaned by making a second liquid injection strategy at the moment.

Wherein the amount of cleaning fluid injected required in the self-cleaning operation may be such that the cleaning fluid just submerges the cleaning elements.

Further, the preset time can be flexibly set according to the volume of the cleaning disc, the flow rate of the cleaning fluid, and the like.

Specifically, when the cleaning fluid starts to be injected into the cleaning disc, starting timing, and detecting that the cleaning fluid reaches a preset liquid level before the timing reaches a preset time, continuing to inject the cleaning fluid according to a first liquid injection strategy. And after the timing reaches the preset time, the cleaning fluid is not detected to reach the preset liquid level, and then the liquid is continuously injected by a second liquid injection strategy. In this embodiment, the preset time may be set to 30 seconds.

In step 201, if the liquid level detection device detects that the cleaning fluid reaches a preset liquid level within a preset time, the step of controlling the water inlet device to continue to fill with the first liquid filling strategy includes:

step 2011, obtaining a first injection duration from the start of the water inlet device to the time when the cleaning fluid reaches the preset liquid level.

Step 2012, determining a second injection duration based on the first injection duration.

And step 2013, continuing to inject the cleaning fluid into the cleaning disc based on the second injection duration.

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

Further, the first injection duration may be obtained by a timer. The second injection duration is calculated based on the first injection duration.

As a possible implementation, step 2012, determining a second injection duration based on the first injection duration, includes:

And step 20121, obtaining an injection flow based on a known preset stock and the first injection duration, wherein the known preset stock is the stock of the cleaning fluid on the cleaning disc when the cleaning fluid reaches the preset liquid level.

Step 20122, determining the second injection duration based on the injection flow.

In step 20121 and step 20122, the injection flow can be calculated based on the known preset storage amount and the first injection duration, the injection flow is the flow of injecting the cleaning fluid into the cleaning disc, the second injection duration is determined by the injection flow, accurate injection of the cleaning fluid can be realized, and the injection amount of the cleaning fluid required in the self-cleaning operation is ensured to be satisfied.

The position of the preset liquid level is known, and the storage quantity of the cleaning fluid on the cleaning disc corresponding to the preset liquid level can be obtained through measurement or calculation and other modes, namely the known preset storage quantity value can be obtained.

Specifically, in this embodiment, the preset storage amount is known to be 80ml, that is, when the cleaning fluid on the cleaning disc reaches 80ml, the liquid level detecting device can detect that the cleaning fluid reaches the preset liquid level. In this embodiment, the amount of cleaning fluid injected required in the self-cleaning operation may be 200ml, i.e. when the cleaning fluid on the cleaning plate reaches 200ml, the cleaning fluid just submerges the cleaning elements.

Step 20122, determining the second injection duration based on the injection flow rate, including:

And step 201221, if the injection flow is in the preset flow interval, calculating the second injection duration based on the injection flow and a pre-stored continuous injection quantity. Wherein the sum of the refill amount and the known preset amount is the amount of fluid required for self-cleaning.

In this step, if the injection flow rate is within the preset flow rate interval, it may be determined that the injection flow rate meets the expectation, that the water pump has no failure, and that the water pipe for injecting water into the cleaning tray has no clogging phenomenon. The injection flow is used for injecting the cleaning fluid so as to meet the injection quantity of the cleaning fluid required by self-cleaning of the cleaning disc, the second injection duration can be calculated according to the injection flow and the pre-stored continuous injection quantity, and the cleaning fluid is continuously injected into the cleaning disc according to the second injection duration and the injection flow.

Specifically, since the known preset stock amount and the injection amount of the fluid required for self-cleaning are known, the absolute value of the difference between the injection amount and the known preset stock amount is the continuous injection amount. And dividing the continuous injection quantity by the injection flow to obtain the second injection duration.

In this embodiment, the continuous filling amount may be 120ml, and the preset flow interval may be 270 ml/min-330 ml/min.

And step 201222, if the injection flow is not in the preset flow interval, changing the injection flow to an injection flow set value corresponding to the preset flow rate interval, and calculating the second injection duration according to the injection flow set value and a pre-stored continuous injection quantity. Wherein the sum of the refill amount and the known preset amount is the amount of fluid required for self-cleaning.

In this step, if the injection flow rate is not within the preset flow rate interval, it may be determined that the injection flow rate is not in accordance with the expectation, that the water pump may malfunction, that a water pipe for injecting water into the cleaning tray may be clogged, that the water tank may leak water into the cleaning tray, that the cleaning tray may have liquid before injecting the cleaning fluid, that the cleaning tray may leak water, and so on. The injection flow is changed to an injection flow set value corresponding to the preset flow speed interval, and the second injection duration is calculated according to the injection flow and the pre-stored continuous injection quantity, so that the cleaning disc can be cleaned.

The injection flow set value corresponding to the preset flow rate interval may be an intermediate value of the preset flow rate interval.

Specifically, in this embodiment, the preset flow interval may be 270ml/min to 330ml/min, and the injection flow set value may be 300ml/min.

Specifically, since the known preset stock amount and the injection amount of the fluid required for self-cleaning are known, the absolute value of the difference between the injection amount and the known preset stock amount is the continuous injection amount. And dividing the continuous injection quantity by the changed injection flow to obtain the second injection duration.

And step 201223, if the injection flow is not in the preset flow interval, sending out alarm information.

In this step, since the injection flow is not in the preset flow interval, the reason why the injection flow is not in the preset flow interval may be that there is a device failure, so that the alarm information may prompt the user to inspect and repair the device, so that the injection flow is restored to the preset flow interval when the cleaning disc is self-cleaned again, and a good self-cleaning effect is ensured.

Further, the alarm information may be a sound alarm information, a light alarm lamp information, etc. on the base station or the self-walking automatic cleaning device, or may be an alarm information sent to a terminal bound with the automatic cleaning device.

As another possible implementation, step 2012, determining a second injection duration based on the first injection duration includes:

In step 20123, when the cleaning fluid reaches the preset liquid level, determining a second injection duration according to the ratio of the known preset storage quantity to the pre-stored continuous injection quantity and the first injection duration. Wherein the known preset stock is the stock of the cleaning fluid on the cleaning disc when the cleaning fluid reaches the preset level. Wherein the sum of the refill amount and the known preset amount is the amount of fluid required for self-cleaning.

In this step, since the known preset stock amount and the continuous injection amount are known, the ratio of the known preset stock amount to the continuous injection amount can be calculated, and since the ratio of the known preset stock amount to the continuous injection amount and the ratio of the first injection duration to the second injection duration are equal, the second injection duration can be directly calculated according to the proportional relationship, so that the cleaning fluid can be accurately injected, and the injection amount of the cleaning fluid required in the self-cleaning operation can be ensured to be satisfied.

In step 201, when the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level within the preset time, controlling the water inlet device to continue to fill with the second filling strategy includes:

and step 2014, continuing to inject the cleaning fluid into the cleaning disc based on a pre-stored third injection duration.

In the step, in the preset time, the liquid level detection device does not detect that the cleaning fluid reaches the preset liquid level, so that the liquid level detection device can be considered to be faulty, and at this time, in order to continue the cleaning operation on the cleaning disc, the cleaning fluid is continuously injected into the cleaning disc based on the pre-stored third injection time period, so that the cleaning disc can be cleaned.

Further, in this embodiment, the third injection duration may be 30 seconds.

Further, after continuing to inject the cleaning fluid into the cleaning tray for 30 seconds, the injection of the cleaning fluid is stopped.

Step 102, driving the cleaning element to generate relative displacement with the cleaning disk, including:

Step 1021, driving the cleaning element to generate relative displacement with the cleaning disk when cleaning fluid is injected into the cleaning disk.

In the step, when the cleaning fluid is injected into the cleaning disc, the flow of the cleaning fluid in the cleaning disc is unstable, and at the moment, the cleaning element and the cleaning disc are synchronously driven to generate relative displacement, so that the flow of the cleaning fluid in the cleaning disc can be further disturbed, the flow of the cleaning fluid can be driven in multiple directions, the cleaning disc is favorably flushed by the cleaning fluid, dirt on the cleaning disc is easier to flush, and a good cleaning effect is ensured.

As a possible embodiment, the cleaning elements and the cleaning discs may be driven synchronously with respect to each other at the beginning of the injection of cleaning fluid into the cleaning discs.

As another possible implementation manner, the cleaning fluid may be injected into the cleaning disc first, and after some cleaning fluid is stored in the cleaning disc, the cleaning element is driven to generate relative displacement with the cleaning disc, so that the cleaning fluid is driven to flow when the cleaning element generates relative displacement with the cleaning disc.

As yet another possible embodiment, the cleaning elements may be driven to displace relative to the cleaning discs and then the cleaning fluid may be injected into the cleaning discs, enabling the cleaning elements to collide with the cleaning fluid when the injection of the cleaning fluid is started and the flow of the cleaning fluid is unstable, so that the cleaning fluid is more widely distributed in the cleaning discs.

Step 1022, after the injection of the cleaning fluid into the cleaning disc is completed, the cleaning element is driven to continuously generate relative displacement with the cleaning disc for a preset movement duration.

In this step, after the injection of the cleaning fluid into the cleaning tray is completed, the cleaning fluid submerges the cleaning member, and at this time, the cleaning member can agitate a large amount of the cleaning fluid so that the cleaning fluid washes the cleaning tray, and a good cleaning effect can be ensured.

The preset movement duration can be flexibly set according to actual conditions, and in this embodiment, the preset movement duration can be set to 30 seconds.

As a possible embodiment, the washing tray is adapted to a self-moving cleaning device on which the cleaning elements are arranged. That is, the cleaning element is a part of the self-moving cleaning device, and taking a sweeping robot as an example, the cleaning element can be a mop on the sweeping robot, and the sweeping robot moves to clean the floor.

Wherein the cleaning element moves in the cleaning disc in the same manner as the cleaning element moves during the cleaning operation. Taking the cleaning element as a mop of the sweeping robot as an example, the mop is driven to rotate when the cleaning operation is carried out, and the mop is driven to rotate when the cleaning disc moves, so that the mop can be driven to clean and the mop is driven to stir cleaning fluid through the same driving part, the driving part is not required to be additionally increased, and the cost is avoided.

Specifically, step 102, driving the cleaning element to generate a relative displacement with the cleaning disk includes: step 1023, driving the cleaning elements to rotate within the cleaning plate.

In this step, the cleaning fluid can be driven to rotate in the cleaning disc by driving the cleaning element to rotate in the cleaning disc, so that a good scouring effect is achieved on the cleaning disc.

Further, when the number of the cleaning elements is two, the two cleaning elements are driven to rotate in opposite directions, so that the scouring effect on the cleaning disc is further improved.

As a further possible embodiment, the cleaning element is connected to the cleaning plate. I.e. the cleaning elements are part of the washing tray.

Wherein, step 102, driving the cleaning element to generate relative displacement with the cleaning disk includes: step 1024, driving the cleaning elements to move within the cleaning plate.

Specifically, the cleaning element may be a brush rotatably connected to the cleaning disc, and the brush is connected to a driving device, for example, a motor, so that the motor can drive the brush to swing, and further drive the cleaning fluid in the cleaning disc to flow, so as to wash the cleaning disc, and further brush the cleaning disc while swinging, thereby improving the cleaning effect.

It will be appreciated that the cleaning elements may also be other forms of components, such as bar-shaped objects or circular objects, etc., which enable the flow of cleaning fluid to effect the flushing of the disc. Specifically, the reciprocating structure can drive the strip-shaped object to repeatedly move so as to stir the cleaning fluid. The cleaning fluid may be agitated by rotating the circular object by a rotating motor.

In step 1023 or step 1024, driving the cleaning elements to displace relative to the cleaning plate comprises:

step 10231, driving the cleaning elements to rotate at a variable speed within the cleaning plate.

In this step, by driving the cleaning member to rotate at a variable speed in the cleaning plate, the cleaning fluid can be made to flow at a variable speed, and the scouring effect on the cleaning plate can be further improved.

After driving the cleaning elements in relative displacement with the cleaning plate, step 102, comprises:

Step 301, controlling the relative displacement of the cleaning element and the cleaning disc to stop.

And 302, controlling the corresponding drainage pump of the cleaning disc to work.

In step 301 and step 302, by controlling the relative displacement of the cleaning element and the cleaning disc to stop, the cleaning disc is prevented from being polluted again due to the fact that sundries washed away during the pumping of the cleaning fluid are disturbed. The cleaning disc can be cleaned by controlling the corresponding drainage pump of the cleaning disc to work so as to drain the cleaning fluid containing sundries.

Wherein, the water inlet department of drain pump can set up the filter screen, can filter the clean fluid that contains debris, avoids debris to enter into in the drain pump, leads to the drain pump to stop up the damage. Meanwhile, sundries can be gathered at the filter screen, and the sundries can be collected conveniently.

The drain pump may be a drain pump in a base station, which pumps out sewage through the drain pump after washing the cleaning elements. After the cleaning tray is cleaned, cleaning fluid containing impurities is pumped out by the drainage pump. Can be completed through the same drainage pump, thereby avoiding the addition of extra cost.

Step 302, controlling the operation of the drain pump corresponding to the cleaning disc, including:

Step 3021, during a first drain period in which the drain pump is operated, if the liquid level of the cleaning fluid falls below the preset liquid level, controlling the drain pump to continue draining during a second drain period.

In this step, during a first drain period in which the drain pump operates, if the level of the cleaning fluid falls below the preset level, it may be determined that the drain pump operates normally and that most of the cleaning fluid containing impurities in the cleaning tray has been drained. After the liquid level of the cleaning fluid is reduced below the preset liquid level, the drainage pump is controlled to continue draining in the second drainage period, so that the cleaning fluid containing sundries in the cleaning disc is discharged, the residues of the sundries in the cleaning disc are reduced, and a good cleaning effect is ensured.

The first drainage time period and the second drainage time period can be flexibly determined according to the drainage amount of the drainage pump and the volume of the cleaning disc.

Specifically, in the present embodiment, the first drainage period and the second drainage period are each set to 15 seconds. That is, within 15 seconds after the drain pump starts to operate, if the liquid level of the cleaning fluid drops below the preset liquid level, the drain pump is controlled to continue draining for another 15 seconds.

Step 3022, after a first drain period in which the drain pump is operated, sending out an alarm message if the cleaning fluid is still at or above the preset liquid level.

In this step, during the first draining period when the draining pump works, if the cleaning fluid is still at or above the preset liquid level, there may be a problem of draining failure, the alarm message may prompt the user to check, so as to avoid that the cleaning tray is polluted again due to the failure of draining.

In this embodiment, if the hall sensor can always detect the magnet in the float, it can be determined that the cleaning fluid is at or above the preset liquid level.

If the cleaning fluid is still at or higher than the preset liquid level within the first drainage period of the drainage pump, problems such as drainage pump failure, drainage pipeline blockage, blockage of a filter screen at a drainage pump water inlet and the like may occur, so that the cleaning fluid containing impurities cannot be discharged, and the impurities fall back onto the cleaning disc, thereby causing the cleaning disc to be polluted again. It is also possible that the malfunction of the liquid level detecting means does not affect the discharge of the cleaning fluid containing impurities, but affects the next cleaning operation and possibly other functions, so that the generation of alarm information is necessary for the automatic cleaning apparatus to keep running stably.

As shown in fig. 4 and 5, in a second aspect of the present embodiment, there is provided an automatic cleaning apparatus comprising:

A cleaning tray 1;

A water inlet means 2 for injecting a cleaning fluid 6 into the washing tray 1 when the automatic cleaning apparatus is in a self-cleaning mode of the washing tray 1.

A cleaning member;

And the driver is used for driving the cleaning element and the cleaning disc 1 to generate relative displacement so that the cleaning element drives the cleaning fluid 6 to flow and wash the cleaning disc 1.

The automatic cleaning equipment provided by the embodiment of the application can be, for example, an automatic cleaning equipment such as a sweeping robot system.

Wherein the automatic cleaning device comprises a base station in which the cleaning disc 1 is arranged. The automatic cleaning device also comprises a self-moving cleaning device which can be stopped on the base station and can carry out operations such as charging, dust collection or cleaning of the mop 3 on the base station.

Wherein the automatic cleaning device comprises a washing mode. When the automatic cleaning device is in the cleaning mode, the cleaning pan 1 is used for storing cleaning water, so that the parts of the self-moving cleaning device for cleaning, such as the mop 3, can be cleaned in the cleaning pan 1. During cleaning, impurities such as dust on the mop 3 can enter the cleaning water, after the cleaning is finished, the cleaning water is pumped out, but part of impurities remain in the cleaning disc 1, after a period of use, residual stains on the surface of the cleaning disc 1 can be caused, and the cleaning disc 1 needs to be manually cleaned, so that the use experience is lower. Based on this, the automatic cleaning device provided in this embodiment increases the self-cleaning mode of the cleaning disc 1, when the automatic cleaning device is in the self-cleaning mode of the cleaning disc 1, the cleaning fluid 6 is injected into the cleaning disc 1 through the cleaning pump, so that the cleaning fluid 6 can be provided for the cleaning operation, and cleaning water and/or cleaning agent can be provided for the cleaning operation, so that the cleaning disc 1 can be cleaned in the base station, the operations of disassembling and installing the cleaning disc 1 are omitted, the steps of the cleaning operation are simplified, and the use experience is improved.

Wherein, self-cleaning equipment is through setting up the driver to make the driver drive cleaning element with wash set 1 produces relative displacement, can make cleaning element or wash set 1 drive cleaning fluid 6 and flow in wash set 1, and then wash away the surface of wash set 1, can wash away the spot, reach abluent effect, realized self-cleaning, avoided manual operation, labour saving and time saving has improved the use experience.

As a possible embodiment, the cleaning pump and the cleaning disc 1 are arranged on the base station, and the drive and the cleaning elements are arranged on the self-moving cleaning device. That is, the cleaning element is a part of the self-moving cleaning device, for example, the cleaning element can be a mop 3 on the sweeping robot, and the sweeping robot of the mop 3 moves to clean the floor.

Wherein the cleaning element moves in the cleaning disc in the same manner as the cleaning element moves during the cleaning operation. Taking the cleaning element as the mop 3 of the sweeping robot as an example, the mop 3 is driven to rotate when the cleaning operation is carried out, the mop 3 is driven to rotate when the cleaning disc moves, the cleaning of the mop 3 and the stirring of the cleaning fluid 6 by the mop 3 can be realized by the same driving part, the driving part is not required to be additionally increased, and the increase of the cost is avoided.

In particular, the driver may be a driving motor. The driver and the cleaning element are arranged on the self-moving cleaning device, and the driver is connected with the cleaning element to drive the cleaning element to move. In this embodiment, the cleaning element is a mop 3, and the driver is a driving motor for driving the mop 3 to rotate. When the automatic cleaning equipment is in a cleaning mode, the driving motor drives the mop 3 to rotate, so that the floor cleaning is realized. When the automatic cleaning equipment is in the self-cleaning mode of the cleaning disc 1, the driving motor drives the mop 3 to rotate, and then the cleaning fluid 6 is driven to flow in the cleaning disc 1 through the rotation of the mop 3, so that the cleaning disc 1 is flushed.

As a further possible embodiment, the drive and the cleaning elements are arranged on the self-moving cleaning device and/or on the cleaning disk 1, i.e. the cleaning elements are part of the cleaning disk 1.

Specifically, the cleaning element may be a brush rotatably connected to the cleaning disc 1, and the brush is connected to a driving device, for example, a motor, so that the brush can be driven to swing, and further, the cleaning fluid 6 in the cleaning disc 1 is driven to flow, so as to wash the cleaning disc 1, and the cleaning disc 1 can be brushed while swinging, so as to improve the cleaning effect.

It will be appreciated that the cleaning elements may also be other forms of parts, such as bar-shaped objects or round objects, etc., which enable the cleaning fluid 6 to flow in order to flush the cleaning disc 1. Specifically, the bar-shaped object may be driven to move repeatedly by the reciprocating structure, thereby agitating the cleaning fluid 6. The circular object may be rotated by a rotating motor, thereby agitating the cleaning fluid 6.

Still be provided with clear water tank and water pipe in the basic station, the water inlet and the clear water tank intercommunication of water pipe, the outlet of water pipe sets up towards cleaning disc 1, and the clear water pump sets up on the water pipe. When the automatic cleaning equipment is in a cleaning mode, clear water in the clear water tank is pumped by the clear water pump and discharged to the cleaning disc 1. When the automatic cleaning device is in the self-cleaning mode of the cleaning disc 1, the cleaning fluid 6 is pumped by the cleaning pump and discharged onto the cleaning disc 1, and the cleaning fluid 6 can be clean water in a clean water tank, cleaning agent mixed in the clean water tank or a storage agent tank connected with the clean water tank in parallel and used for storing the cleaning agent.

The cleaning disc 1 is provided with a liquid level detection device which is used for detecting the liquid level of the cleaning fluid 6 and sending out in-place information when the cleaning fluid 6 reaches a preset liquid level. The cleaning fluid 6 is provided with a preset liquid level through the liquid level detection device, and along with the injection of the cleaning fluid 6 into the cleaning disc 1, the liquid level of the cleaning fluid 6 in the cleaning disc 1 is continuously increased, and the liquid level detection device can detect that the cleaning fluid 6 reaches the preset liquid level, so that the cleaning fluid 6 can be judged to reach the preset liquid level accordingly.

The preset liquid level is set by the liquid level detection device, and the volume of the cleaning disc 1 is a fixed value, so that when the liquid level detection device detects that the cleaning fluid 6 reaches the preset liquid level, the amount of the cleaning fluid 6 stored in the cleaning disc 1 at the moment, that is, the known preset storage amount, can be known.

Wherein, the liquid level detection device can be a float liquid level detection mechanism. In particular, the liquid level detection device comprises a float 4 and a hall sensor. The float 4 floats up and down along with the change of the liquid level of the cleaning fluid 6, the magnet is arranged in the float 4, and when the cleaning fluid 6 reaches the preset liquid level, the float 4 is detected by the Hall sensor of the float 4, and in-place information is sent out.

Wherein, the float 4 is provided with a filter screen 5, and the filter screen 5 is used for blocking sundries and avoiding the float 4 from being blocked by the sundries.

As shown in fig. 4, the cleaning fluid 6 does not reach the preset level, and the hall sensor cannot detect the float 4. As shown in fig. 5, the cleaning fluid 6 reaches a preset level, and the hall sensor is able to detect the float 4.

As shown in fig. 7, a third aspect of the embodiment of the present application proposes a computer readable storage medium 401, where the computer readable storage medium 401 stores a computer program 402, to implement a control method according to any of the above-mentioned aspects.

The computer readable storage medium 401 according to the embodiment of the present application realizes the control method according to any one of the above-mentioned aspects, so that the computer readable storage medium 401 has all the advantages of the control method according to any one of the above-mentioned aspects.

Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to execute the method of each implementation scenario of the present application.

The storage medium may also include an operating system, a network communication module. An operating system is a program that manages and saves the hardware and software resources of the robotic cleaning device, supporting the execution of information handling programs and other software and/or programs. The network communication module is used for realizing communication among all the controls in the storage medium and communication with other hardware and software in the entity equipment.

As shown in fig. 8, a fourth aspect of an embodiment of the present application proposes an electronic device, including: a memory 501 storing a computer program; a processor 502 executing a computer program; the processor 502 implements the control method according to any of the above-mentioned aspects when executing the computer program.

The electronic equipment provided by the embodiment of the application realizes the control method of any technical scheme, so that the electronic equipment has all the beneficial effects of the control method of any technical scheme.

In some examples, the electronic device may also include a user interface, a network interface, a camera, radio Frequency (RF) circuitry, sensors, audio circuitry, WI-FI modules, and so forth. The user interface may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), etc.

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

The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the physical device hardware and software resources of the above-described methods, supporting the execution of information handling programs and other software and/or programs. The network communication module is used for realizing communication among all components in the storage medium and communication with other hardware and software in the information processing entity equipment.

From the above description of the embodiments, it will be apparent to those skilled in the art that the present application may be implemented by means of software plus necessary general hardware platforms, or may be implemented by hardware.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more, unless expressly defined otherwise. The terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; "coupled" may be directly coupled or indirectly coupled through intermediaries. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or units referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present specification, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of self-cleaning a cleaning tray, comprising:

2. The self-cleaning method of a cleaning tray according to claim 1, wherein a liquid level detection device is provided in the cleaning tray;

3. The method according to claim 2, wherein controlling the water inlet device to continue the injection with the first injection strategy when the liquid level detecting device detects that the cleaning fluid reaches the preset liquid level within the preset time comprises:

Determining a second injection duration based on the first injection duration;

4. A cleaning disc self-cleaning method according to claim 3, wherein said determining a second injection duration based on said first injection duration comprises:

and determining the second injection duration based on the injection flow.

5. The method of claim 4, wherein the determining the second injection duration based on the injection flow rate comprises:

6. The method according to claim 5, wherein an alarm message is issued if the injection flow is not within a predetermined flow interval.

7. A cleaning disc self-cleaning method according to claim 3, wherein said determining a second injection duration based on said first injection duration comprises:

8. An automatic cleaning apparatus, comprising:

Cleaning a tray;

A cleaning member;

9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program implementing the cleaning disc self-cleaning method according to any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of any one of claims 1 to 7 when executing the computer program.